CN112833893A - Assistance system for a vehicle, navigation device, corresponding method and storage medium - Google Patents
Assistance system for a vehicle, navigation device, corresponding method and storage medium Download PDFInfo
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- CN112833893A CN112833893A CN201911165642.6A CN201911165642A CN112833893A CN 112833893 A CN112833893 A CN 112833893A CN 201911165642 A CN201911165642 A CN 201911165642A CN 112833893 A CN112833893 A CN 112833893A
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- 230000000007 visual effect Effects 0.000 claims description 7
- 206010039203 Road traffic accident Diseases 0.000 description 7
- 238000012790 confirmation Methods 0.000 description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3629—Guidance using speech or audio output, e.g. text-to-speech
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3658—Lane guidance
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3667—Display of a road map
- G01C21/367—Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
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- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
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- G—PHYSICS
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- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
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- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
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- Engineering & Computer Science (AREA)
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Abstract
An assistance system for a vehicle, a vehicle comprising the same, a navigation device and corresponding assistance method, navigation method, computer device and computer readable storage medium are provided. The assistance system includes: the road condition detection unit is configured for detecting whether an abnormal condition exists in a preset distance range in front of the vehicle through a sensor of the vehicle and/or a vehicle networking communication mode; a determination unit configured to determine, when the presence of the abnormal condition is detected, whether the abnormal condition causes the planned driving path of the vehicle to include a driving section that violates a traffic rule; a control unit configured to: in response to determining that the planned travel path of the vehicle includes travel segments that violate traffic rules, providing a reminder to the vehicle and/or sending a control signal causes the vehicle to re-plan the travel path to avoid violating the traffic rules. By using the scheme of the invention, the vehicle can be assisted to run on an optimized running route, and the violation of traffic rules due to the influence of abnormal conditions is avoided as much as possible.
Description
Technical Field
The present invention relates to the field of vehicle technology, and more particularly, to an assistance system for a vehicle, a vehicle navigation apparatus, a vehicle including the same, and a corresponding assistance method, navigation method, computer device, and computer-readable storage medium.
Background
In some cases, the vehicle may encounter some road sections having abnormal conditions (e.g., illegal parking, traffic accident, road surface abnormality, etc.) while traveling, and in order to cope with the abnormal conditions, the vehicle may violate the traffic regulations if the vehicle continues to pass through the road sections. Current navigation systems plan routes based solely on the location between the origin and destination, and are not able to reasonably re-plan routes for users in real time in response to abnormal conditions occurring in the roads.
Accordingly, there is a need for an improved assistance system or navigation solution for a vehicle.
Disclosure of Invention
To solve the above problem, the present invention proposes a solution capable of assisting a vehicle to re-plan a driving path in real time in response to an abnormal condition ahead.
According to a first aspect of the present invention, there is provided an assistance system for a vehicle, comprising:
the road condition detection unit is configured for detecting whether an abnormal condition exists in a preset distance range in front of the vehicle through a sensor of the vehicle and/or through an internet of vehicles communication mode;
a determination unit configured to determine, when it is detected that an abnormal condition exists, whether the abnormal condition causes a planned travel path of the vehicle to include a travel section that violates a traffic rule;
a control unit configured to: in response to determining that the planned travel path of the vehicle includes a travel segment that violates a traffic rule, providing a reminder to the vehicle and/or sending a control signal such that the travel path is re-planned to avoid violating the traffic rule.
Optionally, the road condition detecting unit is further configured to:
obtaining, by a sensor of the vehicle, an online server, and/or other networked vehicles, at least one of:
information of the relevant size, location and/or type of abnormal condition of the road infrastructure causing the abnormal condition to occur;
information of the relevant size, position, speed, type of abnormal situation and/or heading direction of the traffic participant that caused the abnormal situation to occur; and/or
The travel trajectories of other networked vehicles around the abnormal condition.
Optionally, the determining unit is further configured to:
determining whether the abnormal condition would cause the planned driving path of the vehicle to include a driving section that violates a traffic rule based on the acquired information on the relevant size, location, and/or type of the abnormal condition of the road infrastructure that caused the abnormal condition to occur;
determining whether the abnormal condition causes the planned driving path of the vehicle to comprise a driving road section which violates a traffic rule based on the acquired information of the relevant size, position, speed, type of the abnormal condition and/or orientation direction of the traffic participant which causes the abnormal condition; and/or
Determining whether the abnormal condition would cause the planned driving path of the vehicle to include a driving road segment that violates a traffic rule based on the driving trajectories of other networked vehicles around the abnormal condition.
Optionally, the providing the vehicle with the reminder information includes:
sending visual and/or audio reminders to a user of the vehicle indicating that the planned travel path of the vehicle includes travel segments that violate traffic rules.
Optionally, the control unit is further configured to:
in response to determining that the planned travel path of the vehicle includes a travel segment that violates a traffic rule, marking the travel segment that violates the traffic rule as an unviable segment in a navigation map of the vehicle, and causing the navigation map of the vehicle to re-plan the travel path to bypass the unviable segment.
According to a second aspect of the present invention, there is provided a vehicle navigation device, comprising the above-described assistance system for a vehicle.
According to a third aspect of the invention, a vehicle is provided, wherein the auxiliary system for a vehicle as described above is comprised.
According to a fourth aspect of the present invention, there is provided an assist method for a vehicle, comprising:
detecting whether an abnormal condition exists in a preset distance range in front of the vehicle through a sensor of the vehicle and/or a vehicle networking communication mode;
when an abnormal condition is detected, judging whether the abnormal condition can cause the planned driving path of the vehicle to comprise a driving road section violating a traffic rule;
in response to determining that the planned travel path of the vehicle includes a travel segment that violates a traffic rule, providing a reminder to the vehicle and/or sending a control signal such that the travel path is re-planned to avoid violating the traffic rule.
Optionally, the detecting, by a sensor of the vehicle and/or by a vehicle networking communication manner, whether an abnormal condition exists within a preset distance range in front of the vehicle includes:
obtaining, by a sensor of the vehicle, an online server, and/or other networked vehicles, at least one of:
information of the relevant size, location and/or type of abnormal condition of the road infrastructure causing the abnormal condition to occur;
information of the relevant size, position, speed, type of abnormal situation and/or heading direction of the traffic participant that caused the abnormal situation to occur; and/or
The travel trajectories of other networked vehicles around the abnormal condition.
Optionally, the determining whether the abnormal condition may cause the planned driving path of the vehicle to include a driving section that violates a traffic rule includes:
determining whether the abnormal condition would cause the planned driving path of the vehicle to include a driving section that violates a traffic rule based on the acquired information on the relevant size, location, and/or type of the abnormal condition of the road infrastructure that caused the abnormal condition to occur;
determining whether the abnormal condition causes the planned driving path of the vehicle to comprise a driving road section which violates a traffic rule based on the acquired information of the relevant size, position, speed, type of the abnormal condition and/or orientation direction of the traffic participant which causes the abnormal condition; and/or
Determining whether the abnormal condition would cause the planned driving path of the vehicle to include a driving road segment that violates a traffic rule based on the driving trajectories of other networked vehicles around the abnormal condition.
Optionally, the providing the vehicle with the reminder information includes:
sending visual and/or audio reminders to a user of the vehicle indicating that the planned travel path of the vehicle includes travel segments that violate traffic rules.
Optionally, the causing of replanning the travel path comprises:
in response to determining that the planned travel path of the vehicle includes a travel segment that violates a traffic rule, marking the travel segment that violates the traffic rule as an unviable segment in a navigation map of the vehicle, and causing the navigation map of the vehicle to re-plan the travel path to bypass the unviable segment.
According to a fifth aspect of the present invention, there is provided a vehicle navigation method including the above-described assist method for a vehicle.
According to a sixth aspect of the present invention, there is provided a computer device comprising a memory storing a computer program and a processor, wherein the processor implements the above-mentioned assistance method for a vehicle when executing the computer program.
According to a seventh aspect of the invention, a computer-readable storage medium is provided, on which a computer program is stored, wherein the computer program, when being executed by a processor, carries out the above-mentioned assistance method for a vehicle.
By utilizing the technical scheme of the invention, firstly, the abnormal condition in front of the vehicle is detected by the road condition detection unit; then, when an abnormal condition is detected, judging whether the abnormal condition can cause the planned driving path of the vehicle to comprise a driving road section which violates the traffic rule; and finally, in response to the fact that the planned driving path of the vehicle comprises the driving road section violating the traffic rules, providing reminding information and/or sending a control signal to the vehicle, so that the driving path is re-planned, the vehicle can be assisted to drive on an optimized driving route, the situation that the vehicle violates the traffic rules due to the abnormal conditions is avoided as much as possible, and meanwhile, the driving safety can be improved to a certain extent.
Drawings
Non-limiting and non-exhaustive embodiments of the present invention are described, by way of example, with reference to the following drawings, in which:
FIG. 1 is a schematic diagram illustrating an assistance system for a vehicle according to one embodiment of the present invention;
FIG. 2 is a flow chart illustrating an assistance method for a vehicle according to one embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating one example application scenario in which the present invention is applicable.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in 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 present application and are not intended to limit the present application.
Fig. 1 schematically shows an assistance system 100 for a vehicle according to one embodiment of the invention.
Specifically, the auxiliary system 100 includes a road condition detecting unit 110, a determining unit 120, and a control unit 130.
It should be noted that, in order to facilitate better understanding of the technical solution of the present invention for those skilled in the art, a "vehicle" to which the technical solution of the present invention is applied will be described as a "current vehicle" in the following, where the current vehicle may be an execution subject or an application object for executing the technical solution provided by the present invention, and is distinguished from other traffic participants on a road.
The road condition detecting unit 110 is configured to detect whether an abnormal condition exists within a preset distance range in front of the vehicle through sensors of the vehicle and/or through internet of vehicles communication.
As can be appreciated, the road condition detecting unit 110 may be provided on the current vehicle, or may also be provided on a server adapted to communicate with the current vehicle.
In any of the above cases, the road condition detecting unit 110 may optionally be configured to perform one or more of the following configurations:
(1) the road condition detecting unit 110 is configured to be suitably connected to a sensor installed on the current vehicle to detect whether an abnormal condition exists within a preset distance range in front of the vehicle by means of the sensor. The connection between the road condition detecting unit 110 and the sensor may be a wired connection or a wireless connection (e.g., via a mobile network or Wi-Fi). The sensors may include cameras, lidar, millimeter-wave radar, ultrasonic sensors, or any other suitable sensor, or suitable combination thereof.
(2) The road condition detecting unit 110 is configured to communicate with other networked vehicles traveling on the road through a vehicle networking (V2X) communication manner (e.g., wireless connection via a mobile network, Wi-Fi, bluetooth, or the like), so as to obtain a detection result of other vehicles in a preset distance range in front of the current vehicle on the surrounding road conditions, and further determine whether an abnormal condition exists in the preset distance range in front of the current vehicle according to the detection result.
(3) The road condition detecting unit 110 is configured to communicate with an online server or a networked infrastructure by a vehicle networking (V2X) communication means (e.g., wireless connection via a mobile network, Wi-Fi, bluetooth, or the like), thereby acquiring road condition information within a preset distance range in front of the current vehicle by means of the online server or infrastructure to determine whether an abnormal condition exists. The infrastructure may be, for example, various monitoring cameras installed on a road.
It should be noted that the abnormal condition may include, but is not limited to, a road abnormality (e.g., an obstacle on a road, road construction, road surface collapse, etc.) and/or an abnormality of other traffic participants (e.g., a traffic jam caused by a traffic accident, a vehicle being dropped, or an illegal parking lane occupation), etc. The preset distance range in front of the vehicle may be a monitoring range of a sensor, a communication range (effective signal receiving range) of the internet of vehicles, or may be set according to an empirical value.
When it is detected that an abnormal condition exists within a preset distance range in front of the current vehicle in any one or more of the above manners, the road condition detection unit 110 may further obtain related information about the "abnormal condition".
For example, the road condition detecting unit 110 may be further configured to obtain at least one of the following information through the vehicle's sensors, online server and/or other networked vehicles: information of the relevant size, location and/or type of abnormal condition of the road infrastructure causing the abnormal condition to occur; information of the relevant size, position, speed, type of abnormal situation and/or heading direction of the traffic participant that caused the abnormal situation to occur; and/or the travel trajectories of other networked vehicles around the abnormal condition.
The determination unit 120 is configured to, upon detecting the presence of an abnormal condition, determine whether the abnormal condition would cause the planned driving path of the vehicle to include a driving segment that violates a traffic rule.
It should be noted that the "planned driving route" is a driving route that is planned by the current vehicle to avoid an "abnormal condition" that affects traffic, or a driving route that may be taken by the current vehicle according to the currently planned navigation route when passing through an abnormal condition section and that is not optimized. The optimization of the planned driving path aims to judge whether the planned driving path comprises a driving road section violating the traffic rules, and if the planned driving path is judged to have the driving road section violating the traffic rules, the driving path is re-planned to avoid violating the traffic rules.
Preferably, the determining whether the abnormal condition may cause the planned driving path of the vehicle to include a driving section that violates a traffic rule further includes: judging whether the abnormal condition can cause the planned driving path of the vehicle to necessarily comprise a driving road section which violates a traffic rule; or whether the abnormal condition causes the probability that the planned driving path of the vehicle includes the driving road segment violating the traffic rule to be greater than a preset threshold (for example, greater than any value of 60-99%).
Optionally, the determining unit 120 may be further configured to: and judging whether the abnormal condition can cause the planned driving path of the vehicle to comprise a driving road section violating the traffic rule or not based on the acquired information of the relevant size, the position and/or the type of the abnormal condition of the road infrastructure causing the abnormal condition.
For example, in one application example, the current vehicle detects that an abnormal condition (e.g., a construction section, an illegal parking or an obstacle) exists in a front preset distance range through the road condition detection unit 110, the road surface related to the abnormal condition is located on one side of a lane where the current vehicle is located, and the road surface without the abnormal condition on the other side of the lane has a width w. The determination unit 120 may determine whether the current vehicle can normally pass through the road surface without the abnormal condition based on the comparison of the width w with the width of the current vehicle and the allowable driving directions of the road surface without the abnormal condition and the adjacent lane thereof, and if the road section can be passed through by occupying the reverse adjacent lane, determine that the planned driving path includes a driving road section violating the traffic rule.
Optionally, the determining unit 120 may be further configured to: and judging whether the abnormal condition can cause the planned driving path of the vehicle to comprise a driving road section violating the traffic rule or not based on the acquired information of the relevant size, the position, the speed, the type of the abnormal condition and/or the orientation direction of the traffic participant, which cause the abnormal condition to occur.
For example, referring to the application example of fig. 3, fig. 3 shows a first vehicle and a second vehicle in a traffic accident, a third vehicle passing through the traffic accident intersection. The third vehicle may be the current vehicle in the present invention, or may be another networked vehicle networked with the current vehicle by a vehicle network communication method.
In one embodiment, it is assumed that the third vehicle is a current vehicle, and the road condition detection unit 110 detects that a first vehicle and a second vehicle, which are located at a road intersection and occupy a lane in a normal left-turn driving direction of the current vehicle, collide within a preset distance range ahead. The original driving route of the current vehicle is assumed to be left-turning at the intersection, but the left-turning lane is occupied by the first vehicle and the second vehicle and cannot pass through. Assuming that the current vehicle still follows the planned driving path to turn left through the intersection, its driving path would be, for example, the driving path shown by the black curve in fig. 3. The current vehicle can further detect the traffic information in the driving path, such as the position of the lane line, the allowed traffic direction of the lane, etc., through the traffic detection unit 110, and send the detected traffic information to the determination unit 120. In the scenario shown in fig. 3, the determining unit 120 may determine, according to the road condition information sent by the road condition detecting unit 110, a road segment that would include a violation line in the planned driving path shown by the black curve. For this case, the control unit may prompt or control a further optimization of the not yet optimized planned driving path of the current vehicle.
Optionally, the determining unit 120 may be further configured to: determining whether the abnormal condition would cause the planned driving path of the vehicle to include a driving road segment that violates a traffic rule based on the driving trajectories of other networked vehicles around the abnormal condition.
For example, in one application example, the current vehicle detects the presence of an abnormal condition (e.g., a traffic accident) within a preset distance range ahead through other networked vehicles based on a vehicle networking communication technology. In this case, the current vehicle may communicate with other networked vehicles that are approaching the traffic accident area, or with a source that is capable of providing GNSS location and map data of other networked vehicles approaching the traffic accident area, to obtain the travel trajectories of the other networked vehicles. The determining unit 120 may analyze whether there is a driving section violating the traffic rule in the driving tracks of the other networked vehicles, and when it is determined that there is a driving section violating the traffic rule, further determine whether there is an intersection (a coincident section) between the driving section violating the traffic rule and the planned driving path of the current vehicle, and if it is determined that there is an intersection, it indicates that the abnormal condition may cause the planned driving path of the current vehicle to include the driving section violating the traffic rule.
The control unit 130 is configured to: in response to determining that the planned travel path of the vehicle includes a travel segment that violates a traffic rule, providing a reminder to the vehicle and/or sending a control signal such that the travel path is re-planned to avoid violating the traffic rule.
Here, the current vehicle may be a vehicle driven by a human driver, or may be an autonomous vehicle.
For example, in one embodiment, when the current vehicle is a vehicle driven by a human driver, providing reminder information to the vehicle may include: sending visual and/or audio reminders to a user of the vehicle indicating that the planned travel path of the vehicle includes travel segments that violate traffic rules. The visual reminding information can be displayed by means of vehicle-mounted display equipment, or can be realized by means of an augmented reality technology. The display content includes, but is not limited to, highlighting a travel segment violating a traffic rule in the planned travel path in the navigation map or marking the travel segment violating the traffic rule as a non-passable segment. In addition, the audio reminding information can further prompt the user of the position, the length, the type of traffic regulation violation and other sound information of the driving road section violating the traffic regulation. Additionally or alternatively, a request for confirmation of a re-planned driving path may also be sent to the vehicle user, upon confirmation by the user, the control unit 130 may update the planned driving path in response to confirmation by the user. The user's confirmation means may include, but is not limited to, for example, clicking a button, touching a screen, voice control, etc.
For example, in another embodiment, when the current vehicle is an autonomous vehicle, the control unit 130 may send a control signal to the autonomous vehicle in response to the determination unit 120 determining that the planned travel path includes a travel section that violates a traffic rule, so that the on-vehicle navigation device of the autonomous vehicle replans the travel path to avoid violating the traffic rule. Preferably, the travel section violating the traffic rule is marked as an unviable section in a navigation map of the vehicle (the navigation map can be shared with other vehicles in a network), and the operation step of updating the planned travel path is performed so that the unplanned travel path bypasses the unviable section. Therefore, the driving path can be effectively re-planned in time, so that the current vehicle avoids violating the traffic rules as much as possible.
The invention also provides a vehicle navigation device comprising an assistance system for a vehicle as described above. In addition, a vehicle is also provided, which comprises the auxiliary system for a vehicle described above.
Fig. 2 schematically shows an assistance method 200 for a vehicle according to one embodiment of the invention. The assistance method may be implemented using the assistance system of the invention as described above.
As shown in fig. 2, the assist method 200 for a vehicle includes:
s210, detecting whether an abnormal condition exists in a preset distance range in front of the vehicle through a sensor of the vehicle and/or a vehicle networking communication mode;
s220, when the abnormal condition is detected, judging whether the abnormal condition can cause the planned driving path of the vehicle to comprise a driving road section which violates the traffic rule;
and S230, in response to the fact that the planned driving path of the vehicle comprises the driving road section violating the traffic rule, providing reminding information and/or sending a control signal to the vehicle, so that the driving path is re-planned to avoid violating the traffic rule.
Optionally, the detecting, by a sensor of the vehicle and/or by a vehicle networking communication manner, whether an abnormal condition exists within a preset distance range in front of the vehicle includes: obtaining, by a sensor of the vehicle, an online server, and/or other networked vehicles, at least one of: information of the relevant size, location and/or type of abnormal condition of the road infrastructure causing the abnormal condition to occur; information of the relevant size, position, speed, type of abnormal situation and/or heading direction of the traffic participant that caused the abnormal situation to occur; and/or the travel trajectories of other networked vehicles around the abnormal condition.
Optionally, when the existence of the abnormal condition is detected, the determining whether the abnormal condition may cause the planned driving path of the vehicle to include a driving section violating the traffic rule includes: determining whether the abnormal condition would cause the planned driving path of the vehicle to include a driving section that violates a traffic rule based on the acquired information on the relevant size, location, and/or type of the abnormal condition of the road infrastructure that caused the abnormal condition to occur; determining whether the abnormal condition causes the planned driving path of the vehicle to comprise a driving road section which violates a traffic rule based on the acquired information of the relevant size, position, speed, type of the abnormal condition and/or orientation direction of the traffic participant which causes the abnormal condition; and/or determining whether the abnormal condition would cause the planned travel path of the vehicle to include travel segments that violate traffic rules based on travel trajectories of other networked vehicles around the abnormal condition.
Optionally, the providing the vehicle with the reminder information includes: sending visual and/or audio reminders to a user of the vehicle indicating that the planned travel path of the vehicle includes travel segments that violate traffic rules.
Optionally, the causing of replanning the travel path comprises: in response to determining that the planned travel path of the vehicle includes a travel segment that violates a traffic rule, marking the travel segment that violates the traffic rule as a non-accessible segment in a navigation map of the vehicle and causing the travel path to be re-planned to bypass the non-accessible segment.
In addition, the invention also provides a vehicle navigation method which comprises the auxiliary method for the vehicle.
It should be understood that the specific features described herein above with respect to the assistance system of a vehicle may also be similarly applied in the assistance method or navigation method of a vehicle, with similar extensions. For the sake of simplicity, it is not described in detail.
It should be understood that the various elements of the assistance system of the invention may be implemented in whole or in part by software, hardware, firmware or a combination thereof. The units may be embedded in a processor of the computer device in a hardware or firmware form or independent of the processor, or may be stored in a memory of the computer device in a software form for being called by the processor to execute operations of the units. Each of the units may be implemented as a separate component or module, or two or more units may be implemented as a single component or module.
It will be appreciated by those of ordinary skill in the art that the schematic diagram of the assistance system shown in fig. 1 is merely an illustrative block diagram of a portion of the structure associated with aspects of the present invention and does not constitute a limitation of the computer device, processor or computer program embodying aspects of the present invention. A particular computer device, processor or computer program may include more or fewer components or modules than shown in the figures, or may combine or split certain components or modules, or may have a different arrangement of components or modules.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored thereon computer instructions executable by the processor, the computer instructions, when executed by the processor, instructing the processor to perform the steps of the auxiliary method of the invention. The computer device may broadly be a server, a vehicle mounted terminal, or any other electronic device having the necessary computing and/or processing capabilities. In one embodiment, the computer device may include a processor, memory, network interface, communication interface, etc. connected by a system bus. The processor of the computer device may be used to provide the necessary computing, processing and/or control capabilities. The memory of the computer device may include non-volatile storage media and internal memory. An operating system, a computer program, and the like may be stored in or on the non-volatile storage medium. The internal memory may provide an environment for the operating system and the computer programs in the non-volatile storage medium to run. The network interface and the communication interface of the computer device may be used to connect and communicate with an external device through a network. Which computer program, when being executed by a processor, carries out the steps of the auxiliary method of the invention.
The invention may be implemented as a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, causes the steps of the method of the invention to be performed. In one embodiment, the computer program is distributed across a plurality of computer devices or processors coupled by a network such that the computer program is stored, accessed, and executed by one or more computer devices or processors in a distributed fashion. A single method step/operation, or two or more method steps/operations, may be performed by a single computer device or processor or by two or more computer devices or processors. One or more method steps/operations may be performed by one or more computer devices or processors, and one or more other method steps/operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step/operation, or perform two or more method steps/operations.
It will be understood by those skilled in the art that all or part of the steps of the assistance method of the present invention may be instructed to be performed by associated hardware such as a computer device or a processor through a computer program, which may be stored in a non-transitory computer readable storage medium, and which when executed causes the steps of the assistance method of the present invention to be performed. Any reference herein to memory, storage, databases, or other media may include non-volatile and/or volatile memory, as appropriate. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (prom), electrically programmable ROM (eprom), electrically erasable programmable ROM (eeprom), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, hard disk, solid state disk, and the like. Examples of volatile memory include Random Access Memory (RAM), external cache memory, and the like.
The respective technical features described above may be arbitrarily combined. Although not all possible combinations of features are described, any combination of features should be considered to be covered by the present specification as long as there is no contradiction between such combinations.
While the invention has been described in connection with the embodiments, it is to be understood by those skilled in the art that the foregoing description and drawings are merely illustrative and not restrictive of the broad invention, and that this invention not be limited to the disclosed embodiments. Various modifications and variations are possible without departing from the spirit of the invention.
Claims (15)
1. An assistance system for a vehicle, comprising:
the road condition detection unit is configured for detecting whether an abnormal condition exists in a preset distance range in front of the vehicle through a sensor of the vehicle and/or through an internet of vehicles communication mode;
a determination unit configured to determine, when it is detected that an abnormal condition exists, whether the abnormal condition causes a planned travel path of the vehicle to include a travel section that violates a traffic rule;
a control unit configured to: in response to determining that the planned travel path of the vehicle includes a travel segment that violates a traffic rule, providing a reminder to the vehicle and/or sending a control signal such that the travel path is re-planned to avoid violating the traffic rule.
2. The assistance system of claim 1, wherein the road condition detection unit is further configured to:
obtaining, by a sensor of the vehicle, an online server, and/or other networked vehicles, at least one of:
information of the relevant size, location and/or type of abnormal condition of the road infrastructure causing the abnormal condition to occur;
information of the relevant size, position, speed, type of abnormal situation and/or heading direction of the traffic participant that caused the abnormal situation to occur; and/or
The travel trajectories of other networked vehicles around the abnormal condition.
3. The assistance system of claim 2, wherein the determination unit is further configured to:
determining whether the abnormal condition would cause the planned driving path of the vehicle to include a driving section that violates a traffic rule based on the acquired information on the relevant size, location, and/or type of the abnormal condition of the road infrastructure that caused the abnormal condition to occur;
determining whether the abnormal condition causes the planned driving path of the vehicle to comprise a driving road section which violates a traffic rule based on the acquired information of the relevant size, position, speed, type of the abnormal condition and/or orientation direction of the traffic participant which causes the abnormal condition; and/or
Determining whether the abnormal condition would cause the planned driving path of the vehicle to include a driving road segment that violates a traffic rule based on the driving trajectories of other networked vehicles around the abnormal condition.
4. The assistance system of any one of claims 1-3, wherein the providing of the vehicle with the reminder information includes:
sending visual and/or audio reminders to a user of the vehicle indicating that the planned travel path of the vehicle includes travel segments that violate traffic rules.
5. The assistance system according to any one of claims 1-3, wherein the control unit is further configured for:
in response to determining that the planned travel path of the vehicle includes a travel segment that violates a traffic rule, marking the travel segment that violates the traffic rule as an unviable segment in a navigation map of the vehicle, and causing the navigation map of the vehicle to re-plan the travel path to bypass the unviable segment.
6. A vehicle navigation device, characterized by comprising an assistance system for a vehicle according to any one of claims 1-5.
7. A vehicle, characterized in that it comprises an assistance system for a vehicle according to any one of claims 1-5.
8. An assistance method for a vehicle, characterized by comprising:
detecting whether an abnormal condition exists in a preset distance range in front of the vehicle through a sensor of the vehicle and/or a vehicle networking communication mode;
when an abnormal condition is detected, judging whether the abnormal condition can cause the planned driving path of the vehicle to comprise a driving road section violating a traffic rule;
in response to determining that the planned travel path of the vehicle includes a travel segment that violates a traffic rule, providing a reminder to the vehicle and/or sending a control signal such that the travel path is re-planned to avoid violating the traffic rule.
9. The assistance method according to claim 8, wherein the detecting, by a sensor of the vehicle and/or by means of vehicle networking communication, whether an abnormal condition exists within a preset distance range in front of the vehicle comprises:
obtaining, by a sensor of the vehicle, an online server, and/or other networked vehicles, at least one of:
information of the relevant size, location and/or type of abnormal condition of the road infrastructure causing the abnormal condition to occur;
information of the relevant size, position, speed, type of abnormal situation and/or heading direction of the traffic participant that caused the abnormal situation to occur; and/or
The travel trajectories of other networked vehicles around the abnormal condition.
10. The assistance method according to claim 9, wherein the determining whether the abnormal condition may cause the planned travel path of the vehicle to include a travel section that violates a traffic rule includes:
determining whether the abnormal condition would cause the planned driving path of the vehicle to include a driving section that violates a traffic rule based on the acquired information on the relevant size, location, and/or type of the abnormal condition of the road infrastructure that caused the abnormal condition to occur;
determining whether the abnormal condition causes the planned driving path of the vehicle to comprise a driving road section which violates a traffic rule based on the acquired information of the relevant size, position, speed, type of the abnormal condition and/or orientation direction of the traffic participant which causes the abnormal condition; and/or
Determining whether the abnormal condition would cause the planned driving path of the vehicle to include a driving road segment that violates a traffic rule based on the driving trajectories of other networked vehicles around the abnormal condition.
11. The assistance method according to any one of claims 8 to 10, wherein the providing of the vehicle with the reminder information includes:
sending visual and/or audio reminders to a user of the vehicle indicating that the planned travel path of the vehicle includes travel segments that violate traffic rules.
12. The assistance method according to any one of claims 8 to 10, wherein the causing of replanning a driving path includes:
in response to determining that the planned travel path of the vehicle includes a travel segment that violates a traffic rule, marking the travel segment that violates the traffic rule as an unviable segment in a navigation map of the vehicle, and causing the navigation map of the vehicle to re-plan the travel path to bypass the unviable segment.
13. A vehicle navigation method, characterized by comprising an assistance method for a vehicle according to any one of claims 8-12.
14. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the assistance method according to any one of claims 8-12 when executing the computer program.
15. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the auxiliary method according to any one of claims 8-12.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911165642.6A CN112833893A (en) | 2019-11-25 | 2019-11-25 | Assistance system for a vehicle, navigation device, corresponding method and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911165642.6A CN112833893A (en) | 2019-11-25 | 2019-11-25 | Assistance system for a vehicle, navigation device, corresponding method and storage medium |
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| CN112833893A true CN112833893A (en) | 2021-05-25 |
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| CN201911165642.6A Withdrawn CN112833893A (en) | 2019-11-25 | 2019-11-25 | Assistance system for a vehicle, navigation device, corresponding method and storage medium |
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| CN113978481A (en) * | 2021-10-20 | 2022-01-28 | 中汽创智科技有限公司 | Lane abnormity reminding method and device, storage medium and terminal |
| CN114973646A (en) * | 2022-03-14 | 2022-08-30 | 北京市商汤科技开发有限公司 | Road detection method, device and system and server |
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