CN111524391A - Vehicle steering assist method, apparatus, storage medium, and device - Google Patents

Vehicle steering assist method, apparatus, storage medium, and device Download PDF

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Publication number
CN111524391A
CN111524391A CN202010361236.3A CN202010361236A CN111524391A CN 111524391 A CN111524391 A CN 111524391A CN 202010361236 A CN202010361236 A CN 202010361236A CN 111524391 A CN111524391 A CN 111524391A
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vehicle
information
current
steering
determining
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CN111524391B (en
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朱先如
关宁
阚晶晶
高电波
郑佳
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Anhui Jianghuai Automobile Group Corp
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Anhui Jianghuai Automobile Group Corp
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/408—Traffic behavior, e.g. swarm
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a vehicle steering auxiliary method, a device, a storage medium and a device, wherein the method comprises the following steps: acquiring current running information and current road information, determining a current running state according to the current running information and the current road information, acquiring vehicle information of a current road when the current running state is a preset state, determining a vehicle to be steered according to the vehicle information and the current road information, acquiring steering information of the vehicle to be steered, determining first arrival time of the vehicle to be steered to a current road center according to the steering information and the current road information, determining a steering early warning strategy according to the first arrival time, and assisting steering of the vehicle according to the steering early warning strategy; according to the invention, through the fusion of vehicle-to-vehicle communication and vehicle-to-vehicle communication, the accuracy of early warning triggering can be effectively improved, the false warning rate is reduced, and the driving experience of a driver is improved.

Description

Vehicle steering assist method, apparatus, storage medium, and device
Technical Field
The invention relates to the technical field of vehicle safety early warning, in particular to a vehicle steering auxiliary method, vehicle steering auxiliary equipment, a storage medium and a vehicle steering auxiliary device.
Background
At present, when a vehicle turns left at an intersection without signal lamp control or an intersection with a signal lamp fault, only the current state of the vehicle is judged, and whether the vehicle is at the intersection position is not judged, so that misjudgment is easily caused, and a traffic accident is caused. Therefore, how to perform left-turn collision reminding through vehicle-to-vehicle communication and vehicle-to-road communication is an urgent technical problem to be solved.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a vehicle steering auxiliary method, a vehicle steering auxiliary device, a storage medium and a vehicle steering auxiliary device, and aims to solve the technical problem of how to remind a left-turn collision through vehicle-to-vehicle communication and vehicle-to-road communication in the prior art.
To achieve the above object, the present invention provides a vehicle steering assist method including the steps of:
acquiring current driving information and current road information, and determining a current driving state according to the current driving information and the current road information;
when the current driving state is a preset state, acquiring vehicle information of a current road, and determining a vehicle to be steered according to the vehicle information and the current road information;
acquiring steering information of the vehicle to be steered, and determining first arrival time of the vehicle to be steered to a current road center according to the steering information and the current road information;
and determining a steering early warning strategy according to the first arrival time, and performing vehicle steering assistance according to the steering early warning strategy.
Preferably, the acquiring current driving information and current road information, and determining a current driving state according to the current driving information and the current road information includes:
acquiring current driving information and current road information;
and determining the current driving direction according to the current driving information, and determining the current driving state according to the current driving direction and the current road information.
Preferably, the acquiring the current driving information and the current road information includes:
acquiring current driving information, and determining a target road side unit according to the current driving information;
and sending a road information detection instruction to the target road side unit so that the target road side unit feeds back the current road information according to the road information detection instruction.
Preferably, when the current driving state is a preset state, acquiring vehicle information of a current road, and determining a vehicle to be steered according to the vehicle information and the current road information, includes:
when the current driving state is a preset state, acquiring vehicle information of a current road, and judging whether a vehicle positioned in a preset area exists according to the vehicle information and the current road information;
if the vehicle exists, taking the vehicle positioned in the preset area as a vehicle to be judged;
and acquiring the driving direction information of the vehicle to be determined, and determining the vehicle to be steered according to the driving direction information.
Preferably, the obtaining the steering information of the vehicle to be steered and determining a first arrival time of the vehicle to be steered to the center of the current road according to the steering information and the current road information include:
acquiring steering information of the vehicle to be steered, and judging whether to enter a steering auxiliary mode according to the current driving information and the steering information;
and when the vehicle enters the steering auxiliary mode, determining the first arrival time of the vehicle to be steered to the center of the current road according to the steering information and the current road information.
Preferably, before determining a steering early warning strategy according to the first arrival time and performing vehicle steering assistance according to the steering early warning strategy, the vehicle steering assistance method further includes:
determining second arrival time for reaching the current road center according to the current driving information and the current road information;
determining an arrival time difference according to the first arrival time and the second arrival time;
correspondingly, the step of determining a steering early warning strategy according to the first arrival time and performing vehicle steering assistance according to the steering early warning strategy specifically comprises:
and determining a steering early warning strategy according to the arrival time difference, and performing vehicle steering assistance according to the steering early warning strategy.
Preferably, the determining a steering early warning strategy according to the arrival time difference and performing vehicle steering assistance according to the steering early warning strategy includes:
judging whether the vehicle to be steered meets a preset early warning condition or not according to the arrival time difference;
and when a preset early warning condition is met, searching a steering early warning strategy corresponding to the arrival time difference in a preset mapping relation table, and performing vehicle steering assistance according to the steering early warning strategy, wherein the mapping relation table comprises the corresponding relation between the arrival time difference and the steering early warning strategy.
Furthermore, to achieve the above object, the present invention also proposes a vehicle steering assist apparatus including a memory, a processor, and a vehicle steering assist program stored on the memory and operable on the processor, the vehicle steering assist program being configured to implement the steps of the vehicle steering assist method as described above.
Furthermore, to achieve the above object, the present invention also proposes a storage medium having a vehicle steering assist program stored thereon, which when executed by a processor, implements the steps of the vehicle steering assist method as described above.
Further, to achieve the above object, the present invention also proposes a vehicle steering assist device including: the device comprises a current running state determining module, a vehicle to be steered determining module, a first arrival time determining module and a monitoring module;
the current driving state determining module is used for acquiring current driving information and current road information and determining a current driving state according to the current driving information and the current road information;
the vehicle to be steered determining module is used for acquiring vehicle information of a current road when the current driving state is a preset state, and determining a vehicle to be steered according to the vehicle information and the current road information;
the first arrival time determining module is used for acquiring steering information of the vehicle to be steered and determining first arrival time of the vehicle to be steered to the center of the current road according to the steering information and the current road information;
and the vehicle steering auxiliary module is used for determining a steering early warning strategy according to the first arrival time and performing vehicle steering auxiliary according to the steering early warning strategy.
The method comprises the steps of obtaining current driving information and current road information, determining a current driving state according to the current driving information and the current road information, obtaining vehicle information of a current road when the current driving state is a preset state, determining a vehicle to be steered according to the vehicle information and the current road information, obtaining steering information of the vehicle to be steered, determining first arrival time of the vehicle to be steered to a current road center according to the steering information and the current road information, determining a steering early warning strategy according to the first arrival time, and assisting vehicle steering according to the steering early warning strategy; according to the invention, through the fusion of vehicle-to-vehicle communication and vehicle-to-vehicle communication, the accuracy of early warning triggering can be effectively improved, the false warning rate is reduced, and the driving experience of a driver is improved.
Drawings
FIG. 1 is a schematic diagram of a vehicle steering assist apparatus in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram of a first embodiment of a vehicle steering assist method of the present invention;
FIG. 3 is a schematic flow chart diagram of a second embodiment of a vehicle steering assist method of the present invention;
FIG. 4 is a schematic flow chart diagram of a third embodiment of a vehicle steering assist method of the present invention;
fig. 5 is a block diagram showing the construction of a first embodiment of the steering assist device for a vehicle of the invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a vehicle steering assist apparatus in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the vehicle steering assist apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), and the optional user interface 1003 may further include a standard wired interface and a wireless interface, and the wired interface for the user interface 1003 may be a USB interface in the present invention. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory or a Non-volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in FIG. 1 does not constitute a limitation of the vehicle steering assist apparatus and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in FIG. 1, a memory 1005, identified as one type of computer storage medium, may include an operating system, a network communication module, a user interface module, and a vehicle steering assist program.
In the vehicle steering assist apparatus shown in fig. 1, the network interface 1004 is mainly used for connecting with a background server, and performing data communication with the background server; the user interface 1003 is mainly used for connecting user equipment; the vehicle steering assist apparatus calls a vehicle steering assist program stored in a memory 1005 by a processor 1001 and executes a vehicle steering assist method provided by an embodiment of the present invention.
Based on the above hardware structure, an embodiment of the vehicle steering assist method of the invention is proposed.
Referring to fig. 2, fig. 2 is a flowchart illustrating a first embodiment of a vehicle steering assist method according to the present invention.
In a first embodiment, the vehicle steering assist method includes the steps of:
step S10: the method comprises the steps of obtaining current driving information and current road information, and determining a current driving state according to the current driving information and the current road information.
It should be understood that the executing subject of the present embodiment is the vehicle steering assist device, wherein the vehicle steering assist device may be an electronic device such as an on-board computer, an on-board controller, or a server having the functions of vehicle-to-vehicle communication, vehicle-to-road communication, and the like, and the present embodiment is not limited thereto.
It should be noted that the current driving information may be longitude and latitude information, heading angle information, vehicle speed information, turn signal status information, and the like of the current vehicle;
the current road information can be longitude and latitude information of a current road center point, lane number information of an intersection, lane width information and the like.
It should be understood that the vehicle steering assist apparatus acquires current traveling information as well as current road information, and determining that the current driving state may be acquiring current driving information according to the current driving information and the current road information, determining a target road side unit according to the current driving information, sending a road information detection instruction to the target road side unit, so that the target road side unit feeds back the current road information according to the road information detection instruction, wherein, the Road Side Unit (RSU) can be a device which is installed at the Road Side and adopts the LTE-V communication technology to communicate with the On Board Unit (OBU) to realize the vehicle-Road communication, and determining the current driving direction according to the current driving information, and determining the current driving state according to the current driving direction and the current road information.
It can be understood that the vehicle steering auxiliary device sends a road information detection instruction to the target road side unit, so that the target road side unit feeds back the current road information according to the road information detection instruction, the target road side unit can directly send the road detection instruction to the target road side unit through an LTE-V communication technology, and after receiving the road detection instruction, the target road side unit can directly read the current road information from a local storage and feed back the current road information to the vehicle steering auxiliary device through the LTE-V communication technology; the current road information may also be searched from a server, which is not limited in this embodiment.
It should be understood that, the determining, by the vehicle steering assist device, a current driving direction according to the current driving information, and determining a current driving state according to the current driving direction and the current road information may be determining the current driving direction according to course angle information of the current vehicle, determining a center point of the current vehicle according to longitude and latitude information of the current vehicle, determining an intersection center point according to longitude and latitude information of the current road center point, detecting a connection angle between a connection line between the center point of the current vehicle and the intersection center point and the current driving direction, and determining whether the connection angle is greater than a preset first threshold and is smaller than a preset second threshold at the same time, where the preset first threshold may be-90 °, the preset second threshold may be 90 °, and this embodiment is not limited; when the included angle of the connecting line is smaller than 90 degrees by minus 90 degrees, the current running state of the current vehicle is determined to be the state of the driving intersection; otherwise, the current driving state of the current vehicle is the state far away from the intersection.
Step S20: and when the current running state is a preset state, acquiring the vehicle information of the current road, and determining a vehicle to be steered according to the vehicle information and the current road information.
It should be noted that the preset state can be set according to the user's needs, and in this embodiment, the state of driving to the intersection is taken as an example;
the vehicle information may be vehicle number information of the current road, vehicle position information, and the like.
The vehicle steering assisting device acquires vehicle information of a current road when the current driving state is a preset state, and determines whether a vehicle to be steered can be a vehicle in the current driving state when the current driving state is the preset state according to the vehicle information and the current road information, and judges whether the vehicle in a preset area exists according to the vehicle information and the current road information, wherein the preset area can be a left-turning area determined by the vehicle steering assisting device according to a left-turning test, or a left-turning area set by a user according to driving habits, the embodiment is not limited to this, if the vehicle exists, the vehicle in the preset area is taken as the vehicle to be determined, and the driving direction information of the vehicle to be determined is acquired, wherein the driving direction information can be longitude and latitude information, speed information and the like of the vehicle to be determined, and determining the vehicle to be steered according to the driving direction information.
Step S30: and acquiring steering information of the vehicle to be steered, and determining first arrival time of the vehicle to be steered to the center of the current road according to the steering information and the current road information.
It should be noted that the steering information may be longitude and latitude information, speed information, steering lamp status information, and the like of the vehicle to be steered.
It should be understood that the vehicle steering assist apparatus acquiring steering information of the vehicle to be steered and determining a first arrival time of the vehicle to be steered to a current road center according to the steering information and the current road information may acquire the steering information of the vehicle to be steered, determining whether to enter a steering assist mode according to the current driving information and the steering information, and determining the first arrival time of the vehicle to be steered to the current road center according to the steering information and the current road information when entering the steering assist mode.
It can be understood that the determining, by the vehicle steering assist device, the first arrival time of the vehicle to be steered to the current road center according to the steering information and the current road information may be calculating, by using a preset time formula, the first arrival time of the vehicle to be steered to the current road center according to the longitude and latitude information of the vehicle to be steered and the longitude and latitude information of the current road center point, where the preset time formula is shown as follows:
Figure BDA0002474081670000071
Figure BDA0002474081670000072
wherein d is1The distance (x) of the vehicle to be steered to the center point of the intersection1,y1) (x) latitude and longitude information of the vehicle to be steered2,y2) As the longitude and latitude information of the current road center point, v1As speed information of the vehicle to be steered, t1Is the first arrival time of the vehicle to be steered to the current road center.
Step S40: and determining a steering early warning strategy according to the first arrival time, and performing vehicle steering assistance according to the steering early warning strategy.
It should be understood that the vehicle steering assist apparatus determining a steering pre-warning strategy according to the first arrival time, and performing vehicle steering assist according to the steering pre-warning strategy may be determining a second arrival time to the current road center according to the current driving information and the current road information, determining an arrival time difference according to the first arrival time and the second arrival time, determining a steering pre-warning strategy according to the arrival time difference, and performing vehicle steering assist according to the steering pre-warning strategy.
It can be understood that, the determining, by the vehicle steering assist device, the second arrival time at the current road center according to the current driving information and the current road information may be calculating, by using a preset time formula, the second arrival time at the current road center of the current vehicle according to the longitude and latitude information of the current vehicle and the longitude and latitude information of the current road center point, where the preset time formula is shown as follows:
Figure BDA0002474081670000081
Figure BDA0002474081670000082
wherein d is2(x) distance of the current vehicle to the center point of the intersection3,y3) As the latitude and longitude information of the current vehicle,(x2,y2) As the longitude and latitude information of the current road center point, v2As speed information of the current vehicle, t2Is a second arrival time at which the current vehicle arrives at the current road center.
It is to be understood that the determination of the arrival time difference by the vehicle steering assist apparatus from the first arrival time and the second arrival time may be an arrival time difference determined according to the following formula;
t＝|t1-t2|
where t is the time difference of arrival, t1Is the first arrival time, t, of the vehicle to be steered to the current road center2Is a second arrival time at which the current vehicle arrives at the current road center.
It should be understood that, the vehicle steering auxiliary device determines a steering early warning strategy according to the arrival time difference, and performs vehicle steering assistance according to the steering early warning strategy may be that whether the vehicle to be steered meets a preset early warning condition is judged according to the arrival time difference, when the preset early warning condition is met, a steering early warning strategy corresponding to the arrival time difference is searched in a preset mapping table, and vehicle steering assistance is performed according to the steering early warning strategy, where the mapping table includes a corresponding relationship between the arrival time difference and the steering early warning strategy.
In a first embodiment, current driving information and current road information are acquired, a current driving state is determined according to the current driving information and the current road information, when the current driving state is a preset state, vehicle information of a current road is acquired, a vehicle to be steered is determined according to the vehicle information and the current road information, steering information of the vehicle to be steered is acquired, first arrival time of the vehicle to be steered to a current road center is determined according to the steering information and the current road information, a steering early warning strategy is determined according to the first arrival time, and vehicle steering assistance is performed according to the steering early warning strategy; this embodiment is through the integration of vehicle road communication and car communication to can effectively promote the accuracy that the early warning triggered, reduce early warning misstatement rate, improve driver's driving experience.
Referring to fig. 3, fig. 3 is a schematic flow chart of a vehicle steering assist method according to a second embodiment of the present invention, which is proposed based on the first embodiment shown in fig. 2.
In the second embodiment, the step S10 includes:
step S101: and acquiring current driving information and current road information.
It should be noted that the current driving information may be longitude and latitude information, heading angle information, vehicle speed information, turn signal status information, and the like of the current vehicle;
the current road information can be longitude and latitude information of a current road center point, lane number information of an intersection, lane width information and the like.
It should be understood that the vehicle steering assist apparatus may acquire current driving information and current road information by acquiring current driving information, determining a target road side unit according to the current driving information, and sending a road information detection instruction to the target road side unit to enable the target road side unit to feed back the current road information according to the road information detection instruction. The Road Side Unit (RSU) may be a device that is installed On the Road Side, and communicates with an On Board Unit (OBU) by using an LTE-V communication technology to implement vehicle-to-vehicle communication.
It should be understood that, the determining, by the vehicle steering assist device, a target road side unit according to the current driving information may be determining a target road section to be reached by the current vehicle according to longitude and latitude information, course angle information, and vehicle speed information of the current vehicle, searching for a road test unit corresponding to the target road section, taking the road test unit corresponding to the target road section as a road test unit to be selected, then obtaining a linear distance between the road side unit to be selected and the current vehicle, and determining the target road side unit according to the linear distance.
It can be understood that the vehicle steering auxiliary device sends a road information detection instruction to the target road side unit, so that the target road side unit feeds back the current road information according to the road information detection instruction, the target road side unit can directly send the road detection instruction to the target road side unit through an LTE-V communication technology, and after receiving the road detection instruction, the target road side unit can directly read the current road information from a local storage and feed back the current road information to the vehicle steering auxiliary device through the LTE-V communication technology; the current road information may also be searched from a server, which is not limited in this embodiment.
Step S102: and determining the current driving direction according to the current driving information, and determining the current driving state according to the current driving direction and the current road information.
It should be understood that, the determining, by the vehicle steering assist device, a current driving direction according to the current driving information, and determining a current driving state according to the current driving direction and the current road information may be determining the current driving direction according to course angle information of the current vehicle, determining a center point of the current vehicle according to longitude and latitude information of the current vehicle, determining an intersection center point according to longitude and latitude information of the current road center point, detecting a connection angle between a connection line between the center point of the current vehicle and the intersection center point and the current driving direction, and determining whether the connection angle is greater than a preset first threshold and is smaller than a preset second threshold at the same time, where the preset first threshold may be-90 °, the preset second threshold may be 90 °, and this embodiment is not limited; when the included angle of the connecting line is smaller than 90 degrees by minus 90 degrees, the current running state of the current vehicle is determined to be the state of the driving intersection; otherwise, the current driving state of the current vehicle is the state far away from the intersection.
In the second embodiment, the step S20 includes:
step S201: and when the current driving state is a preset state, acquiring vehicle information of a current road, and judging whether vehicles in a preset area exist according to the vehicle information and the current road information.
It should be noted that the preset state can be set according to the user's needs, and in this embodiment, the state of driving to the intersection is taken as an example;
the vehicle information may be vehicle number information, vehicle position information, and the like of the current road;
the preset area may be a left-turn area determined by the vehicle steering auxiliary device according to a left-turn steering test, or a left-turn area set by a user according to driving habits, which is not limited in this embodiment.
It is to be understood that the Vehicle steering assist apparatus acquires Vehicle information of a current road, and determines whether there is a Vehicle located in a preset area based on the Vehicle information and the current road information may directly acquire the Vehicle information of the current road through a Vehicle-to-Vehicle (V2V) technique, and determine whether there is a Vehicle located in the preset area based on the Vehicle position information, the intersection lane number information, and the lane width information.
Step S202: and if so, taking the vehicle positioned in the preset area as a vehicle to be judged.
It is understood that the vehicle steering assist apparatus regards a vehicle located in a preset area as a vehicle to be determined when the vehicle is present in the preset area.
Step S203: and acquiring the driving direction information of the vehicle to be determined, and determining the vehicle to be steered according to the driving direction information.
The driving direction information may be longitude and latitude information, speed information, and the like of the vehicle to be determined.
It is to be understood that the vehicle steering assist apparatus may determine, based on the travel direction information, whether the vehicle to be determined is on a steering lane or is about to enter the steering lane, based on the longitude and latitude information and the speed information, and regard the vehicle to be determined as the vehicle to be steered when the vehicle to be determined is on the steering lane or is about to enter the steering lane.
In the second embodiment, the step S30 includes:
step S301: and acquiring the steering information of the vehicle to be steered, and judging whether to enter a steering auxiliary mode according to the current driving information and the steering information.
It should be noted that the steering information may be longitude and latitude information, speed information, steering lamp status information, and the like of the vehicle to be steered.
It is understandable that, the vehicle steering assist apparatus determining whether to enter the steering assist mode according to the current driving information and the steering information may determine whether to enter the steering assist mode according to the turn lamp state information of the current vehicle and the turn lamp state information of the vehicle to be steered.
Step S302: and when the vehicle enters the steering auxiliary mode, determining the first arrival time of the vehicle to be steered to the center of the current road according to the steering information and the current road information.
It should be understood that the steering assist mode is entered when the turn signal state of the present vehicle is a left turn state and the turn signal state of the vehicle to be steered is also a left turn state.
It can be understood that the determining, by the vehicle steering assist device, the first arrival time of the vehicle to be steered to the current road center according to the steering information and the current road information may be calculating, by using a preset time formula, the first arrival time of the vehicle to be steered to the current road center according to the longitude and latitude information of the vehicle to be steered and the longitude and latitude information of the current road center point, where the preset time formula is shown as follows:
Figure BDA0002474081670000121
Figure BDA0002474081670000122
wherein d is1The distance (x) of the vehicle to be steered to the center point of the intersection1,y1) (x) latitude and longitude information of the vehicle to be steered2,y2) As the current road center pointLatitude and longitude information, v1As speed information of the vehicle to be steered, t1Is the first arrival time of the vehicle to be steered to the current road center.
In the second embodiment, before the step S40, the method further includes:
step S401: and determining a second arrival time for reaching the current road center according to the current driving information and the current road information.
It should be understood that the determining, by the vehicle steering assist apparatus, the second arrival time at the current road center according to the current driving information and the current road information may be calculating, by using a preset time formula, the second arrival time at the current road center of the current vehicle according to the longitude and latitude information of the current vehicle and the longitude and latitude information of the current road center point, where the preset time formula is shown as follows:
Figure BDA0002474081670000123
Figure BDA0002474081670000124
wherein d is2(x) distance of the current vehicle to the center point of the intersection3,y3) (x) longitude and latitude information of the current vehicle2,y2) As the longitude and latitude information of the current road center point, v2As speed information of the current vehicle, t2Is a second arrival time at which the current vehicle arrives at the current road center.
Step S402: and determining an arrival time difference according to the first arrival time and the second arrival time.
It is to be understood that the determination of the arrival time difference by the vehicle steering assist apparatus from the first arrival time and the second arrival time may be an arrival time difference determined according to the following formula;
t＝|t1-t2|
where t is the time difference of arrival, t1Is the first arrival time, t, of the vehicle to be steered to the current road center2Is a second arrival time at which the current vehicle arrives at the current road center.
Accordingly, the step S40 includes:
step S40': and determining a steering early warning strategy according to the arrival time difference, and performing vehicle steering assistance according to the steering early warning strategy.
It should be understood that, the vehicle steering auxiliary device determines a steering early warning strategy according to the arrival time difference, and performs vehicle steering assistance according to the steering early warning strategy may be that whether the vehicle to be steered meets a preset early warning condition is judged according to the arrival time difference, when the preset early warning condition is met, a steering early warning strategy corresponding to the arrival time difference is searched in a preset mapping table, and vehicle steering assistance is performed according to the steering early warning strategy, where the mapping table includes a corresponding relationship between the arrival time difference and the steering early warning strategy.
Further, the step S40' includes:
judging whether the vehicle to be steered meets a preset early warning condition or not according to the arrival time difference;
and when a preset early warning condition is met, searching a steering early warning strategy corresponding to the arrival time difference in a preset mapping relation table, and performing vehicle steering assistance according to the steering early warning strategy, wherein the mapping relation table comprises the corresponding relation between the arrival time difference and the steering early warning strategy.
It should be noted that the preset early warning condition may be a preset time threshold, and the preset time threshold may be an optimal time value set by the manufacturer of the vehicle steering assistance device according to the collision risk test result, or may be set by the user according to the actual situation, which is exemplified by 3S in this embodiment.
It is to be understood that the vehicle steering assist apparatus determining whether the vehicle to be steered satisfies a preset warning condition according to the arrival time difference may be determining whether t satisfies t < 3S.
Understandably, when t <3S, a steering early warning strategy corresponding to the arrival time difference is searched in a preset mapping relation table, and vehicle steering assistance is carried out according to the steering early warning strategy, wherein the mapping relation table comprises the corresponding relation between the arrival time difference and the steering early warning strategy.
In the second embodiment, by acquiring current running information and current road information, determining a current running direction from the current running information and the current road information, and determining a current running state from the current running direction, when the current running state is a preset state, acquiring vehicle information of a current road, and judging whether a vehicle located in a preset area exists according to the vehicle information and the current road information, if so, regarding the vehicle located in the preset area as a vehicle to be judged, acquiring running direction information of the vehicle to be judged, and determining a vehicle to be steered according to the running direction information, acquiring steering information of the vehicle to be steered, judging whether to enter a steering assist mode according to the current running information and the steering information, when entering the steering assist mode, determining first arrival time of the vehicle to be steered to a current road center according to the steering information and the current road information, determining second arrival time of the vehicle to be steered to the current road center according to the current driving information and the current road information, determining arrival time difference according to the first arrival time and the second arrival time, determining a steering early warning strategy according to the arrival time difference, and assisting vehicle steering according to the steering early warning strategy; therefore, whether the vehicle is in a steering auxiliary mode or not can be judged by utilizing the current running information and the current road information, the accuracy of early warning triggering is improved, and the user experience is improved.
Referring to fig. 4, fig. 4 is a flowchart illustrating a third embodiment of the vehicle steering assist method according to the present invention, which is proposed based on the second embodiment shown in fig. 3.
In a third embodiment, the step S101 includes:
step S1011: and acquiring current driving information, and determining a target road side unit according to the current driving information.
It should be noted that the current driving information may be longitude and latitude information, heading angle information, vehicle speed information, turn signal information, and the like of the current vehicle;
the Road Side Unit (RSU) may be a device that is installed On the Road Side and communicates with an On Board Unit (OBU) by using an LTE-V communication technology to implement vehicle-to-vehicle communication.
It should be understood that, the determining, by the vehicle steering assist device, a target road side unit according to the current driving information may be determining a target road section to be reached by the current vehicle according to longitude and latitude information, course angle information, and vehicle speed information of the current vehicle, searching for a road test unit corresponding to the target road section, taking the road test unit corresponding to the target road section as a road test unit to be selected, then obtaining a linear distance between the road side unit to be selected and the current vehicle, and determining the target road side unit according to the linear distance.
Step S1012: and sending a road information detection instruction to the target road side unit so that the target road side unit feeds back the current road information according to the road information detection instruction.
It should be noted that the current road information may be longitude and latitude information of a current road center point, intersection lane number information, lane width information, and the like.
It can be understood that the vehicle steering auxiliary device sends a road information detection instruction to the target road side unit, so that the target road side unit feeds back the current road information according to the road information detection instruction, the target road side unit can directly send the road detection instruction to the target road side unit through an LTE-V communication technology, and after receiving the road detection instruction, the target road side unit can directly read the current road information from a local storage and feed back the current road information to the vehicle steering auxiliary device through the LTE-V communication technology; the current road information may also be searched from a server, which is not limited in this embodiment.
In a third embodiment, current driving information is acquired, a target road side unit is determined according to the current driving information, and a road information detection instruction is sent to the target road side unit, so that the target road side unit feeds back the current road information according to the road information detection instruction, and therefore the current road information can be acquired through vehicle-to-vehicle communication, and the accuracy of the road information is improved.
Furthermore, an embodiment of the present invention also provides a storage medium having a vehicle steering assist program stored thereon, which when executed by a processor implements the steps of the vehicle steering assist method as described above.
Further, referring to fig. 5, an embodiment of the present invention also proposes a vehicle steering assist device including: the method comprises the following steps that a current running state determining module 10, a vehicle to be steered determining module 20, a first arrival time determining module 30 and a monitoring module 40 are adopted;
the current driving state determining module 10 is configured to obtain current driving information and current road information, and determine a current driving state according to the current driving information and the current road information.
It should be understood that the executing subject of the present embodiment is the vehicle steering assist device, wherein the vehicle steering assist device may be an electronic device such as an on-board computer, an on-board controller, or a server having the functions of vehicle-to-vehicle communication, vehicle-to-road communication, and the like, and the present embodiment is not limited thereto.
It should be noted that the current driving information may be longitude and latitude information, heading angle information, vehicle speed information, turn signal information, and the like of the current vehicle;
the current road information can be longitude and latitude information of a current road center point, lane number information of an intersection, lane width information and the like.
It should be understood that the vehicle steering assist apparatus acquiring current driving information and current road information and determining a current driving state according to the current driving information and the current road information may acquire current driving information and determine a target road side unit according to the current driving information, and send a road information detection instruction to the target road side unit to cause the target road side unit to feed back the current road information according to the road information detection instruction. The Road Side Unit (RSU) may be a device installed On the Road Side, and communicates with an On Board Unit (OBU) by using an LTE-V communication technology to implement vehicle-Road communication, and determines a current driving direction according to the current driving information, and determines a current driving state according to the current driving direction and the current Road information.
It can be understood that the vehicle steering auxiliary device sends a road information detection instruction to the target road side unit, so that the target road side unit feeds back the current road information according to the road information detection instruction, the target road side unit can directly send the road detection instruction to the target road side unit through an LTE-V communication technology, and after receiving the road detection instruction, the target road side unit can directly read the current road information from a local storage and feed back the current road information to the vehicle steering auxiliary device through the LTE-V communication technology; the current road information may also be searched from a server, which is not limited in this embodiment.
It should be understood that, the determining, by the vehicle steering assist device, a current driving direction according to the current driving information, and determining a current driving state according to the current driving direction and the current road information may be determining the current driving direction according to course angle information of the current vehicle, determining a center point of the current vehicle according to longitude and latitude information of the current vehicle, determining an intersection center point according to longitude and latitude information of the current road center point, detecting a connection angle between a connection line between the center point of the current vehicle and the intersection center point and the current driving direction, and determining whether the connection angle is greater than a preset first threshold and is smaller than a preset second threshold at the same time, where the preset first threshold may be-90 °, the preset second threshold may be 90 °, and this embodiment is not limited; when the included angle of the connecting line is smaller than 90 degrees by minus 90 degrees, the current running state of the current vehicle is determined to be the state of the driving intersection; otherwise, the current driving state of the current vehicle is the state far away from the intersection.
The to-be-steered vehicle determining module 20 is configured to, when the current driving state is a preset state, obtain vehicle information of a current road, and determine a to-be-steered vehicle according to the vehicle information and the current road information.
It should be noted that the preset state can be set according to the user's needs, and in this embodiment, the state of driving to the intersection is taken as an example;
the vehicle information may be vehicle number information of the current road, vehicle position information, and the like.
The vehicle steering assisting device acquires vehicle information of a current road when the current driving state is a preset state, and determines whether a vehicle to be steered can be a vehicle in the current driving state when the current driving state is the preset state according to the vehicle information and the current road information, and judges whether the vehicle in a preset area exists according to the vehicle information and the current road information, wherein the preset area can be a left-turning area determined by the vehicle steering assisting device according to a left-turning test, or a left-turning area set by a user according to driving habits, the embodiment is not limited to this, if the vehicle exists, the vehicle in the preset area is taken as the vehicle to be determined, and the driving direction information of the vehicle to be determined is acquired, wherein the driving direction information can be longitude and latitude information, speed information and the like of the vehicle to be determined, and determining the vehicle to be steered according to the driving direction information.
The first arrival time determining module 30 is configured to obtain steering information of the vehicle to be steered, and determine a first arrival time at which the vehicle to be steered arrives at the center of the current road according to the steering information and the current road information.
It should be noted that the steering information may be longitude and latitude information, speed information, steering lamp status information, and the like of the vehicle to be steered.
It should be understood that the vehicle steering assist apparatus acquiring steering information of the vehicle to be steered and determining a first arrival time of the vehicle to be steered to a current road center according to the steering information and the current road information may acquire the steering information of the vehicle to be steered, determining whether to enter a steering assist mode according to the current driving information and the steering information, and determining the first arrival time of the vehicle to be steered to the current road center according to the steering information and the current road information when entering the steering assist mode.
It can be understood that the determining, by the vehicle steering assist device, the first arrival time of the vehicle to be steered to the current road center according to the steering information and the current road information may be calculating, by using a preset time formula, the first arrival time of the vehicle to be steered to the current road center according to the longitude and latitude information of the vehicle to be steered and the longitude and latitude information of the current road center point, where the preset time formula is shown as follows:
Figure BDA0002474081670000171
Figure BDA0002474081670000172
wherein d is1The distance (x) of the vehicle to be steered to the center point of the intersection1,y1) (x) latitude and longitude information of the vehicle to be steered2,y2) As the longitude and latitude information of the current road center point, v1As speed information of the vehicle to be steered, t1Is the first arrival time of the vehicle to be steered to the current road center.
And the vehicle steering auxiliary module 40 is configured to determine a steering early warning strategy according to the first arrival time, and perform vehicle steering assistance according to the steering early warning strategy.
It should be understood that the vehicle steering assist apparatus determining a steering pre-warning strategy according to the first arrival time, and performing vehicle steering assist according to the steering pre-warning strategy may be determining a second arrival time to the current road center according to the current driving information and the current road information, determining an arrival time difference according to the first arrival time and the second arrival time, determining a steering pre-warning strategy according to the arrival time difference, and performing vehicle steering assist according to the steering pre-warning strategy.
It can be understood that, the determining, by the vehicle steering assist device, the second arrival time at the current road center according to the current driving information and the current road information may be calculating, by using a preset time formula, the second arrival time at the current road center of the current vehicle according to the longitude and latitude information of the current vehicle and the longitude and latitude information of the current road center point, where the preset time formula is shown as follows:
Figure BDA0002474081670000181
Figure BDA0002474081670000182
wherein d is2(x) distance of the current vehicle to the center point of the intersection3,y3) (x) longitude and latitude information of the current vehicle2,y2) As the longitude and latitude information of the current road center point, v2As speed information of the current vehicle, t2Is a second arrival time at which the current vehicle arrives at the current road center.
It is to be understood that the determination of the arrival time difference by the vehicle steering assist apparatus from the first arrival time and the second arrival time may be an arrival time difference determined according to the following formula;
t＝|t1-t2|
where t is the time difference of arrival, t1Is the first arrival time, t, of the vehicle to be steered to the current road center2Is a second arrival time at which the current vehicle arrives at the current road center.
It should be understood that, the vehicle steering auxiliary device determines a steering early warning strategy according to the arrival time difference, and performs vehicle steering assistance according to the steering early warning strategy may be that whether the vehicle to be steered meets a preset early warning condition is judged according to the arrival time difference, when the preset early warning condition is met, a steering early warning strategy corresponding to the arrival time difference is searched in a preset mapping table, and vehicle steering assistance is performed according to the steering early warning strategy, where the mapping table includes a corresponding relationship between the arrival time difference and the steering early warning strategy.
In the embodiment, current driving information and current road information are acquired, a current driving state is determined according to the current driving information and the current road information, when the current driving state is a preset state, vehicle information of a current road is acquired, a vehicle to be steered is determined according to the vehicle information and the current road information, steering information of the vehicle to be steered is acquired, first arrival time of the vehicle to be steered to a current road center is determined according to the steering information and the current road information, a steering early warning strategy is determined according to the first arrival time, and vehicle steering assistance is performed according to the steering early warning strategy; this embodiment is through the integration of vehicle road communication and car communication to can effectively promote the accuracy that the early warning triggered, reduce early warning misstatement rate, improve driver's driving experience.
In an embodiment, the current driving state determining module is further configured to obtain current driving information and current road information, determine a current driving direction according to the current driving information and the current road information, and determine a current driving state according to the current driving direction;
in an embodiment, the current driving state determining module is further configured to obtain current driving information, determine a target road side unit according to the current driving information, and send a road information detection instruction to the target road side unit, so that the target road side unit feeds back current road information according to the road information detection instruction;
in an embodiment, the to-be-steered vehicle determining module is further configured to, when the current driving state is a preset state, obtain vehicle information of a current road, and determine whether a vehicle located in a preset area exists according to the vehicle information and the current road information, if so, take the vehicle located in the preset area as a to-be-determined vehicle, obtain driving direction information of the to-be-determined vehicle, and determine the to-be-steered vehicle according to the driving direction information;
in an embodiment, the first arrival time determining module is further configured to obtain steering information of the vehicle to be steered, determine whether to enter a steering assist mode according to the current driving information and the steering information, and determine a first arrival time at which the vehicle to be steered arrives at a current road center according to the steering information and the current road information when entering the steering assist mode;
in one embodiment, the vehicle steering assist device further includes: a time difference of arrival determination module;
the arrival time difference determination is used for determining a second arrival time for reaching the current road center according to the current driving information and the current road information, and determining an arrival time difference according to the first arrival time and the second arrival time;
in an embodiment, the monitoring module is further configured to determine whether the vehicle to be steered meets an early warning condition according to the arrival time difference, search a steering early warning policy corresponding to the arrival time difference in a preset mapping table when the early warning condition is met, and assist steering of the vehicle according to the steering early warning policy, where the mapping table includes a correspondence between the arrival time difference and the steering early warning policy.
Other embodiments or specific implementations of the vehicle steering assist device according to the present invention may refer to the above method embodiments, and are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order, but rather the words first, second, third, etc. are to be interpreted as names.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be substantially implemented or a part contributing to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g., a Read Only Memory (ROM)/Random Access Memory (RAM), a magnetic disk, an optical disk), and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. A vehicle steering assist method characterized by comprising the steps of:
acquiring current driving information and current road information, and determining a current driving state according to the current driving information and the current road information;
when the current driving state is a preset state, acquiring vehicle information of a current road, and determining a vehicle to be steered according to the vehicle information and the current road information;
acquiring steering information of the vehicle to be steered, and determining first arrival time of the vehicle to be steered to a current road center according to the steering information and the current road information;
and determining a steering early warning strategy according to the first arrival time, and performing vehicle steering assistance according to the steering early warning strategy.
2. The vehicle steering assist method according to claim 1, wherein the step of acquiring current travel information and current road information and determining a current travel state based on the current travel information and the current road information specifically includes:
acquiring current driving information and current road information;
and determining the current driving direction according to the current driving information, and determining the current driving state according to the current driving direction and the current road information.
3. The vehicle steering assist method according to claim 2, wherein the step of acquiring the current travel information and the current road information specifically includes:
acquiring current driving information, and determining a target road side unit according to the current driving information;
and sending a road information detection instruction to the target road side unit so that the target road side unit feeds back the current road information according to the road information detection instruction.
4. The vehicle steering assist method according to claim 1, wherein the step of acquiring vehicle information of a current road and determining a vehicle to be steered according to the vehicle information and the current road information when the current driving state is a preset state specifically comprises:
when the current driving state is a preset state, acquiring vehicle information of a current road, and judging whether a vehicle positioned in a preset area exists according to the vehicle information and the current road information;
if the vehicle exists, taking the vehicle positioned in the preset area as a vehicle to be judged;
and acquiring the driving direction information of the vehicle to be determined, and determining the vehicle to be steered according to the driving direction information.
5. The vehicle steering assist method according to claim 1, wherein the step of obtaining the steering information of the vehicle to be steered and determining a first arrival time of the vehicle to be steered to the center of the current road according to the steering information and the current road information specifically comprises:
acquiring steering information of the vehicle to be steered, and judging whether to enter a steering auxiliary mode according to the current driving information and the steering information;
and when the vehicle enters the steering auxiliary mode, determining the first arrival time of the vehicle to be steered to the center of the current road according to the steering information and the current road information.
6. The vehicle steering assist method according to claim 5, wherein before the step of determining a steering warning strategy according to the first arrival time and performing vehicle steering assist according to the steering warning strategy, the method specifically comprises:
determining second arrival time for reaching the current road center according to the current driving information and the current road information;
determining an arrival time difference according to the first arrival time and the second arrival time;
correspondingly, the step of determining a steering early warning strategy according to the first arrival time and performing vehicle steering assistance according to the steering early warning strategy specifically comprises:
and determining a steering early warning strategy according to the arrival time difference, and performing vehicle steering assistance according to the steering early warning strategy.
7. The vehicle steering assist method according to claim 6, wherein the step of determining a steering warning strategy according to the arrival time difference and performing vehicle steering assist according to the steering warning strategy specifically comprises:
judging whether the vehicle to be steered meets a preset early warning condition or not according to the arrival time difference;
and when a preset early warning condition is met, searching a steering early warning strategy corresponding to the arrival time difference in a preset mapping relation table, and performing vehicle steering assistance according to the steering early warning strategy, wherein the mapping relation table comprises the corresponding relation between the arrival time difference and the steering early warning strategy.
8. A vehicle steering assist apparatus, characterized by comprising: memory, a processor and a vehicle steering assist program stored on the memory and executable on the processor, the vehicle steering assist program when executed by the processor implementing the steps of the vehicle steering assist method according to any one of claims 1 to 7.
9. A storage medium characterized in that the storage medium has stored thereon a vehicle steering assist program that, when executed by a processor, implements the steps of the vehicle steering assist method according to any one of claims 1 to 7.
10. A vehicle steering assist device, characterized by comprising: the device comprises a current running state determining module, a vehicle to be steered determining module, a first arrival time determining module and a monitoring module;
the current driving state determining module is used for acquiring current driving information and current road information and determining a current driving state according to the current driving information and the current road information;
the vehicle to be steered determining module is used for acquiring vehicle information of a current road when the current driving state is a preset state, and determining a vehicle to be steered according to the vehicle information and the current road information;
the first arrival time determining module is used for acquiring steering information of the vehicle to be steered and determining first arrival time of the vehicle to be steered to the center of the current road according to the steering information and the current road information;
and the vehicle steering auxiliary module is used for determining a steering early warning strategy according to the first arrival time and performing vehicle steering auxiliary according to the steering early warning strategy.
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