CN112449324A - Driving assistance method, terminal and driving assistance system - Google Patents
Driving assistance method, terminal and driving assistance system Download PDFInfo
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- CN112449324A CN112449324A CN201910797435.6A CN201910797435A CN112449324A CN 112449324 A CN112449324 A CN 112449324A CN 201910797435 A CN201910797435 A CN 201910797435A CN 112449324 A CN112449324 A CN 112449324A
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- 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]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
- H04B17/318—Received signal strength
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Abstract
The invention discloses a driving assisting method, a terminal and a driving assisting system. The method comprises the following steps: the first terminal or the second terminal sends a first V2X signal; the second terminal or the first terminal receives the first V2X signal and detects the signal strength of the first V2X signal; feeding back the signal strength as a second V2X signal to the first terminal or the second terminal; the first terminal or the second terminal receives the second V2X signal and acquires the signal strength in the second V2X signal; the first terminal or the second terminal judges the signal intensity change state according to the signal intensity, the signal intensity changes, and prompt information is sent; and the second terminal or the first terminal receives the prompt message. According to the invention, the distance change among different vehicles is judged through the signal intensity change of the V2X signal, the method is not limited by the mobile data network quality, the auxiliary driving mode is ensured to be uninterrupted, the auxiliary driving reliability is improved, and the user experience is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of communication, in particular to a driving assisting method, a driving assisting terminal, a driving assisting system and a computer-readable storage medium.
Background
With the continuous development of terminal technology, the functions of the terminal are more and more, and the application is more and more extensive. For example, the mobile terminal is applied to vehicle-assisted driving. Currently, a mobile terminal implements driving assistance by the following method: the method comprises the steps that a target mobile terminal corresponding to a target vehicle obtains the position of the target mobile terminal in real time according to a Global Positioning System (GPS), and receives the position of the surrounding vehicle sent by the mobile terminal corresponding to the surrounding vehicle; the target mobile terminal judges the real-time distance between the target vehicle and the surrounding vehicles according to the position of the target mobile terminal and the positions of the surrounding vehicles; when the real-time distance is decreasing, the target mobile terminal sends prompt information to the mobile terminals corresponding to the surrounding vehicles to inform the surrounding vehicles that the target vehicles are approaching; thereby realizing the function of assisting driving and achieving the effect of improving driving safety.
In the process of implementing the technical scheme, the inventor finds that the prior art at least has the following problems: in the prior art, when sending the prompt information, the prompt information is sent to all mobile terminals in the surrounding area, but the prompt information does not need to be sent to all mobile terminals in the surrounding area in the driving process of the vehicle, for example, two vehicles with different driving directions and different driving paths do not need to send the prompt information to each other; the prompt information is frequently sent, and the influence on a driver receiving the prompt information is inevitable, so that the driving safety is reduced. In addition, the existing driving assistance scheme can be realized only by requiring connection with a mobile data network, so that if a vehicle runs in a tunnel, a cave and other areas without networks, the existing driving assistance technology cannot be realized or information is delayed, thereby reducing driving safety and reliability of the driving assistance scheme.
Disclosure of Invention
The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.
The embodiment of the invention provides a driving assisting method, a driving assisting system, a driving assisting terminal and a computer readable storage medium, which are not limited by the quality of a mobile data network, and the reliability of driving assisting is improved, so that the use experience of a user can be improved.
In a first aspect, a driving assistance method, applied to a terminal, includes,
sending a first V2X signal;
receiving a second V2X signal fed back by an opposite terminal, and acquiring the signal strength in the second V2X signal; the signal strength is the signal strength of the first V2X signal when the opposite end is received;
judging the signal intensity change state according to the acquired signal intensity, and sending prompt information when the signal intensity changes;
and the number of the first and second groups,
receiving a first V2X signal sent by an opposite terminal, and detecting the signal strength of the first V2X signal;
feeding back the detected signal strength to an opposite terminal as a second V2X signal;
and receiving prompt information sent by the opposite terminal according to the change of the signal strength.
In a second aspect, an embodiment of the present invention further provides a driving assistance method, applied to a driving assistance system, including:
the first terminal or the second terminal sends a first V2X signal;
a second terminal or a first terminal receives the first V2X signal and detects the signal strength of the first V2X signal; feeding back the signal strength as a second V2X signal to the first terminal or the second terminal;
the first terminal or the second terminal receives the second V2X signal and acquires the first signal strength in the second V2X signal;
the first terminal or the second terminal judges the signal intensity change state according to the signal intensity, and sends prompt information when the signal intensity changes;
and the second terminal or the first terminal receives the prompt message.
In a third aspect, an embodiment of the present invention further provides a terminal, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the driving assistance method according to the first aspect when executing the computer program.
In a fourth aspect, an embodiment of the present invention further provides a driving assistance system, including a first terminal and a second terminal;
the first terminal or the second terminal sends a first V2X signal;
a second terminal or a first terminal receives the first V2X signal and detects the signal strength of the first V2X signal; feeding back the signal strength as a second V2X signal to the first terminal or the second terminal;
the first terminal or the second terminal receives the second V2X signal and acquires the first signal strength in the second V2X signal;
the first terminal or the second terminal judges the signal intensity change state according to the signal intensity, and sends prompt information when the signal intensity changes;
and the second terminal or the first terminal receives the prompt message.
In a fifth aspect, the embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions for executing the driving assistance method according to the first aspect or for executing the driving assistance method according to the second aspect.
According to the embodiment of the invention, the opposite terminal is used for sending the V2X signal, the signal intensity of the V2X signal is detected for many times, and the prompt information is sent when the signal intensity changes, so that the positive change of the distance between the vehicles where the terminal is located is prompted, the driving of a user is assisted, and the driving safety is further improved. The distance change between different vehicles is judged through the V2X signal, compared with the use of a mobile data network, the auxiliary driving method is still feasible without requiring that the terminal is necessarily in the coverage range of the mobile data network, even in tunnels, mountains or other places where the mobile data network cannot cover, so that the realization of auxiliary driving is not limited by the quality of the mobile data network, the driver is ensured to drive in an auxiliary driving mode all the time, the reliability of auxiliary driving is improved, and the user experience is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is a flowchart of a driving assistance method according to an embodiment of the present invention in a first direction;
FIG. 2 is a flowchart of a driving assistance method according to an embodiment of the present invention in a second direction;
fig. 3 is a flowchart of a driving assistance method according to a second embodiment of the present invention in a first direction;
fig. 4 is a flowchart for explaining whether different vehicles travel in the same direction according to a second embodiment of the present invention;
fig. 5 is a flowchart of a driving assistance method according to a third embodiment of the present invention in a first direction;
fig. 6 is a flowchart for determining whether different vehicles travel along the same route when the vehicle travels straight according to a third embodiment of the present invention;
fig. 7 is a schematic view of a travel path of different vehicles when the vehicles travel in a straight line according to a third embodiment of the present invention;
fig. 8 is a schematic diagram of a travel path of different vehicles when the vehicle travels in a curve according to a third embodiment of the present invention;
fig. 9 is a flowchart for determining whether different vehicles travel along the same route when the vehicle travels along a curve according to a third embodiment of the present invention;
fig. 10 is a flowchart of a driving assistance method according to a fourth embodiment of the present invention in a first direction;
fig. 11 is a flowchart of a driving assistance method according to a fifth embodiment of the present invention in a first direction;
fig. 12 is a block diagram of a terminal according to a sixth embodiment of the present invention;
fig. 13 is a block diagram of a driving assistance system according to a seventh embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that the terms first, second and the like in the description and in the claims, and in the drawings described above, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
At present, the driving assistance scheme needs to be connected with a mobile data network to realize the judgment of the change trend of the real-time distance, and is limited by the quality of the mobile data network, so that the driving assistance technology cannot be realized or information is delayed, thereby reducing the driving safety and the reliability of the driving assistance scheme and influencing the use experience of a user.
Based on this, the embodiment of the invention provides an auxiliary driving method, a terminal, an auxiliary driving system and a computer readable storage medium, wherein a scheme of auxiliary driving is realized by applying a V2X (Vehicle to outside information exchange) technology, and a signal intensity variation trend of a V2X signal is used for judging distance variation between different traffic volumes, so that limitation to mobile data network quality is avoided, the driving safety effect and the reliability of the auxiliary driving scheme are improved, and the use experience of a user is improved.
The invention will be further elucidated with reference to the drawing.
The first embodiment.
As shown in fig. 1 and fig. 2, fig. 1 is a flow chart of a driving assistance method provided in the present embodiment in a first direction; fig. 2 is a flowchart of a driving assistance method according to the present embodiment in a second direction, the method including:
in the first direction, the first and second guide rails are arranged in parallel,
and step S100, sending a first V2X signal.
In this embodiment, the first V2X signal includes but is not limited to: a wireless fidelity signal, a wireless bluetooth signal, or a wireless WiFi signal.
In one embodiment, the manner of sending the first V2X signal includes, but is not limited to:
sending in real time;
sending periodically;
setting a plurality of preset time periods with different durations, and sending the time periods once every other preset time period.
In one embodiment, before sending the first V2X signal, including but not limited to:
judging the current road condition of the vehicle, and when the traffic flow is large, starting to send a first V2X signal to enter an auxiliary driving mode; when the traffic flow is relatively low, the first V2X signal is not sent. In this embodiment, the judgment of the traffic volume is based on the first V2X signal quantity received in real time, and the traffic volume of the first V2X signal quantity received is larger.
S200, receiving a second V2X signal fed back by an opposite terminal, and acquiring the signal intensity of the second V2X signal; the signal strength is the signal strength of the first V2X signal when received at the peer.
In the present embodiment, since the signal intensity of the V2X signal at a certain position is related to the distance from the position to the V2X signal transmission point, the signal intensity in the V2X signal attenuates as the distance increases. Therefore, after the first V2X signal transmitted by this implementation is received by all terminals in its radiation range applied to this method, the signal strength of this first V2X signal at this terminal has been attenuated. The receiving terminal detects the signal strength of the first V2X signal at the receiving terminal when the first V2X signal is received, feeds back the signal strength through the second V2X signal, and acquires the signal strength when the second V2X signal is received.
Step S300, judging the signal intensity change state according to the acquired signal intensity, and if the signal intensity changes (preferably, sending prompt information when the signal intensity is enhanced), sending prompt information, wherein the prompt information is used for indicating the distance change between different vehicles; otherwise, steps S100 to S300 are executed in a loop.
In this embodiment, the signal intensity change may be a change between two previous signal intensities or a change trend of the signal intensity, where the change trend is an enhancement trend or an attenuation trend; and judging the change trend of the signal intensity according to the signal intensity obtained for multiple times in sequence, and determining whether to send prompt information according to the change trend of the signal intensity. The change trend of the signal intensity is an enhancement trend, and prompt information is sent; the signal strength is not necessarily obtained continuously, but may be obtained at a plurality of times sequentially, as long as the time point of obtaining each signal strength is increased.
Further, taking the example of periodically sending the first V2X signal as an example, how to determine the variation trend of the signal strength variation in the present embodiment is described, including but not limited to the following steps:
periodically transmitting a first V2X;
within a preset time period (in this embodiment, a preset time period includes N cycles), detecting the second signal strength when the feedback second V2X signal is received, and sequentially obtaining N +1 signal strength values R0、R1、R2、R3、……、RN(ii) a When R is0、R1、R2、R3、……、RNWhen the numerical value of (1) is an enhancement trend, the signal intensity is in the enhancement trend; when R is0、R1、R2、R3、……、RNWhen the value of (1) is a decay trend, the signal intensity is in a decay trend.
It should be noted that the "value is an increasing trend" and the "value is a decreasing trend", and the latter value is not necessarily larger than the former value, but is an overall trend of the change of the value. For example, if 5 signal intensities are detected, which are 1, 2, 3, 4 and 5 in sequence, or 5 signal intensities are detected, which are 1, 2, 3 and 4 in sequence, or 5 signal intensities are detected, which are 2, 1, 2, 3 and 4 in sequence, the numerical trend is an enhancement trend. The numerical attenuation trend is similar to the numerical enhancement trend, and is not described herein.
In addition, the trend of the signal intensity can be determined by the following method:
separately computing each signal strength (including R)1、R2、R3、……、RN) With a first signal strength R0Difference of (d), in turn obtaining Δ R1、ΔR2、ΔR3、……、ΔRNWhen Δ R is1、ΔR2、ΔR3、……、ΔRNWhen the value of (A) is in an increasing trend, the signal intensity is in an increasing trend, and when the value of (A) is in an increasing trend1、ΔR2、ΔR3、……、ΔRNAnd when the numerical value of (1) is in the attenuation trend, the signal intensity is in the attenuation trend.
Further, since the signal strength increases with decreasing distance and decreases with increasing distance, when the signal strength is determined to be in an increasing trend, it indicates that the distance between the two opposite terminals is decreasing, that is, the distance between different vehicles is decreasing; when the distance between different vehicles is reduced, the driving safety is correspondingly reduced, so that an information prompt is sent to inform the vehicle corresponding to the terminal for receiving the first V2X signal that other vehicles are approaching, thereby reminding a user of the vehicle to drive carefully, further improving the driving safety, and particularly avoiding (first aid or police and the like) in the weather with low visibility or emergency conditions such as overtaking, emergency braking, fog, heavy rain and the like during the driving process. Conversely, when the signal strength is determined to be in a decreasing trend, it indicates that the distance between two opposite terminals is increasing, i.e., the distance between different vehicles is increasing; when the distance between different vehicles is increased, the driving safety is improved, so that the first terminal does not need to send an information prompt to the second terminal; of course, the first terminal may also send an information prompt to the second terminal to inform a user of the second terminal that the distance between the first vehicle and the second vehicle is increasing, so that the driving is relatively safe.
It should be noted that the terminal in this embodiment may be any type of smart terminal, such as a smart phone, a tablet computer, or other handheld mobile device, and may also be a Vehicle-mounted T-box device having a V2X module, and may receive and transmit V2X signals, including V2I (Vehicle-To-Infrastructure), V2N (Vehicle-To-Network, Vehicle-internet), V2V (Vehicle-To-Vehicle ), and V2P (Vehicle-To-Pedestrian).
In this embodiment, when the vehicle runs on a road without a mobile data network, and the existing method for driving assistance using GPS cannot be implemented, the driving assistance method provided by this embodiment may be used to perform driving assistance, so that when the vehicle runs on a road without a mobile data network coverage, the driving assistance method provided by this embodiment plays a key role in improving driving safety of the vehicle. Of course, the driving assistance method provided by the embodiment of the invention can also be executed independently. The method for assisting driving using GPS is the prior art and will not be described in detail here.
In the second direction, the first direction is parallel to the second direction,
step A100, receiving a first V2X signal sent by an opposite terminal, and detecting the signal strength of the first V2X signal.
In the terminal of the present embodiment, not only the first V2X signal but also the first V2X signal transmitted from the opposite terminal is received as a receiving terminal in the radiation range of the first V2X signal from the opposite terminal, and the signal intensity of the first V2X signal has been attenuated at the time of reception.
And step A200, feeding back the detected signal strength to an opposite terminal as a second V2X signal. Similarly, the signal strength of the first V2X signal when being received needs to be fed back to the opposite end as the second V2X signal, and when the opposite end receives the second V2X signal, the signal strength in the second V2X signal is obtained, so that the opposite end can determine whether to send the prompt message by two or more times of signal strength.
And step A300, receiving prompt information sent by an opposite terminal due to the change of the signal intensity, and carrying out safe driving according to the prompt information.
In summary, in the present embodiment, the V2X signal is sent by the two opposite terminals, the signal strength of the V2X signal is detected twice, and the change of the signal strength is determined according to the signal strength, and a prompt message is sent in the change of the signal strength to prompt that the distance between the vehicles where the terminals are located is changing, so as to assist the user in driving, and further improve driving safety. In addition, when the driving assistance method judges the distance between different vehicles, the judgment is carried out through a V2X signal, so compared with the use of a mobile data network, the embodiment does not require that the terminal is necessarily in the coverage area of the mobile data network, and the driving assistance method is still feasible even in a tunnel, a deep mountain or other places which cannot be covered by the mobile data network, so that the driving assistance requirement is reduced, and the use convenience of the driving assistance is improved; and the terminal does not generate cost when the wireless signal is used for assisting driving, so that the consumption of the user is saved, and the user experience is improved.
Example two.
The driving assistance method provided by the embodiment is different from the first embodiment in that the step of determining whether different vehicles run in the same direction is added on the basis of the first embodiment, and only when the signal intensity enhancement is met and the same-direction running of different vehicles is met, the prompt information is sent to eliminate the condition that different vehicles run in different directions. As shown in fig. 3, the method comprises the steps of:
step S100, a V2X signal is transmitted.
S200, receiving a second V2X signal fed back by an opposite terminal, and acquiring the signal intensity of the second V2X signal; the signal strength is the signal strength of the first V2X signal when received at the peer.
Step S300, determining a signal intensity change state according to the acquired signal intensity, wherein if the signal intensity changes, only the distance between different vehicles can be changed (increased or decreased), but if the different vehicles run in different directions, even if the signal intensity is enhanced, the different vehicles always run in different lanes, so that the running of the different vehicles generally does not influence the running (generally, no overtaking condition exists between the vehicles running in different directions, or the running of the vehicle in another lane cannot be influenced even if the vehicle in one lane breaks down), and the running safety of the different vehicles is relatively high; correspondingly, if different vehicles run in the same direction, a passing situation occurs between the different vehicles, or the vehicles run in the same lane, and the driving of the vehicle behind is affected certainly if the vehicle ahead fails, so that the safety of the driving of the different vehicles is reduced, and therefore, it is required to determine whether the different vehicles run in the same direction, that is, to execute step S400; otherwise, steps S100 to S300 are executed in a loop.
And step S400, judging whether different vehicles run in the same direction, if so, sending prompt information, and otherwise, not sending the prompt information.
As shown in fig. 4, fig. 4 is a flowchart for explaining whether different vehicles run in the same direction according to the embodiment, which includes the following steps:
step S411, acquiring a first running speed of a first vehicle and a second running speed of a second vehicle, wherein the first vehicle sends a first V2X signal; the second vehicle transmits a second V2X signal.
Specifically, a first acceleration of the first vehicle is obtained through an acceleration sensor, and the obtained first acceleration is analyzed to obtain a first speed. Similarly, the second running speed of the second vehicle is obtained, and is not described in detail herein. And after the second speed is obtained, the second speed is sent to the first vehicle through wireless communication (V2X signal), and the first vehicle receives the second speed. Wherein the acceleration and velocity may be instantaneous acceleration. In addition, the velocity obtained by acceleration is prior art and is not described here.
In one embodiment, after the first acceleration and the second acceleration are acquired, it may be determined whether the first vehicle and the second vehicle are traveling straight or curved based on the respective accelerations. Specifically, when the direction of the acceleration is the same as the traveling direction, it is determined that the vehicle is traveling straight; when the direction of the acceleration is not the same as the traveling direction, it is determined that the vehicle is traveling in a curve. The acquisition of the driving direction is prior art and is not described here.
In addition, since the steps of determining whether the different vehicles run in the same direction are performed on the premise that the different vehicles run in a straight line, it is possible to determine whether the different vehicles run in a straight line before performing the steps of determining whether the different vehicles run in the same direction, so as to improve the accuracy of the embodiment. Of course, within the allowable error range, even if different vehicles run in a curve, the method for determining whether different vehicles run in the same direction provided in the embodiment is also applicable.
In one embodiment, when determining whether different vehicles are running in the same direction, it is necessary to determine in the first time period, that is, the first speed and the second speed in this step are actually average speeds. However, if the acceleration obtained by the acceleration sensor is an instantaneous acceleration, the first speed and the second speed obtained from the acceleration are also instantaneous speeds, and the instantaneous speeds may be used instead of the average speed within an error tolerance. In addition, the first time period may be chosen to be as small as possible to reduce the error between the instantaneous speed and the average speed. In addition, a plurality of instantaneous speeds may be acquired, an average value of the plurality of instantaneous speeds may be calculated, and the average speed may be replaced with the average value of the plurality of instantaneous speeds, and the error may be reduced as well.
And step S412, acquiring the relative running speed of the first vehicle and the second vehicle.
In one embodiment, acquiring the relative travel speed of the first vehicle and the second vehicle comprises:
the method comprises the steps of firstly, detecting the signal intensity of the starting time at the starting time of a first time period.
And a second step of detecting the signal intensity at the end time of the first time period.
And thirdly, calculating the difference value between the signal intensity of the starting moment and the signal intensity of the ending moment to obtain the signal intensity difference of the first time period.
And fourthly, calculating the distance L between the first vehicle and the second vehicle according to preset operation.
In one embodiment, the predetermined operation may be L ═ Δ R · K,
where Δ R is a signal intensity difference of the first time period, and K is a constant coefficient.
And fifthly, calculating a quotient value of the distance and the first time period to obtain the relative running speed.
Step S413, calculating an absolute value of a difference between the first speed and the second speed to obtain a equidirectional relative travel speed; and calculating the sum of the first speed and the second speed to obtain the opposite-direction relative driving speed.
Specifically, when the first vehicle and the second vehicle travel in the same direction, the relative travel speed of the first vehicle and the second vehicle is the difference between the speed of the first vehicle and the speed of the second vehicle, that is, the difference between the speeds of the first vehicle and the second vehicle; when the first vehicle and the second vehicle travel in different directions, the relative travel speed of the first vehicle and the second vehicle is the sum of the speed of the first vehicle and the speed of the second vehicle, that is, the sum of the speeds of the first vehicle and the second vehicle.
Step S414, calculating the absolute value of the difference between the relative running speed and the equidirectional relative running speed to obtain the equidirectional speed difference degree; and calculating the absolute value of the difference between the relative running speed and the different-direction relative running speed to obtain the difference degree of the different-direction speeds.
Step S415, when the same-direction speed difference degree is smaller than the different-direction speed difference degree, determining that the first vehicle and the second vehicle run in the same direction; and when the difference degree of the different-direction speeds is smaller than the difference degree of the same-direction speeds, determining that the first vehicle and the second vehicle travel in different directions.
To sum up, after the distance between different vehicles is reduced, the prompt information is not directly sent, but whether the different vehicles run in the same direction is judged, and the prompt information is sent only when the different vehicles are judged to run in the same direction, so that the process of sending the prompt information when the different vehicles run in different directions is omitted, the process of receiving the prompt information by the terminal is omitted, the terminal does not need to frequently receive the prompt information, the influence on a driver is reduced, and the driving safety is improved.
Example three.
The difference between the present embodiment and the first embodiment is that the present embodiment adds a step of determining whether different vehicles travel on the same path on the basis of the first embodiment, and only when the signal strength enhancement is satisfied, and the same path of the different vehicles is satisfied, the prompt information is sent, and the prompt information sent to the vehicles traveling on different paths is excluded. As shown in fig. 5, the method comprises the steps of:
and step S100, sending a first V2X signal.
S200, receiving a second V2X signal fed back by an opposite terminal, and acquiring the signal intensity of the second V2X signal; the signal strength is the signal strength of the first V2X signal when received at the peer.
Step S300, determining a signal strength change state according to the signal strength, wherein if the signal strength changes, only the distance between different vehicles can be changed (increased or decreased), but if the different vehicles run on different paths (lanes), the influence between the different vehicles is small in the running process, for example, when the vehicles on one path are braked, only the vehicles on the same path are generally influenced, but the vehicles on different paths are not influenced, and at this time, only the prompt information needs to be sent to the vehicles running on the same path, but the prompt information does not need to be sent to the vehicles on different paths, namely, step S500 is executed; otherwise, steps S100 to S300 are executed in a loop.
And S500, judging whether different vehicles run on the same path, if so, sending prompt information, and otherwise, not sending the prompt information.
Since the vehicle driving state includes straight line driving and curve driving, in the present embodiment, the straight line driving and the curve driving respectively adopt different methods to determine whether different vehicles are driving on the same path.
When the vehicle is running straight, as shown in fig. 6 and 7, fig. 6 is a flowchart for determining whether different vehicles are running on the same path when the vehicle is running straight in the embodiment, fig. 7 is a schematic view of a running path when the vehicle is running straight, and determining whether different vehicles are running on the same path when the vehicle is running straight includes the following steps:
step S511, acquiring the running distance of a first vehicle in a second time period, wherein the first vehicle sends a first V2X signal; the second vehicle sends a second V2X signal.
Specifically, in a second time period, the average speed of the first vehicle is acquired; calculating the product of the average speed of the first vehicle and the second time period to obtain the travel distance (L in FIG. 7) of the first vehicle in the second time period1)。
As for the average speed of the first vehicle, if the second period of time is short, one instantaneous speed in the second period of time may be used instead, or a plurality of instantaneous speeds may be acquired in the second period of time, and the average of the plurality of instantaneous speeds may be determined as the average speed of the first vehicle. Of course, the average speed of the first vehicle may also be obtained by other methods, which is not limited in this embodiment.
And S512, acquiring a first distance between the first vehicle and the second vehicle according to the acquired signal intensity at the starting time of the second time period, and acquiring a second distance between the first vehicle and the second vehicle at the ending time of the second time period.
For ease of understanding, it may be assumed that the second vehicle is stationary and only the first vehicle is moving. As shown in FIG. 7, the start time is t1Indicating that the end time is t2One of the second vehicles, the first distance being indicated by L2L for the second distance3Indicating that the first distance is L for another third vehicle4L for the second distance5And (4) showing.
In this embodiment, the step S412 of obtaining the distance between two vehicles according to the signal strength is described in detail, and is not described herein.
Step S513 calculates a distance difference between the first distance and the second distance.
As shown in fig. 7, for one of the second vehicles, the first distance L2A second distance L from3Has a distance difference of L1For another second vehicle, the first distance L4A second distance L from5Has a distance difference of L6。
Step S514, comparing the traveling distance with the distance difference, and when the traveling distance is equal to the distance difference, determining that the first vehicle and the second vehicle travel on the same path by the first terminal; otherwise, the first vehicle and the second vehicle are determined not to travel on the same path.
As shown in FIG. 7, for a second vehicle, the first vehicle travels a distance L1Is equal to the distance difference L1The first vehicle and the second vehicle travel on the same path. For another second vehicle, the travel distance L of the first vehicle1Is not equal to the distance difference L6The first vehicle and the third vehicle travel on different routes.
It should be noted that the equality here is not absolute equality, but is approximately equal within an error allowable range. For example, when the travel distance is 20 meters and the distance difference is 19 meters, the travel distance differs from the distance difference by 1 meter, but if the error allowable range is 2 meters, the travel distance is considered to be equal to the distance difference.
Fig. 8 is a schematic diagram of a driving path of different vehicles when the vehicle drives in a curve according to the embodiment. The first vehicle transmitting a first V2X signal; the second vehicle transmits a second V2X signal, and in fig. 8, the first vehicle and one second vehicle travel on the same route, the first vehicle and the other second vehicle do not travel on the same route, and the two second vehicles do not travel on the same route. When the vehicle runs in a curve, whether different vehicles run on the same path is judged, and as shown in fig. 9, the method comprises the following steps:
step S521, a first linear velocity and a first angular velocity of the first vehicle, and second linear velocities and second angular velocities of all the second vehicles are acquired.
Specifically, each acceleration is acquired through an angular velocity sensor; and analyzing the acceleration to obtain the linear velocity and the angular velocity of each terminal.
In this embodiment, after the first linear velocity and the first angular velocity of the self are acquired, the first linear velocity and the first angular velocity of the self are saved. And sending the linear speed and the angular speed which are acquired to the second vehicle to the first vehicle.
Illustratively, the acquired first linear velocity is 10 km/h, the first angular velocity is 10 degrees/h, the second linear velocity of the first second vehicle is 20 km/h, the second angular velocity is 20 degrees/h, the second linear velocity of the second vehicle is 20 km/h, and the second angular velocity is 20.2 degrees/h.
Further, it is a conventional technique to analyze the acceleration to obtain the linear velocity and the angular velocity of each terminal, and details thereof will not be described here.
Step S522, calculating a quotient of the first linear velocity and the first angular velocity to obtain a first running radius (denoted as r) of the first vehicle1) (ii) a Calculating a quotient of a second linear velocity and a second angular velocity of the second vehicle,a second running radius (denoted as r) of the second vehicle is obtained2)；
As shown in FIG. 8, r1Is a first radius of travel; r is2Is the second running radius of the first and second vehicles, r3Is a second radius of travel to a second vehicle; still taking the example of step S521 in this embodiment as an example, the first running radius is 1 km, the second running radius of the first vehicle and the second vehicle is 1 km, and the second running radius of the second vehicle is 0.99 km.
Step S523, comparing the first running radius with all the second running radii, and when the first running radius is equal to any second running radius, determining that two vehicles corresponding to two equal running radii travel on the same path.
The first running radius r is calculated in step S5221The first running radius of the first vehicle is equal to the second running radius of the second vehicle, and the first vehicle and the second vehicle run on the same path; the second radius of travel of the second vehicle is different from the first radius of travel, so the second vehicle does not travel the same path as the first vehicle, and so on.
When comparing whether the running radii are equal or not, the running radii are not absolutely equal or not, but are approximately equal or not within an error allowable range.
When the method is implemented, two module functions of curve driving auxiliary driving and straight line driving auxiliary driving can be set on each terminal, and different module functions are switched by judging the current vehicle driving state (including straight line driving and curve driving).
To sum up, after the distance between different vehicles is determined to change, the prompt information is not directly sent, but whether different vehicles run on the same path is determined, and the prompt information is sent only when different vehicles run on the same path is determined.
Example four.
The difference between the present embodiment and the first embodiment is that the present embodiment adds a step of determining whether different vehicles are running in the same direction on the basis of the first embodiment, and when different vehicles are running in the same direction, the present embodiment continues to determine whether different vehicles are running in the same path, and only when several conditions of signal strength enhancement, running in the same direction of different vehicles, and running in the same path of different vehicles are met, the present embodiment sends the prompt information, and excludes sending the prompt information to the vehicles running in different directions and different paths. As shown in fig. 10, the method comprises the following steps:
and step S100, sending a first V2X signal.
S200, receiving a second V2X signal fed back by an opposite terminal, and acquiring the signal intensity of the second V2X signal; the signal strength is the signal strength of the first V2X signal when received at the peer.
Step S300, judging the signal intensity change state according to the signal intensity, and executing step S400 if the signal intensity changes; otherwise, steps S100 to S300 are executed in a loop.
And S400, judging whether different vehicles run in the same direction, if so, executing S500, and otherwise, circularly executing S100 to S400.
And S500, judging whether different vehicles run on the same path, if so, sending prompt information, and otherwise, circularly executing the steps S100 to S500.
Of course, it may also be determined whether to drive on the same path, and if so, it may be determined whether to drive on the same path, and the specific implementation process is similar in this embodiment, which is not described in detail herein.
To sum up, after the distance between different vehicles is reduced, the prompt information is not directly sent, but whether different vehicles run in the same direction and on the same path is judged, and the prompt information is sent only when different vehicles run in the same direction and on the same path is judged, so that the process of sending the prompt information when different vehicles run in different directions and on different paths is omitted, the process of receiving the prompt information by the terminal is omitted, the terminal does not need to frequently receive the prompt information, the influence on a driver is reduced, and the driving safety is improved.
Example five.
As shown in fig. 11, the present embodiment provides a driving assistance method, which is applied to a driving assistance system, where the driving assistance system includes a plurality of terminals, in this embodiment, not only one terminal but a plurality of pairs of terminals capable of communicating with each other are included in a first terminal and a second terminal, and when the first terminal is a first V2X signal transmitting terminal, the second terminal is a first V2X signal receiving terminal; when the first terminal is a first V2X signal transmitting terminal, the second terminal is a first V2X signal receiving terminal; the method comprises the following steps:
step B100, the first terminal or the second terminal sends a first V2X signal;
step B200, the second terminal or the first terminal receives the first V2X signal and detects the signal strength of the first V2X signal; feeding back the signal strength as a second V2X signal to the first terminal or the second terminal;
step B300, the first terminal or the second terminal receives the second V2X signal and obtains the signal strength in the second V2X signal;
step B400, the first terminal or the second terminal judges the signal intensity change state according to the signal intensity, and sends prompt information when the signal intensity changes (becomes stronger or weaker); further, the prompt message is only sent when the signal strength becomes stronger.
And step B500, the second terminal or the first terminal receives the prompt message.
In this embodiment, the signal intensity variation is a variation trend of the signal intensity, and the variation trend is an enhancement trend or a decay trend; and the first terminal or the second terminal determines whether to send prompt information to the second terminal or the first terminal according to the change trend of the signal intensity. Preferably, the change trend of the signal intensity is an enhancement trend, and prompt information is sent; no transmission may be performed for the fading trend.
In this embodiment, the first terminal or the second terminal sends the prompt information when the step of judging whether different vehicles run in the same direction is added, so that the prompt information sent to the vehicles running in different directions of different vehicles is excluded, unnecessary prompt information sending is reduced, reception and check of the prompt information at the opposite end are reduced, and influence on a driver is reduced.
The specific steps of the first terminal or the second terminal determining whether the vehicle travels in the same direction as the vehicle corresponding to the second terminal or the first terminal are the same as those in the second embodiment (steps S411 to S415), and are not repeated herein; the first vehicle is a corresponding vehicle which sends a first V2X signal; the second vehicle is a corresponding vehicle which receives the first V2X signal and feeds back a second V2X signal; when the first terminal or the second terminal corresponds to the first vehicle, the second terminal or the first terminal corresponds to the second vehicle.
In one embodiment, the first terminal or the second terminal adds a step of judging whether different vehicles run on the same path, and only when the signal strength is enhanced and the same path of different vehicles is met, the prompt information is sent, so that the prompt information sent to the vehicles running on different paths is eliminated, and the influence on the driver is reduced.
The method comprises the steps that before the first terminal or the second terminal judges whether the first terminal or the second terminal and a vehicle corresponding to the second terminal or the first terminal run on the same path, the current running states of different vehicles are judged; the driving state comprises straight driving or curve driving; and then selecting a corresponding method according to the running state to judge whether different vehicles run in the same direction. If the vehicle is in straight line driving, adopting steps S511 to S514 of the third embodiment as a method for judging whether the vehicle is in the same path as the vehicle corresponding to the second terminal or the first terminal; if the vehicle is traveling on a curve, steps S521 to S523 of the third embodiment are adopted as a method for determining whether the vehicle travels along the same route as the vehicle corresponding to the second terminal or the first terminal. The first vehicle is a corresponding vehicle which sends a first V2X signal; the second vehicle is a corresponding vehicle which receives the first V2X signal and feeds back a second V2X signal; when the first terminal or the second terminal corresponds to the first vehicle, the second terminal or the first terminal corresponds to the second vehicle.
Of course, in this embodiment, after the signal intensity changes, two steps of determining whether different vehicles are traveling in the same direction and determining whether different vehicles are traveling on the same path may be added, that is, the vehicles are traveling on the same path while satisfying the same-direction traveling, or the vehicles are traveling on the same path while satisfying the same-direction traveling, and only when the two conditions are satisfied, the prompt information is sent, the prompt information sent to the vehicles traveling in different directions and the vehicles traveling on different paths is excluded, and the amount of the prompt information received by the surrounding vehicles is further reduced.
Example six.
As shown in fig. 12, the present embodiment further provides a terminal, which may be any type of smart terminal, such as a smart phone, a tablet computer, or other handheld mobile devices, and may also be a Vehicle-mounted T-box device having a V2X module, and may receive and transmit V2X signals, including V2I, V2N, and V2V (Vehicle-To-Vehicle).
Specifically, the terminal includes: a memory 100, a processor 200 and a computer program stored on the memory 100 and executable on the processor, wherein the processor 200 implements the driving assistance method according to the first to the fourth embodiments when executing the computer program.
It should be noted that the terminal in this embodiment is based on the same inventive concept as the terminal, the first terminal, and the second terminal in other embodiments, so that the two terminals have the same implementation principle and beneficial effects, and detailed description is omitted here.
Example seven.
As shown in fig. 13, the present embodiment also provides a driving assistance system including: a first terminal 10 and a second terminal 20;
the first terminal 10 or the second terminal 20 transmits a first V2X signal;
the second terminal 20 or the first terminal 10 receives the first V2X signal and detects the signal strength of the first V2X signal; feeding back the signal strength as a second V2X signal to the first terminal 10 or the second terminal 20;
the first terminal 10 or the second terminal 20 receives the second V2X signal and obtains the signal strength in the second V2X signal;
the first terminal 10 or the second terminal 20 judges the signal intensity change state according to the signal intensity, and sends prompt information when the signal intensity changes;
the second terminal 20 or the first terminal 10 receives the prompt message
It should be noted that, the "first terminal" and the "second terminal" have the same inventive concept, implementation principle and beneficial effect as the terminals in the first to sixth embodiments; not only one but a plurality of pairs of terminals capable of communicating with each other of the first terminal 10 and the second terminal 20, when the first terminal 10 is a first V2X signal transmitting end, there are a plurality of second terminals 20 capable of receiving a first V2X signal; when the second terminal 20 is a first V2X signal transmitting end, there are a plurality of first terminals 10 capable of receiving the first V2X signal.
In addition, an embodiment of the present invention also provides a computer-readable storage medium storing computer-executable instructions for execution by a processor or a controller, the computer-executable instructions being configured to perform the driving assistance method (applied to the terminal) provided in the first to fourth embodiments or to perform the driving assistance method (applied to the driving assistance system) provided in the fifth embodiment of the claims.
One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the foregoing and various other changes, omissions and deviations in the form and detail thereof may be made without departing from the scope of this invention.
Claims (21)
1. A driving assistance method is applied to a terminal and comprises the following steps,
sending a first V2X signal;
receiving a second V2X signal fed back by an opposite terminal, and acquiring the signal strength in the second V2X signal; the signal strength is the signal strength of the first V2X signal when the opposite end is received;
judging the signal intensity change state according to the acquired signal intensity, and sending prompt information when the signal intensity changes;
and the number of the first and second groups,
receiving a first V2X signal sent by an opposite terminal, and detecting the signal strength of the first V2X signal;
feeding back the detected signal strength to an opposite terminal as a second V2X signal;
and receiving prompt information sent by the opposite terminal according to the change of the signal strength.
2. The driving assistance method according to claim 1, wherein the signal strength is changed, whether different vehicles run in the same direction or not is judged, and a prompt message is sent when the vehicles run in the same direction.
3. The driving assistance method according to claim 1, wherein the signal strength changes, whether different vehicles travel the same path or not is judged, and a prompt message is sent when the vehicles travel the same path.
4. The driving assist method according to claim 1, wherein the signal intensity changes to a trend of change of the signal intensity, the trend of change being an increasing trend or a decreasing trend;
judging the change trend of the signal intensity according to the signal intensity obtained for multiple times in sequence;
and the change trend of the signal intensity is an enhancement trend, and prompt information is sent.
5. The driving assist method according to claim 2, wherein the determining whether the different vehicles travel in the same direction includes:
acquiring a first running speed of a first vehicle and a second running speed of a second vehicle, wherein the first vehicle is a corresponding vehicle sending a first V2X signal; the second vehicle is a corresponding vehicle which receives the first V2X signal and feeds back a second V2X signal;
acquiring the relative driving speed of the first vehicle and the second vehicle;
calculating the absolute value of the difference between the first speed and the second speed and the sum of the first speed and the second speed to respectively obtain a same-direction relative driving speed and a different-direction relative driving speed;
calculating absolute values of differences between the relative running speed and the same-direction relative running and between the relative running speed and the different-direction relative running to respectively obtain a same-direction speed difference degree and a different-direction speed difference degree;
comparing the equidirectional speed difference degree with the different-directional speed difference degree, and if the equidirectional speed difference degree is small, enabling the first vehicle and the second vehicle to run in the same direction; and if the difference degree of the different speeds is small, the first vehicle and the second vehicle run in different directions.
6. The driving assist method according to claim 5, wherein the acquiring of the relative travel speed of the first vehicle and the second vehicle includes:
respectively detecting the signal intensity of the starting time and the signal intensity of the ending time at the starting time and the ending time of the first time period;
calculating the difference value of the signal intensity of the starting time and the ending time to obtain a second signal intensity difference of a first time period;
calculating the distance between the first vehicle and the second vehicle according to the signal intensity difference of the first time period;
and calculating the quotient of the distance between the first vehicle and the second vehicle and the first time period to obtain the relative driving speed.
7. The driving assist method according to claim 3, further comprising determining a current driving state of a different vehicle; the driving state comprises straight driving or curve driving;
and selecting a method corresponding to the running state to judge whether different vehicles run on the same path.
8. The driving assist method according to claim 7, wherein the driving state is a straight-line driving, and the determination as to whether different vehicles are driving on the same route includes:
acquiring the driving distance of the first vehicle in a second time period; the first vehicle is a corresponding vehicle sending a first V2X signal; the second vehicle is a corresponding vehicle which receives the first V2X signal and feeds back a second V2X signal;
respectively acquiring a first distance and a second distance between the first vehicle and the second vehicle according to the signal intensity at the starting time of the second time period and the ending time of the second time period, and calculating the distance difference between the first vehicle and the second vehicle;
and comparing the running distance with the distance difference, wherein the running distance is equal to the distance difference, and the first vehicle and the second vehicle run on the same path.
9. The driving assist method according to claim 7, wherein the driving state is a curve driving, and the determination as to whether different vehicles are driving on the same path includes:
acquiring a first linear speed and a first angular speed of a first vehicle and a second linear speed and a second angular speed of a second vehicle;
calculating the first linear speed and the first angular speed and the quotient of the second linear speed and the second angular speed to respectively obtain a first running radius of the first vehicle and a second running radius of the second vehicle;
and comparing the first running radius with the second running radius, and if the first running radius is equal to the second running radius, enabling the first vehicle and the corresponding second vehicle to run on the same path.
10. A driving assistance method is applied to a driving assistance system and comprises the following steps:
the first terminal or the second terminal sends a first V2X signal;
a second terminal or a first terminal receives the first V2X signal and detects the signal strength of the first V2X signal; feeding back the signal strength as a second V2X signal to the first terminal or the second terminal;
the first terminal or the second terminal receives the second V2X signal and acquires the first signal strength in the second V2X signal;
the first terminal or the second terminal judges the signal intensity change state according to the signal intensity, and sends prompt information when the signal intensity changes;
and the second terminal or the first terminal receives the prompt message.
11. The driving assistance method according to claim 10, wherein the first terminal or the second terminal determines whether the second terminal or the first terminal is driving in the same direction when the signal intensity changes;
and sending prompt information to the second terminal or the first terminal when the vehicle runs in the same direction.
12. The driving assistance method according to claim 10, wherein the first terminal or the second terminal determines whether to travel along the same route as the second terminal or the first terminal when the signal strength changes;
and when the vehicle runs on the same path, sending prompt information to the second terminal or the first terminal.
13. The driving assist method according to claim 10, wherein the signal intensity changes to a trend of change of the signal intensity, the trend of change being an increasing trend or a decreasing trend;
the first terminal or the second terminal judges the change trend of the signal intensity according to the multiple signal intensities detected in sequence; and sending prompt information when the change trend of the signal intensity is an enhancement trend.
14. The driving assistance method according to claim 11, wherein the determining, by the first terminal or the second terminal, whether the different vehicles are traveling in the same direction includes:
acquiring a first speed of running of a first vehicle and a second speed of running of a second vehicle; wherein the first vehicle is a corresponding vehicle that transmits a first V2X signal; the second vehicle is a corresponding vehicle which receives the first V2X signal and feeds back a second V2X signal; when the first terminal or the second terminal corresponds to the first vehicle, the second terminal or the first terminal corresponds to the second vehicle;
acquiring the relative driving speed of the first vehicle and the second vehicle;
calculating the absolute value of the difference between the first speed and the second speed and the sum of the first speed and the second speed to respectively obtain a same-direction relative driving speed and a different-direction relative driving speed;
calculating absolute values of differences between the relative running speed and the same-direction relative running and between the relative running speed and the different-direction relative running to respectively obtain a same-direction speed difference degree and a different-direction speed difference degree;
comparing the equidirectional speed difference degree with the different-directional speed difference degree, and if the equidirectional speed difference degree is small, enabling the first vehicle and the second vehicle to run in the same direction; and if the difference degree of the different speeds is small, the first vehicle and the second vehicle run in different directions.
15. The driving assist method according to claim 14, wherein the acquiring, by the first terminal or the second terminal, the relative travel speed of the first vehicle and the second vehicle includes:
respectively obtaining the signal intensity of the starting time and the signal intensity of the ending time at the starting time and the ending time of the first time period;
calculating the difference value of the signal intensity of the starting time and the ending time to obtain the signal intensity difference of a first time period;
calculating the distance between the first vehicle and the second vehicle according to the signal intensity difference of the first time period;
and calculating the quotient of the distance between the first vehicle and the second vehicle and the first time period to obtain the relative driving speed.
16. The driving assist method according to claim 12, wherein the first terminal or the second terminal further includes a step of determining a current driving state of a different vehicle; the driving state comprises straight driving or curve driving;
and selecting a corresponding method according to the running state to judge whether different vehicles run in the same direction.
17. The driving assist method according to claim 16, wherein the determining whether the different vehicles travel in the same direction when the traveling state is straight traveling includes:
acquiring the driving distance of the first vehicle in a second time period; wherein the first vehicle is a corresponding vehicle that transmits a first V2X signal; the second vehicle is a corresponding vehicle which receives the first V2X signal and feeds back a second V2X signal; when the first terminal or the second terminal corresponds to the first vehicle, the second terminal or the first terminal corresponds to the second vehicle;
respectively acquiring a first distance and a second distance between the first vehicle and the second vehicle according to the signal intensity at the starting time of the second time period and the ending time of the second time period, and calculating the distance difference between the first vehicle and the second vehicle;
and comparing the running distance with the distance difference, wherein the running distance is equal to the distance difference, and the first vehicle and the second vehicle run on the same path.
18. The driving assist method according to claim 16, wherein the first terminal or the second terminal is driven in a curve in the driving state, and the determination of whether different vehicles are driven in the same direction comprises the steps of:
acquiring a first linear speed and a first angular speed of a first vehicle and a second linear speed and a second angular speed of a second vehicle; wherein the first vehicle is a corresponding vehicle that transmits a first V2X signal; the second vehicle is a corresponding vehicle which receives the first V2X signal and feeds back a second V2X signal; when the first terminal or the second terminal corresponds to the first vehicle, the second terminal or the first terminal corresponds to the second vehicle;
calculating the first linear speed and the first angular speed and the quotient of the second linear speed and the second angular speed to respectively obtain a first running radius of the first vehicle and a second running radius of the second vehicle;
and comparing the first running radius with the second running radius, and if the first running radius is equal to the second running radius, enabling the first vehicle and the corresponding second vehicle to run on the same path.
19. A terminal, comprising: memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor implements the driving assistance method according to any one of claims 1 to 9 when executing the computer program.
20. A driving assistance system includes a first terminal and a second terminal; the method is characterized in that:
the first terminal or the second terminal sends a first V2X signal;
a second terminal or a first terminal receives the first V2X signal and detects the signal strength of the first V2X signal; feeding back the signal strength as a second V2X signal to the first terminal or the second terminal;
the first terminal or the second terminal receives the second V2X signal and acquires the first signal strength in the second V2X signal;
the first terminal or the second terminal judges the signal intensity change state according to the signal intensity, and sends prompt information when the signal intensity changes;
and the second terminal or the first terminal receives the prompt message.
21. A computer-readable storage medium storing computer-executable instructions for performing the driving-assist method of any one of claims 1 to 9 or for performing the driving-assist method of any one of claims 10 to 18.
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| CN201910797435.6A CN112449324A (en) | 2019-08-27 | 2019-08-27 | Driving assistance method, terminal and driving assistance system |
| PCT/CN2020/089809 WO2021036345A1 (en) | 2019-08-27 | 2020-05-12 | Driving assistance method, terminal, driving assistance system, and computer readable storage medium |
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| CN201910797435.6A CN112449324A (en) | 2019-08-27 | 2019-08-27 | Driving assistance method, terminal and driving assistance system |
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| DE202013006196U1 (en) * | 2013-07-09 | 2014-10-13 | GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) | Driver assistance system for a motor vehicle and motor vehicle |
| CN105280005A (en) * | 2014-06-06 | 2016-01-27 | 电信科学技术研究院 | Road safety message sending method and device |
| US10827500B2 (en) * | 2015-04-01 | 2020-11-03 | Lg Electronics Inc. | Method and device for transmitting and receiving, by V2X terminal, signal in wireless communication system |
| WO2018113946A1 (en) * | 2016-12-21 | 2018-06-28 | Telefonaktiebolaget Lm Ericsson (Publ) | Its status indication |
| US10856345B2 (en) * | 2017-10-11 | 2020-12-01 | Qualcomm Incorporated | Methods and apparatus for device-to-device feedback |
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- 2019-08-27 CN CN201910797435.6A patent/CN112449324A/en not_active Withdrawn
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP3442283A1 (en) * | 2016-05-12 | 2019-02-13 | Huawei Technologies Co., Ltd. | Information transmission method and user equipment |
| CN108263360A (en) * | 2017-01-04 | 2018-07-10 | 本田技研工业株式会社 | Follow the system and method that vehicle control is used under scene closely |
| CN108428366A (en) * | 2017-02-15 | 2018-08-21 | 中兴通讯股份有限公司 | A kind of auxiliary driving method and device |
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Application publication date: 20210305 |