CN113160567A

CN113160567A - Vehicle driving assistance method, device, vehicle, server and storage medium

Info

Publication number: CN113160567A
Application number: CN202110426618.4A
Authority: CN
Inventors: 张家文
Original assignee: Guangzhou Xiaopeng Motors Technology Co Ltd
Current assignee: Guangzhou Xiaopeng Motors Technology Co Ltd
Priority date: 2021-04-20
Filing date: 2021-04-20
Publication date: 2021-07-23
Anticipated expiration: 2041-04-20
Also published as: CN113160567B

Abstract

The application discloses a vehicle driving assisting method, a device, a vehicle, a server and a storage medium, wherein the method comprises the following steps: acquiring real-time data acquired by a plurality of reference vehicles, wherein the real-time data comprises environmental data of positions of the reference vehicles and position data of the reference vehicles; acquiring configuration data of a vehicle-mounted sensor of a target vehicle; when a request instruction of a target vehicle is obtained, carrying out feasibility detection on auxiliary driving on the target vehicle according to the real-time data and the configuration data, and obtaining a detection result, wherein the request instruction is used for representing that the target vehicle requests auxiliary driving; and determining the driving strategy of the target vehicle according to the detection result. The method can effectively judge the feasibility of the auxiliary driving of the vehicle so as to determine the driving strategy corresponding to the judgment result, thereby ensuring that the vehicle drives according to the most appropriate driving strategy in real time and improving the safety of the auxiliary driving.

Description

Vehicle driving assistance method, device, vehicle, server and storage medium

Technical Field

The present disclosure relates to the field of vehicle control technologies, and in particular, to a method and an apparatus for vehicle driving assistance, a vehicle, a server, and a storage medium.

Background

The driving assistance system is a driving assistance system for assisting a driver, and can help the driver to actively and safely assist the driving during the driving process of the vehicle. The application technology of the current-stage auxiliary driving system mainly includes Adaptive Cruise Control (ACC), Lane Departure Warning (LDW), and Automatic Emergency Braking (AEB).

With the continuous development of the vehicle industry, the driving assistance technology is widely deployed in a large number of vehicles. At present, the assistant driving is not completely unmanned, the vehicle is provided with vehicle-mounted sensors such as a radar and a camera to identify road conditions around the vehicle, however, when the vehicle starts the assistant driving system to drive on a road section which is not suitable for assistant driving, such as bad weather, large traffic flow and the like, the assistant driving system cannot make timely adjustment based on the current driving environment, and traffic accidents are easily caused.

Disclosure of Invention

The embodiment of the application provides a vehicle driving assisting method and device, a vehicle, a server and a storage medium.

In a first aspect, some embodiments of the present application provide a vehicle driving assistance method, including: acquiring real-time data acquired by a plurality of reference vehicles, wherein the real-time data comprises environmental data of positions of the reference vehicles and position data of the reference vehicles; acquiring configuration data of a vehicle-mounted sensor of a target vehicle; when a request instruction of a target vehicle is obtained, carrying out feasibility detection on auxiliary driving on the target vehicle according to the real-time data and the configuration data, and obtaining a detection result, wherein the request instruction is used for representing that the target vehicle requests auxiliary driving; and determining the driving strategy of the target vehicle according to the detection result.

In a second aspect, some embodiments of the present application further provide a vehicle driving assistance apparatus, including: the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring real-time data acquired by a plurality of reference vehicles, and the real-time data comprises environmental data of positions of the reference vehicles and position data of the reference vehicles; the second acquisition module is used for acquiring configuration data of a vehicle-mounted sensor of the target vehicle; the detection module is used for carrying out feasibility detection on the auxiliary driving of the target vehicle according to the real-time data and the configuration data when a request instruction of the target vehicle is obtained, and obtaining a detection result, wherein the request instruction is used for representing that the target vehicle requests the auxiliary driving; and the determining module is used for determining the driving strategy of the target vehicle according to the detection result.

In a third aspect, some embodiments of the present application further provide a vehicle, including an on-vehicle sensor, a processor, and a memory, where the memory stores computer program instructions, and the computer program instructions, when invoked by the processor, perform the vehicle driving assistance method described above.

In a fourth aspect, some embodiments of the present application further provide a server, including a processor and a memory, where the memory stores computer program instructions, and the computer program instructions, when called by the processor, execute the vehicle driving assistance method.

In a fifth aspect, the present application further provides a computer-readable storage medium, which stores program codes, wherein the program codes, when executed by a processor, implement the driving assistance method described above.

The vehicle driving assisting method, the vehicle driving assisting device, the server and the storage medium acquire real-time data acquired by a plurality of reference vehicles and configuration data of a vehicle-mounted sensor of a target vehicle; and when the request instruction of the target vehicle is acquired, carrying out feasibility detection on the auxiliary driving of the target vehicle according to the real-time data and the configuration data, acquiring a detection result, and further determining a driving strategy of the target vehicle according to the detection result. Therefore, the feasibility of the auxiliary driving of the vehicle is judged by combining the data of the reference vehicle and the configuration data of the vehicle using the auxiliary driving, so that the driving strategy corresponding to the judgment result is determined, the vehicle is ensured to run by the appropriate driving strategy in real time, and the safety of the auxiliary driving is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 shows a schematic diagram of a vehicle driving assistance system architecture provided by an embodiment of the present application.

Fig. 2 shows a flow chart of a vehicle driving assistance method provided by an embodiment of the application.

Fig. 3 shows a schematic flow chart of another vehicle driving assistance method provided by the embodiment of the application.

Fig. 4 shows a schematic flow chart of step S220 in the vehicle driving assistance method of fig. 3.

Fig. 5 shows a flow chart of a vehicle driving assistance method according to an embodiment of the present application.

Fig. 6 shows a schematic flow chart of still another vehicle driving assistance method provided in the embodiment of the present application.

Fig. 7 shows a schematic flow chart of step S340 in the vehicle driving assistance method of fig. 6.

Fig. 8 shows a scene schematic diagram of a vehicle driving assistance method according to an embodiment of the present application.

Fig. 9 shows a flowchart of a vehicle driving assistance method provided by an embodiment of the application.

Fig. 10 is a schematic flow chart illustrating a further vehicle driving assistance method according to an embodiment of the present application.

Fig. 11 shows a block diagram of a vehicle driving assistance device according to an embodiment of the present application.

FIG. 12 is a block diagram of a vehicle according to an embodiment of the present disclosure.

Fig. 13 is a block diagram of a server according to an embodiment of the present disclosure.

Fig. 14 is a block diagram of a computer-readable storage medium according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In order to make the technical solutions of the present application better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The constant popularization of intelligent vehicle for supplementary driving has become intelligent vehicle's standard and joins in marriage, utilize the various sensors (millimeter wave radar, laser radar, list/two mesh cameras and satellite navigation) of installing on the vehicle, come the environment around the response vehicle at any time at the vehicle in-process of traveling, collect data, carry out static, the discernment of dynamic object, listen and track, and combine navigation map data, carry out systematic operation and analysis, thereby let the driver perceive the danger that probably takes place in advance, effectively increase vehicle driving's travelling comfort and security.

It is worth noting that at present, the assistant driving cannot achieve the complete automatic driving, and there are some specific scenarios that are not suitable for the assistant driving, for example, many sensors equipped on the vehicle: radar and camera receive the influence of weather conditions easily, and when the vehicle was gone in dense fog, when being greater than the wait environment, the performance that the sensor gathered environmental information can descend by a wide margin, and then influences the performance of assisted driving, and in addition, when the vehicle was gone in the route that the traffic flow is more, the topography is comparatively complicated, and the response of making intelligence according to changeable road conditions also can't be accomplished to the assisted driving system, for example, reminds the user to take over the driving right of vehicle.

In order to solve the above problems, the inventors have long studied and proposed a vehicle driving assistance method provided by an embodiment of the present application, which is implemented by acquiring real-time data collected by a plurality of reference vehicles and configuration data of on-board sensors of a target vehicle; and when the request instruction of the target vehicle is acquired, carrying out feasibility detection on the auxiliary driving of the target vehicle according to the real-time data and the configuration data, acquiring a detection result, and further determining a driving strategy of the target vehicle according to the detection result. The data of the reference vehicle and the data of the vehicle using the auxiliary driving are combined, the feasibility of the automatic auxiliary driving of the vehicle is judged, and the safety of the automatic auxiliary driving is improved. The following first describes an application scenario of the vehicle driving assistance method according to the present application.

As shown in fig. 1, in some embodiments, the vehicle driving assistance method provided in the embodiment of the present application may be applied to the driving assistance system 500 shown in fig. 1, where the driving assistance system 500 includes a reference vehicle 510, a target vehicle 520, and a server 530. The reference vehicle 510 and the target vehicle 520 are respectively connected to the server 530 through a network, which may be a 5G network (5th Generation Mobile Networks), an Internet of Vehicles (IOV), or the like, capable of implementing communication connection between Vehicles and servers, and between Vehicles, and is not limited herein. It should be noted that the reference vehicle 510 and the target vehicle 520 may have the same calculation function and storage function as the server 530, where the target vehicle 520 refers to a vehicle that is currently intended to perform the auxiliary driving feasibility detection, the reference vehicle 510 may be one or more, and the reference vehicle 510 is used to provide detection data support for the auxiliary driving feasibility detection.

As an embodiment, the server 530 acquires and stores data of locations of the respective vehicles from the plurality of reference vehicles 510 via the network, and updates and draws an auxiliary route available/unavailable for assisting driving in real time according to the acquired data of the locations (e.g., weather conditions or/and traffic volume) and the determination condition for assisting driving that can be started and is preset by the driving assistance system. Further, when the target vehicle 520 requests the use of the assistant driving system, the calculated assistant route may be acquired from the server 530 through the network, and the feasibility of the use of the assistant driving by the target vehicle 520 on the navigation route may be judged according to the assistant route, so as to respond accordingly, for example, if the target vehicle 520 cannot use the assistant driving system on the navigation route, the driver may be reminded that the assistant driving system is not suitable. Embodiments in the present application will be described in detail below with reference to the accompanying drawings.

Referring to fig. 2, fig. 2 illustrates a vehicle driving assistance method according to an embodiment of the present application, where the vehicle driving assistance method may include the following steps S110 to S140.

Step S110: the method comprises the steps of acquiring real-time data collected by a plurality of reference vehicles, wherein the real-time data comprises environmental data of positions of the reference vehicles and position data of the reference vehicles.

In order to improve the safety of the auxiliary driving system, the road sections which do not accord with the auxiliary driving conditions are early warned in advance, the auxiliary driving system is closed or the road sections are changed to a new route which can be used for auxiliary driving in advance, the environmental conditions of a plurality of reference vehicles, namely real-time data, can be obtained in real time, and therefore a proper driving strategy can be selected to adapt to different environments according to the real-time data.

In the embodiments of the present application, the reference vehicle refers to a vehicle for acquiring real-time data, and the reference vehicle may be configured with on-board sensors or positioning devices, and the on-board sensors may include any one or more of the following sensors: and the sensors such as laser radar, millimeter wave radar, ultrasonic radar and cameras can sense the environment of the vehicle. The real-time data refers to data with time stamp collected by the vehicle-mounted sensor in real time, the real-time data at least comprises environmental data and position data of the position where the reference vehicle is located, the environmental data can represent weather conditions of the position where the reference vehicle is located, such as temperature values, rainfall and the like, and the position data can represent the position where the reference vehicle is located, such as administrative position or latitude and longitude.

In some embodiments, real-time data collected by multiple reference vehicles over the same time period may be acquired. Specifically, the environmental data and the position data collected by the respective reference vehicles may be acquired from the plurality of reference vehicles in real time at every preset time period. For example, a plurality of running reference vehicles may upload the acquired real-time data of the reference vehicles themselves to the server through an onboard T-box (telematics box) in a Shadow Mode (Shadow Mode), at which time the server may receive the real-time data transmitted from the plurality of reference vehicles, and the server may actively acquire the real-time data from the plurality of reference vehicles when receiving a request of the target vehicle. For another example, a plurality of reference vehicles and a server may be respectively connected to the target vehicle in a communication manner through an internet of vehicles, in which case, the target vehicle may directly obtain the real-time data from the plurality of reference vehicles, or the target vehicle may indirectly obtain the real-time data that the server has obtained from the reference vehicles.

In one embodiment, the real-time data collected by the reference vehicles may include real-time data of at least one collection task performed by each reference vehicle. The collection task can be the collected ambient temperature values of the reference vehicles, the positioning of the driving positions and the like, and because the real-time data corresponding to each collection task executed by each reference vehicle may be different, the same collection task can have various real-time data. Further, real-time data with the highest repetition rate at the same time point can be acquired in the same area. Therefore, all data collected by the reference vehicle are not directly used as real-time data, so that the interference of the obtained low-quality or repeated data is effectively avoided, more real-time data can be obtained, and the redundancy of the real-time data is reduced.

For example, in the road section a at 13 pm, the server acquires three temperature values, namely 30 degrees, 28 degrees and 33 degrees, collected by the reference vehicle, wherein the number of times of occurrence of 30 degrees is greater than the number of times of occurrence of the other two temperatures, that is, the temperature value of the road section a at 13 pm is determined to be 30 degrees, and 30 degrees is used as real-time data.

Step S120: configuration data of an on-board sensor of a target vehicle is acquired.

In the embodiment of the present application, the target vehicle refers to a vehicle which is turned on or has a need for driving assistance, and the configuration data of the sensing device, which is equipped with the configuration data for sensing the surrounding situation of the target vehicle, may include the configuration data of the vehicle-mounted sensor of the target vehicle, for example, the target vehicle is equipped with an ultrasonic radar or a camera for sensing the road condition. In some embodiments, the configuration data of the target vehicle may be acquired, and specifically, the vehicle-mounted sensor configured in the target vehicle may be connected to a Controller Area Network (CAN) of the vehicle, and the configuration data of the vehicle-mounted sensor of the target vehicle may be acquired through a gateway connected to a CAN bus. For example, the CAN bus of the target vehicle CAN be in communication connection with the server through the vehicle-mounted T-box, and the server acquires configuration data of vehicle-mounted sensors configured by the target vehicle from the CAN bus through the vehicle-mounted T-box.

Step S130: and when a request instruction of the target vehicle is acquired, carrying out feasibility detection on the auxiliary driving of the target vehicle according to the real-time data and the configuration data to obtain a detection result.

Since the sensing devices installed on vehicles of different brands have great difference and the road conditions of the vehicles running in real time are variable, the feasibility detection of the auxiliary driving of the target vehicle needs to be performed according to the configuration data and the real-time data. Wherein the request instruction is used for indicating that the target vehicle requests to use the driving assistance function, and when the driver of the target vehicle turns on the driving assistance function, the target vehicle may generate the request instruction so as to judge whether turning on of the driving assistance is possible. In some embodiments, when the target vehicle acquires the request instruction of the vehicle itself, the feasibility detection of the auxiliary driving of the target vehicle can be performed by using the real-time data and the configuration data. In other embodiments, when the driver of the target vehicle starts the driving assistance function, the target vehicle may generate a request instruction and send the request instruction to the server, and the server may perform the feasibility detection of the driving assistance on the target vehicle by using the real-time data and the configuration data when acquiring the request instruction of the target vehicle, and acquire the detection result.

As an implementation manner, the road condition type suitable for the assistant driving of the target vehicle can be obtained by analyzing the configuration data, the detailed information of the section a at the current time can be obtained by analyzing the real-time data, and the current road condition type can be obtained.

For example, when the target vehicle starts driving assistance, the target vehicle may directly obtain real-time data of the a road segment from the plurality of reference vehicles through the IOV, and at this time, the road condition of the a road segment is a heavy rain at night through the real-time data analysis of the a road segment. In addition, the target vehicle can judge that the sensing device of the target vehicle is a camera through the configuration data of the target vehicle, the visibility of the rainstorm weather is extremely low, and the sensing of the environmental conditions by the camera is not facilitated, so that the auxiliary driving which is not easy to use at night or under the rainstorm road condition is analyzed, the auxiliary driving which is not easy to use in the road section A is obtained, and the feasibility detection result of the auxiliary driving of the target vehicle according to the configuration data and the real-time data is not feasible.

Step S140: and determining the driving strategy of the target vehicle according to the detection result.

When the vehicle is in a state of just starting the assistant driving or using the assistant driving, driving safety may be adversely affected if the road section where the vehicle is located is not suitable for the assistant driving and the driver is not timely given feedback on stopping the assistant driving.

In the embodiment of the application, when the feasibility of the auxiliary driving of the target vehicle is detected, the driving strategy of the target vehicle can be determined according to the obtained detection result, so that the driving of the vehicle can be correctly adjusted according to the current road condition when the target vehicle is in a condition that the auxiliary driving is not suitable for use.

The driving strategy refers to dynamic adjustment made when the target vehicle runs. Specifically, the driving strategy may be manual driving in which the driver takes over the driving right of the vehicle, or may be a route suitable for driving assistance calculated again from the start point and the end point of the target vehicle, or may be driving in accordance with driving assistance.

As one embodiment, after the feasibility of driving assistance of the target vehicle is detected, the driving strategy of the target vehicle may be determined according to the detection result. Specifically, when the detection result is that the assist driving is not feasible, the driving strategy that can be determined includes prohibiting the target vehicle from using the assist driving, and allowing the target vehicle to use the assist driving on a new route where the assist driving is feasible. When the detection result is that the auxiliary driving is feasible, the target vehicle can be allowed to use the auxiliary driving, and the feasibility detection of the auxiliary driving can be carried out in real time in the process that the target vehicle uses the auxiliary driving, so that the real-time driving safety of the target vehicle is guaranteed.

For example, the server may determine that the target vehicle cannot use the assistant driving in a weather environment of a sand storm according to the acquired configuration data of the target vehicle as the camera configuration data, and if the server determines that the driving environment where the target vehicle uses the assistant driving is the sand storm according to the acquired real-time data, the server determines that the target vehicle cannot use the assistant driving, at this time, a stop instruction for stopping using the assistant driving may be sent to the target vehicle, when the target vehicle receives the stop instruction, the driver may be prompted to take over the driving right of the vehicle through a voice system of the target vehicle, or a selection interface capable of using a new route of the assistant driving may be provided for the driver through a vehicle-mounted display screen.

In the embodiment of the application, real-time data collected by a plurality of reference vehicles and configuration data of a target vehicle are obtained, and when a request instruction of the target vehicle is obtained, feasibility of the target vehicle in driving assistance is detected according to the real-time data and the configuration data to obtain a detection result, the request instruction is used for indicating that the target vehicle requests to use the driving assistance, and further, a driving strategy of the target vehicle is determined according to the detection result. Therefore, the feasibility of the automatic auxiliary driving of the vehicle is judged by combining the data of the reference vehicle and the configuration data of the vehicle using the automatic auxiliary driving, so that the driving strategy corresponding to the judgment result is determined, the vehicle is ensured to run with the most appropriate driving strategy in real time, and the safety of the automatic auxiliary driving is improved.

As shown in fig. 3, fig. 3 schematically illustrates a vehicle driving assistance method provided by an embodiment of the present application, and the driving assistance method may include the following steps S210 to S250.

Step S210: and judging whether the authorization information of the reference vehicle is acquired or not, wherein the authorization information is used for representing the authority of acquiring the real-time data.

In order to protect the privacy rights and interests of the reference vehicle users, when the vehicles need to share data, the vehicle users need to obtain the consent, and after the users grant the right of sharing the data, the real-time data collected by the reference vehicles can be obtained. In the embodiment of the application, the authorization information refers to the authority for acquiring the real-time data, and if the authorization information of the reference vehicle cannot be acquired, the real-time data acquired by the reference vehicle is not acquired continuously.

In some embodiments, it may be determined whether authorization information for the reference vehicle is obtained prior to obtaining the real-time data collected by the reference vehicle. For example, the target vehicle may determine whether the reference vehicle authorizes the acquisition of the real-time data prior to acquiring the real-time data from the reference vehicle. As an embodiment, before acquiring the real-time data collected by the reference vehicle each time, an authorization request for acquiring the real-time data may be correspondingly sent to the reference vehicle each time, so as to receive a request response of the reference vehicle, and according to the request response, it may be determined whether the authorization information of the reference vehicle is acquired.

For example, the server or/and the target vehicle may send an authorization request for acquiring real-time data to the reference vehicle each time the server or/and the target vehicle needs to acquire real-time data from the reference vehicle, and when the reference vehicle receives the authorization request, the reference vehicle may notify a user of the reference vehicle whether to authorize or not to select the authorization request.

As another embodiment, a long-term authorization request for acquiring real-time data may be sent to a reference vehicle before acquiring real-time data acquired by the reference vehicle, which means that after acquiring authorization information once, whether to acquire the authorization information of the reference vehicle may not be determined every time the real-time data needs to be acquired, that is, after authorization once, real-time data acquired by the vehicle may be directly referred to in a subsequent operation process, thereby reducing determination operations for acquiring the authorization information and improving work efficiency.

Step S220: and if the authorization information of the reference vehicle is acquired, acquiring real-time data acquired by the reference vehicle.

In some embodiments, when the determination location obtains the authorization information of the reference vehicle, the real-time data collected by the reference vehicle may be obtained. Specifically, referring to fig. 4, step S220 may include:

step S221: and if the authorization information of the reference vehicle is acquired, acquiring the original data acquired by the reference vehicle.

After obtaining the authorization information of the reference vehicle, the raw data collected by the reference vehicle may be obtained, where the raw data refers to data directly obtained from the reference vehicle, such as obstacles and driving speed perceived by the reference vehicle. And through analysis of the acquired large batch of original data, an intelligent decision on stability is provided for driving assistance.

As an implementation manner, when the authorization information of the reference vehicle is judged to be acquired, the authority of acquiring the original data acquired by the reference vehicle is provided, and further, a large amount of original data can be directly acquired from a plurality of reference vehicles. For example, the server may determine whether the reference vehicle authorizes the authority for acquiring the raw data before acquiring the raw data from the reference vehicle, and when determining that the authorization information of the reference vehicle is acquired, the server may acquire the raw data acquired by the reference vehicle from the reference vehicle.

Step S222: and carrying out data preprocessing on the original data to obtain the real-time data.

Since there are many incomplete, inconsistent and abnormal data in the acquired large amount of raw data, which may affect the judgment on the feasibility of the vehicle-assisted driving, reduce the execution efficiency of the judgment operation, and even may cause deviation of the judgment result on the feasibility, the data preprocessing of the acquired raw data is very important. In some embodiments, after the raw data collected by the multiple reference vehicles is acquired, the raw data may be subjected to data preprocessing, so as to obtain real-time data after the data preprocessing. In particular, the preprocessing operations on the raw data may utilize data cleansing, data integration, data transformation, and other processing operations that improve the quality of the raw data.

As an embodiment, the original data may be data-washed to obtain real-time data, and specifically, irrelevant data, duplicate data, and smooth noise data in a data set formed by the original data may be deleted, and data irrelevant to the type of the real-time data may be filtered out, and the missing data may be supplemented.

For example, the acquired raw data normally includes the temperature around each entire day of the a-link, but the actually acquired raw data lacks a temperature value of one entire point, and at this time, the server may perform Maximum Likelihood Estimation (MLE) on the missing temperature value of one entire point by observing the marginal distribution of sample data according to the acquired vehicle temperature of the entire day of the a-link as a complete sample to complement the missing temperature value of the entire point.

Step S230: configuration data of a target vehicle is acquired, the configuration data including at least on-board sensor data of the target vehicle.

Step S240: and when a request instruction of the target vehicle is acquired, detecting the feasibility of the auxiliary driving of the target vehicle according to the real-time data and the configuration data to obtain a detection result.

Step S250: and determining the driving strategy of the target vehicle according to the detection result.

In this embodiment, the specific implementation of step S230, step S240 and step S250 may refer to the descriptions of step S120, step S130 and step S140 provided in the above embodiments, and are not repeated herein.

For example, please refer to fig. 5, and fig. 5 shows a timing chart of a driving assistance method according to an embodiment of the present application. In particular, in an application scenario of the vehicle driving assistance system, in order to provide better driving assistance experience for a vehicle user and improve driving assistance safety, a vehicle manufacturer may perform feasibility analysis on driving assistance using a target vehicle using driving assistance based on a large amount of real-time data of reference vehicles and configuration data of the target vehicle.

In some embodiments, the server may obtain real-time data from a plurality of reference vehicles, the server needs to obtain authorization information of the reference vehicles before obtaining the real-time data, and may send a data obtaining request to the reference vehicles, when the reference vehicles receive the data obtaining request sent by the server, it may be determined, according to a selection of a vehicle user, whether to grant the server side permission to obtain the collected real-time data, and return a determination result to the server as a request response, and if the server receives the request response sent by the reference vehicles as authorization information, the real-time data collected by the reference vehicles may be obtained. If the reference vehicle does not acquire the authorization information, the auxiliary driving cannot be performed so that the feasibility judgment is performed, and the process is ended.

Further, the server may acquire configuration data of the target vehicle, and when acquiring an instruction of the target vehicle requesting the driving assistance, perform feasibility analysis on the driving assistance by the target vehicle according to the real-time data and the configuration data, then generate a driving strategy corresponding to the analysis result based on the analysis result, and transmit the driving strategy to the target vehicle.

Further, when the target vehicle receives the driving strategy sent by the server, the vehicle can be controlled according to the driving strategy, and specifically, if the target vehicle cannot use the auxiliary driving, the driving right of the vehicle can be transferred to the driver according to the driving strategy to perform manual driving.

In the embodiment of the application, whether the authorization information of the reference vehicle is acquired is judged, the original data acquired by the reference vehicle is acquired, data preprocessing is performed on the original data to acquire real-time data, further, the configuration data of the target vehicle is acquired, and when the request instruction of the target vehicle is acquired, the feasibility of auxiliary driving of the target vehicle is detected according to the real-time data and the configuration data to acquire a detection result, and then the driving strategy of the target vehicle is determined according to the detection result. Therefore, the authority of the reference vehicle is acquired in advance before the real-time data of the reference vehicle is acquired, and the data privacy of the vehicle user is protected. And furthermore, data preprocessing is carried out on the original data acquired from the reference vehicle, incomplete, inconsistent and abnormal data are removed, and therefore the accuracy of judgment on the feasibility of the auxiliary driving is effectively enhanced.

As shown in fig. 6, fig. 6 schematically illustrates a vehicle driving assistance method provided by an embodiment of the present application, and the vehicle driving assistance method may include the following steps S310 to S350.

Step S310: real-time data collected by a plurality of reference vehicles is acquired, and the real-time data at least comprises environmental data and position data of positions of the vehicles.

Step S320: configuration data of an on-board sensor of a target vehicle is acquired.

In this embodiment, the specific implementation of step S310 and step S320 may refer to the description of step S110 and step S120 provided in the above embodiments, and are not described herein again.

In some embodiments, when the request instruction of the target vehicle is acquired, the feasibility detection of the auxiliary driving of the target vehicle can be performed according to the real-time data and the configuration data, and then the detection result is obtained. As an embodiment, when the server receives the request instruction sent by the target vehicle, the feasibility detection of the auxiliary driving of the target vehicle can be carried out according to the real-time data acquired from the reference vehicle and the configuration data of the target vehicle, and the target vehicle can use the auxiliary driving. As another embodiment, when the server receives a request instruction sent by the target vehicle, the feasibility detection of the assisted driving of the target vehicle may be performed according to the real-time data acquired from the reference vehicle and the configuration data of the target vehicle, and it is determined that the target vehicle may not use the assisted driving, and specifically, the method may include:

step S330: and when the request instruction of the target vehicle is acquired, acquiring a preset navigation route of the target vehicle.

In order to early warn road sections (influenced by weather and/or traffic flow) which do not conform to the use assistant driving, close the assistant driving or change to another route available for the assistant driving in advance, and improve the intelligentization level of the assistant driving, judgment can be made on the use assistant driving of the vehicle. In the embodiment of the present application, the preset navigation route refers to a route for navigation generated by the target vehicle according to a departure place and a destination when the target vehicle is driven using the assist driving, and the route for navigation is a route to be driven by the target vehicle when the assist driving is used. The request instruction indicates that the target vehicle requests the use of the assist driving.

As an embodiment, when the request instruction of the target vehicle is acquired, a preset navigation route of the target vehicle may be acquired so as to determine whether the target vehicle may use the assistant driving on the preset navigation route. Specifically, the target vehicle determines a preset navigation route according to a departure place and a destination of driving, and when the target vehicle starts assistant driving, the request instruction of the target vehicle can be acquired, so that the preset navigation route of the target vehicle is acquired.

Step S340: and detecting the feasibility of using auxiliary driving of the target vehicle on the preset navigation route according to the real-time data and the configuration data, and obtaining a detection result.

In some embodiments, when the target vehicle starts assistant driving, a preset navigation route of the target vehicle may be acquired, and then it may be determined whether the target vehicle can use assistant driving on the preset navigation route based on the acquired real-time data and the configuration data. Specifically, referring to fig. 7, step S340 may be step 341 to step 343.

Step S341: and generating an auxiliary driving route according with the auxiliary driving according to the real-time data and the configuration data.

As an implementation manner, traffic condition data, that is, traffic situation data, obtained from a navigation service provider may be used to generate an auxiliary driving route according to the real-time data, the configuration data, and the traffic situation data. For example, after acquiring the real-time data collected by the reference vehicle and the configuration data of the target vehicle, the server may further acquire the real-time traffic situation data by calling an Application Programming Interface (API) of a third-party navigation service provider, so as to calculate an auxiliary driving route suitable for driving assistance and an auxiliary driving route unsuitable for driving assistance in the global road.

As another embodiment, when a large amount of real-time data and configuration data are acquired, the real-time data and the configuration data may be used as a training set, a neural network for determining the feasibility of assisted driving is constructed by using deep learning and machine learning to obtain a determination model, and further, a driving-assisted vehicle route that can be used in the global route is determined by using the determination model. In which, the deep learning can utilize a Recurrent Neural Network (RNN) to predict an auxiliary driving route suitable for auxiliary driving using time-stamped real-time data learning.

Step S342: and matching the auxiliary driving route with the preset navigation route to obtain a matching result.

As an embodiment, the target vehicle may obtain the auxiliary driving route from the server, and match the auxiliary driving route with the preset navigation route process of the target vehicle to obtain the matching result. For example, the target vehicle may query a key geographic position in the preset navigation route on the auxiliary driving route, obtain a matching degree between the auxiliary driving route and the preset navigation route according to a probability of the query key geographic position appearing on the auxiliary driving route, and use the matching degree as a matching result.

As another embodiment, when the server or the target vehicle acquires the auxiliary driving route, it may be determined whether the target vehicle can use auxiliary driving on the preset navigation route by determining whether the preset navigation route belongs to the auxiliary driving route set. Specifically, the generated driving-assistance assistant route suitable for use may be a route set, and further, by determining whether the preset navigation offline of the target vehicle belongs to the driving-assistance route set, it may be determined whether the target vehicle can use the driving assistance in the preset navigation route.

Step S343: and judging whether the target vehicle can use the auxiliary driving in the preset navigation route or not according to the matching result.

As an embodiment, if the preset navigation route of the target vehicle does not match the auxiliary driving route, it may be determined that the target vehicle cannot use auxiliary driving on the preset navigation route, that is, feasibility of the target vehicle using auxiliary driving on the preset navigation route is detected, and a detection result is obtained as infeasible.

Step S350: and when the detection result is that the auxiliary driving is not feasible, generating an interruption response, wherein the interruption response comprises an alternative route and/or a take-over instruction, the alternative route is used for representing a new route which can use the auxiliary driving, and the take-over instruction is used for indicating that the target vehicle is not suitable for the auxiliary driving.

Since there is a case where the assist driving of the vehicle is not appropriate for use, when it is detected that the assist driving of the target vehicle cannot be used, a safety notice can be given to the driver of the target vehicle in advance. In the embodiment of the application, when it is detected that the target vehicle is not capable of using the assisted driving, an interruption response may be generated, which may include an alternative route and/or take-over instruction.

As an implementation manner, when it is detected that the target vehicle cannot use the assistant driving on the preset navigation route, a take-over instruction is generated, and according to the take-over instruction, the target vehicle may send out an early warning prompt tone by using a vehicle-mounted voice system so as to tell the driver that the current preset navigation route cannot use the assistant driving, and may prompt the driver to take over the driving right of the vehicle on an instrument panel of a vehicle console.

As another embodiment, as shown in fig. 8, when it is detected that the target vehicle cannot use the assistant driving on the preset navigation route, a new route corresponding to the use of the assistant driving may be recalculated based on the departure place E and the destination F of the driving of the target vehicle, and optionally, the new route is displayed by using a vehicle-mounted display screen, the route G is the preset navigation route, and the route H is the new route, so that the driving determines whether the assistant driving is used on the new route, and if the driver does not use the new route, the driver is prompted to perform the manual driving.

For example, please refer to fig. 9, where fig. 9 is a flowchart illustrating a driving assistance method according to an embodiment of the present application. Specifically, the server may obtain real-time data collected by a plurality of reference vehicles, and when obtaining the request instruction of the target vehicle, may obtain a preset navigation route of the target vehicle.

Further, the target vehicle may acquire real-time data from the server, acquire configuration data of the target vehicle, determine whether or not the assist driving is available on the preset navigation route based on the real-time data and the configuration data, and travel the target vehicle by the assist driving if the assist driving is available on the preset navigation route. If the assist driving cannot be used on the preset navigation route, the driver is prompted to take over the driving right of the target vehicle, whether a new route conforming to the use of the assist driving can be produced or not can be judged, and if the new route conforming to the use of the assist driving can be generated, the assist driving can be used on the new route.

In the embodiment of the application, real-time data acquired by a plurality of reference vehicles and configuration data of a target vehicle are acquired, an auxiliary driving route which accords with auxiliary driving is generated according to the real-time data and the configuration data, whether the target vehicle can use the auxiliary driving on the preset navigation route is judged according to whether the auxiliary driving route is matched with the preset navigation route, when the target vehicle cannot use the auxiliary driving, an alternative route and/or a take-over instruction are generated, the alternative route is used for representing a new route which can use the auxiliary driving, and the take-over instruction is used for indicating the target vehicle to carry out manual driving. Therefore, the road sections which do not meet the auxiliary driving conditions are early warned in advance, the auxiliary driving is closed or the new route which can be used for the auxiliary driving is changed, and the intelligent level of the auxiliary driving of the vehicle is improved.

As shown in fig. 10, fig. 10 schematically illustrates a vehicle assistant driving method provided in an embodiment of the present application, and the vehicle assistant driving method may include the following steps S410 to S450.

Step S410: real-time data collected by a plurality of reference vehicles is acquired, and the real-time data at least comprises environmental data and position data of positions of the vehicles.

Step S420: configuration data of a target vehicle is acquired, the configuration data including at least on-board sensor data of the target vehicle.

In this embodiment, the specific implementation of step S410 and step S420 may refer to the description of step S110 and step S120 provided in the above embodiments, and are not described herein again.

Step S430: and when a request instruction of a target vehicle is acquired, judging whether the acquired real-time data can be used for the feasibility detection.

Due to the fact that the sensing devices such as vehicle-mounted sensors of the vehicle have the possibility of faults, the obtained real-time data are wrong, missing and the like, and the situation that the obtained real-time data do not have usability is caused, and feasibility detection of auxiliary driving on the target vehicle cannot be carried out.

As an embodiment, when a request instruction of a target vehicle is acquired, the acquired real-time data may be subjected to timeliness detection, specifically, a timestamp of the real-time data is extracted, and whether the acquired time of the real-time data matches the time of generating the preset navigation route is determined. In addition, whether the position of the acquired real-time data is matched with the position of the preset navigation route or not can be judged, and whether the acquired real-time data can be used for feasibility detection or not is judged.

Step S440: and if the acquired real-time data cannot be used for the feasibility detection, the detection result is that the auxiliary driving is not feasible.

As an embodiment, when it is determined that the time when the real-time data is collected cannot be matched with the time when the preset navigation route is generated, or when it is determined that the position when the real-time data is collected cannot be matched with the position of the preset navigation route, it may be determined that the obtained real-time data cannot be used for detecting the feasibility of using the auxiliary driving by the target vehicle.

Step S450: and when the detection result is that the auxiliary driving is not feasible, generating a take-over instruction, wherein the take-over instruction is used for indicating that the target vehicle is not suitable for the auxiliary driving.

In some embodiments, when the acquired real-time data cannot be used for the feasibility detection, a detection result of the feasibility detection of vehicle-assisted driving on the target vehicle may be determined as driving-assisted infeasible, and a take-over instruction may be generated. As an embodiment, when the feasibility of the assisted driving of the target vehicle cannot be judged, the target vehicle may control the driving of the vehicle according to a preset execution program, for example, when the vehicle uses the assisted driving function, when the feasibility cannot be judged, the assisted driving may be switched to the ACC, and then the driver may be prompted to perform manual driving, so as to help the target vehicle smoothly transition from the assisted driving to the manual driving. As another embodiment, when the feasibility of using the assist driving by the target vehicle cannot be judged, a take-over instruction may be generated to indicate that the driver of the target vehicle is not suitable for using the assist driving.

In the embodiment of the present application, the content in the foregoing embodiment may be referred to for the specific description of step S450, and is not repeated herein. In the embodiment of the application, the real-time data collected by a plurality of reference vehicles and the configuration data of the target vehicle are obtained, when the request instruction of the target vehicle is obtained, whether the obtained real-time data can be used for detecting the feasibility of the auxiliary driving of the target vehicle is judged, and if the obtained real-time data cannot be used for detecting the feasibility of the auxiliary driving of the target vehicle, a take-over instruction is generated to indicate the target vehicle to carry out manual driving. Therefore, when the acquired real-time data has errors, deletions and the like and does not have usability, the situation of analysis errors of the driving assistance feasibility is prevented, and the driving safety is ensured.

Referring to fig. 11, a block diagram of a driving assistance device 600 according to an embodiment of the present disclosure is shown. The driving assistance apparatus 600 includes a first obtaining module 610, a second obtaining module 620, a detecting module 630, and a determining module 640. The first obtaining module 610 is configured to obtain real-time data collected by a plurality of reference vehicles, where the real-time data includes environmental data of positions of the reference vehicles and position data of the reference vehicles; a second obtaining module 620, configured to obtain configuration data of an on-board sensor of the target vehicle; the detection module 630 is configured to, when a request instruction of the target vehicle is obtained, perform feasibility detection on assisted driving on the target vehicle according to the real-time data and the configuration data, and obtain a detection result, where the request instruction is used to represent that the target vehicle requests to use assisted driving; and the determining module 640 is configured to determine a driving strategy of the target vehicle according to the detection result.

In some embodiments, the first obtaining module 610 may include: the authority judgment unit is used for judging whether the authorization information of the reference vehicle is acquired or not, and the authorization information is used for representing the authority of acquiring the real-time data; and the real-time data acquisition unit is used for acquiring the real-time data acquired by the reference vehicle if the authorization information of the reference vehicle is acquired.

In some embodiments, the obtaining unit may be specifically configured to: if the authorization information of the reference vehicle is obtained, obtaining the original data collected by the reference vehicle; and carrying out data preprocessing on the original data to obtain real-time data.

In some embodiments, the detection module 630 may include: the navigation route acquiring unit is used for acquiring a preset navigation route of the target vehicle when a request instruction of the target vehicle is acquired; and the detection unit is used for detecting the feasibility of using the auxiliary driving of the target vehicle on the preset navigation route according to the real-time data and the configuration data and obtaining a detection result.

In some embodiments, the detection unit may include: a generation subunit, configured to generate an auxiliary driving route that conforms to the driving assistance, according to the real-time data and the configuration data; the judging subunit is used for matching the auxiliary driving route with the preset navigation route to obtain a matching result; the determining subunit is configured to determine, according to the matching result, whether the target vehicle can use the auxiliary driving in the preset navigation route, and includes: if the auxiliary driving route is not matched with the preset navigation route, the detection result is that auxiliary driving is not feasible;

the determining module 640 may further include: and when the detection result is that the auxiliary driving is not feasible, generating an interruption response, wherein the interruption response comprises an alternative route and/or a take-over instruction, the alternative route is used for representing a new route which can use the auxiliary driving, and the take-over instruction is used for indicating that the target vehicle is not suitable for the auxiliary driving.

In some embodiments, the detection unit may be further specifically configured to: when a request instruction of a target vehicle is acquired, judging whether the acquired real-time data can be used for feasibility detection; if the acquired real-time data cannot be used for the feasibility detection, the detection result is that driving assistance is not feasible;

the determining module 640 may further include: and when the detection result is that the auxiliary driving is not feasible, generating a take-over instruction, wherein the take-over instruction is used for indicating that the target vehicle is not suitable for the auxiliary driving.

In some embodiments, the generating subunit may be further specifically configured to: acquiring traffic situation data, wherein the traffic situation data at least comprises traffic road condition data acquired from a navigation service provider; and generating an auxiliary driving route which is in accordance with the auxiliary driving according to the real-time data, the configuration data and the traffic situation data.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and modules may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, the coupling between the modules may be electrical, mechanical or other type of coupling.

In addition, functional modules in the embodiments of the present application may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.

According to the scheme provided by the application, real-time data collected by a plurality of reference vehicles and configuration data of a target vehicle are obtained, and when a request instruction of the target vehicle is obtained, the feasibility of using auxiliary driving by the target vehicle is detected according to the real-time data and the configuration data to obtain a detection result, the request instruction is used for indicating that the target vehicle requests to use auxiliary driving, and further, a driving strategy of the target vehicle is determined according to the detection result. Therefore, the feasibility of the automatic auxiliary driving of the vehicle is judged by combining the data of the reference vehicle and the configuration data of the vehicle using the automatic auxiliary driving, so that the driving strategy corresponding to the judgment result is determined, the vehicle is ensured to run with the most appropriate driving strategy in real time, and the safety of the automatic auxiliary driving is improved.

As shown in fig. 12, the embodiment of the present application further provides a vehicle 700, where the vehicle 700 includes a processor 710, a memory 720 and an on-board sensor 730, where the memory 720 stores computer program instructions, and the computer program instructions are invoked by the processor 710 to execute the vehicle cruise control method. The onboard sensors 730 may include any one or more of the following sensors: and the sensors such as laser radar, millimeter wave radar, ultrasonic radar and cameras can sense the environment of the vehicle.

Processor 710 may include one or more processing cores. The processor 710 interfaces with various interfaces and circuitry throughout the battery management system to perform various functions of the battery management system and process data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 720 and invoking data stored in the memory 720. Alternatively, the processor 710 may be implemented in hardware using at least one of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 710 may integrate one or more of a Central Processing Unit (CPU) 710, a Graphics Processing Unit (GPU) 710, a modem, and the like. Wherein, the CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing display content; the modem is used to handle wireless communications. It is understood that the modem may not be integrated into the processor 710, but may be implemented by a communication chip.

The Memory 720 may include a Random Access Memory (RAM) 720 and a Read-Only Memory (Read-Only Memory) 720. The memory 720 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 720 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing various method embodiments described below, and the like. The storage data area can also store data (such as a phone book, audio and video data, chatting record data) created by the electronic device map in use and the like.

As shown in fig. 13, the present embodiment further provides a server 800, where the server 800 includes a processor 810 and a memory 820, where the memory 820 stores computer program instructions, and the computer program instructions are invoked by the processor 810 to execute the vehicle cruise control method described above.

Processor 810 may include one or more processing cores. The processor 810 interfaces with various interfaces and circuitry throughout the various parts of the battery management system to perform various functions of the battery management system and process data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 820 and invoking data stored in the memory 820. Alternatively, the processor 810 may be implemented in hardware using at least one of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 810 may integrate one or a combination of a Central Processing Unit (CPU) 810, a Graphics Processing Unit (GPU) 810, a modem, and the like. Wherein, the CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing display content; the modem is used to handle wireless communications. It is understood that the modem may not be integrated into the processor 810, but may be implemented by a communication chip.

The Memory 820 may include a Random Access Memory (RAM) 820 or a Read-Only Memory (Read-Only Memory) 820. The memory 820 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 820 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing various method embodiments described below, and the like. The storage data area can also store data (such as a phone book, audio and video data, chatting record data) created by the electronic device map in use and the like.

As shown in fig. 14, an embodiment of the present application further provides a computer-readable storage medium 900, where computer program instructions 910 are stored in the computer-readable storage medium 900, and the computer program instructions 910 can be called by a processor to execute the method described in the above embodiment.

The computer-readable storage medium may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium includes a non-volatile computer-readable storage medium. The computer readable storage medium 900 has storage space for program code for performing any of the method steps of the method described above. The program code can be read from or written to one or more computer program products. The program code may be compressed, for example, in a suitable form.

Although the present application has been described with reference to the preferred embodiments, it is to be understood that the present application is not limited to the disclosed embodiments, but rather, the present application is intended to cover various modifications, equivalents and alternatives falling within the spirit and scope of the present application.

Claims

1. A vehicle driving assist method, characterized by comprising:

acquiring real-time data collected by a plurality of reference vehicles, wherein the real-time data comprises environmental data of positions of the reference vehicles and position data of the reference vehicles;

acquiring configuration data of a vehicle-mounted sensor of a target vehicle;

when a request instruction of the target vehicle is obtained, carrying out feasibility detection on auxiliary driving on the target vehicle according to the real-time data and the configuration data, and obtaining a detection result, wherein the request instruction is used for representing that the target vehicle requests auxiliary driving; and

and determining the driving strategy of the target vehicle according to the detection result.

2. The method of claim 1, wherein said acquiring real-time data collected by a plurality of reference vehicles comprises:

judging whether authorization information of the reference vehicle is acquired or not, wherein the authorization information is used for representing that the authority for acquiring the real-time data is possessed; and

and if the authorization information of the reference vehicle is acquired, acquiring real-time data acquired by the reference vehicle.

3. The method of claim 2, wherein obtaining the real-time data collected by the reference vehicle if the authorization information of the reference vehicle is obtained comprises:

if the authorization information of the reference vehicle is obtained, obtaining the original data collected by the reference vehicle; and

and carrying out data preprocessing on the original data to obtain the real-time data.

4. The method according to claim 1, wherein the obtaining of the detection result based on the real-time data and the configuration data when obtaining the request instruction of the target vehicle performs the feasibility detection of the auxiliary driving on the target vehicle comprises:

when a request instruction of the target vehicle is acquired, acquiring a preset navigation route of the target vehicle; and

and detecting the feasibility of using auxiliary driving of the target vehicle on the preset navigation route according to the real-time data and the configuration data, and obtaining a detection result.

5. The method of claim 4, wherein the detecting the feasibility of the target vehicle to use assistant driving on the preset navigation route according to the real-time data and the configuration data and obtaining a detection result comprises:

generating an auxiliary driving route which accords with the auxiliary driving according to the real-time data and the configuration data;

matching the auxiliary driving route with the preset navigation route to obtain a matching result; and

judging whether the target vehicle can use the auxiliary driving in the preset navigation route according to the matching result, wherein the judging step comprises the following steps: if the auxiliary driving route is not matched with the preset navigation route, the detection result is that auxiliary driving is not feasible;

the determining the driving strategy of the target vehicle according to the detection result comprises the following steps:

and when the detection result is that the auxiliary driving is not feasible, generating an interruption response, wherein the interruption response comprises an alternative route and/or a take-over instruction, the alternative route is used for representing a new route which can use the auxiliary driving, and the take-over instruction is used for indicating that the target vehicle is not suitable for the auxiliary driving.

6. The method according to claim 1, wherein the obtaining of the detection result based on the real-time data and the configuration data when obtaining the request instruction of the target vehicle performs the feasibility detection of the auxiliary driving on the target vehicle comprises:

when a request instruction of a target vehicle is acquired, judging whether the acquired real-time data can be used for feasibility detection;

if the acquired real-time data cannot be used for the feasibility detection, the detection result is that driving assistance is not feasible;

the determining the driving strategy of the target vehicle according to the detection result comprises the following steps: and when the detection result is that the auxiliary driving is not feasible, generating a take-over instruction, wherein the take-over instruction is used for indicating that the target vehicle is not suitable for the auxiliary driving.

7. The method of claim 5, wherein generating an auxiliary driving route consistent with using the driving assistance based on the real-time data and the configuration data comprises:

acquiring traffic situation data, wherein the traffic situation data at least comprises traffic road condition data acquired from a navigation service provider; and

and generating an auxiliary driving route which is in accordance with the auxiliary driving according to the real-time data, the configuration data and the traffic situation data.

8. A driving assistance apparatus characterized by comprising:

the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring real-time data acquired by a plurality of reference vehicles, and the real-time data comprises environmental data of positions of the reference vehicles and position data of the reference vehicles;

the second acquisition module is used for acquiring configuration data of a vehicle-mounted sensor of the target vehicle;

the detection module is used for carrying out auxiliary driving feasibility detection on the target vehicle according to the real-time data and the configuration data when a request instruction of the target vehicle is obtained, and obtaining a detection result, wherein the request instruction is used for representing that the target vehicle requests auxiliary driving; and

and the determining module is used for determining the driving strategy of the target vehicle according to the detection result.

9. A vehicle, characterized by comprising:

a vehicle-mounted sensor;

a memory;

one or more processors coupled with the memory;

one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more applications configured to perform the method of any of claims 1-7.

10. A server, comprising:

a memory;

one or more processors coupled with the memory;

11. A computer-readable storage medium, having stored thereon program code that can be invoked by a processor to perform the method according to any one of claims 1 to 7.