CN113386772A - Driving assistance method and device for vehicle, medium, and electronic apparatus - Google Patents
Driving assistance method and device for vehicle, medium, and electronic apparatus Download PDFInfo
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- CN113386772A CN113386772A CN202010168657.4A CN202010168657A CN113386772A CN 113386772 A CN113386772 A CN 113386772A CN 202010168657 A CN202010168657 A CN 202010168657A CN 113386772 A CN113386772 A CN 113386772A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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Abstract
The present disclosure relates to a driving assistance method for a vehicle, characterized by comprising: s1) acquiring road information of a current driving road of the vehicle (10) and vehicle information of vehicles on a vehicle lane (L10) where the vehicle (10) is located and adjacent lanes (L20, L30) of the vehicle; s2) determining the probability of the vehicle (10) being jammed by another vehicle in front of and at the side of the vehicle according to the road information and the vehicle information; s3) controlling the vehicle (10) according to the jam probability. In addition, the present disclosure relates to a corresponding driving assistance apparatus for a vehicle, a computer-readable storage medium, and an electronic device.
Description
Technical Field
The present disclosure relates to a driving assistance system and automotive electronics, and more particularly, to a driving assistance method and apparatus for a vehicle, and a computer-readable storage medium and an electronic device.
Background
During vehicle travel, a "jamming" phenomenon often occurs, that is, a driving behavior in which a (target) vehicle departing from an adjacent lane merges into a traveling lane or a traveling locus of the host vehicle from the front of the host vehicle side at different speeds and affects normal traveling of the host vehicle (for example, causes the host vehicle to be forcibly braked). In other words, there is often a lane change between two vehicles on adjacent lanes.
In view of this, some traffic patterns have been devised in driving assistance systems that can help identify and predict potential congestion situations in front of and to the side of the host vehicle. These traffic modes are extremely beneficial for improving the overall functional performance and safety of use when the driving assistance function is activated. In addition, the determination of the vehicle jam has a function of warning the vehicle jam located in an adjacent lane in front of the vehicle, or adjusting the inter-vehicle distance in accordance with an adaptive cruise system (ACC).
Conventional solutions to deal with the jamming situation in the field of driving assistance at present mainly use sensors such as cameras, radars, ultrasonic waves (sonar), and the like, to detect objects moving around the subject vehicle, and to calculate and track the gap/distance between the object and the subject vehicle. The system of the host vehicle (e.g., the ACC) will begin to react (e.g., decelerate or accelerate) when the absolute distance between the vehicles or the relative distance to the current driving path indicates a collision risk.
However, the disadvantage of the existing solutions is that they rely only on single or few objects and their individual movements, neglecting the overall possibility of traffic patterns.
Disclosure of Invention
In view of the above, the present disclosure provides a driving assistance method, apparatus, and vehicle for a vehicle, with which a potential jam situation in front of and to the side of a subject vehicle can be determined by means of the overall possibility of a traffic pattern, whereby the vehicle can be made to take a countermeasure rationally.
According to a first aspect of the present disclosure, there is provided a driving assistance method for a vehicle, the method including: acquiring road information of a current driving road of a vehicle and vehicle information of vehicles on a lane where the vehicle is located and adjacent lanes; determining the probability of the vehicle jamming before and beside the vehicle according to the road information and the vehicle information; and controlling the vehicle according to the jam probability.
Therefore, the driving assistance method according to the present disclosure can determine the potential congestion situation in front of and to the side of the subject vehicle only by the road information of the traveling road and the vehicle information on the own-vehicle lane and the adjacent lanes.
Advantageously, the lane speed of the vehicle lane and its adjacent lanes is determined from the road information and the vehicle information, the lane speed being the average speed, the maximum speed or the minimum speed of all vehicles detected on the respective lane; and determining the jam probability according to the lane speed.
Therefore, the driving assistance method according to the present disclosure does not judge the possibility of congestion depending only on a single or several objects and their individual motions, but judges the possibility of congestion based on the overall possibility of traffic patterns, i.e., the lane speed representing the lane situation.
This type of determination can vary, in particular, depending on the respective traffic regulations of each country or region. In particular, for the current traffic situation in china, it is preferable to make the following judgments:
when the lane speed of the adjacent lane is less than the lane speed of the own vehicle lane, determining the probability of congestion to be high if the distance between the vehicle and the first preceding vehicle ahead of it is equal to or greater than one vehicle length, and determining the probability of congestion to be medium if the distance between the vehicle and the first preceding vehicle is less than one vehicle length; and/or
When the lane speed of the adjacent lane is greater than the lane speed of the own-vehicle lane, determining the probability of congestion as medium if the spacing between the vehicle and the first preceding vehicle is equal to or greater than one vehicle length, determining the probability of congestion as low if the spacing between the vehicle and the first preceding vehicle is less than one vehicle length, and determining the probability of congestion as low (but the probability of merging into the own-vehicle lane is high) if there is no vehicle ahead of the vehicle on the own-vehicle lane; and/or
Determining the congestion probability to be high if a large-sized vehicle exists ahead of the vehicle on the adjacent lane, and determining the congestion probability to be low if a large-sized vehicle exists ahead of the vehicle on the own lane, when the lane speed of the adjacent lane is equal to or similar to the lane speed of the own lane; and/or
When there are two adjacent lanes and the lane speed of one of the adjacent lanes is equal to or similar to the lane speed of the host vehicle lane and the lane speed of the other adjacent lane is greater than the lane speed of the host vehicle lane or the adjacent vehicle on the other adjacent lane is relatively small, the jam probability is determined to be high if the first preceding vehicle ahead of the vehicle changes lane to the other adjacent lane, i.e., the adjacent lane with the faster lane speed or the relatively smaller vehicle.
It is also advantageous to determine the distance of the vehicle from the intersection from the road information and the vehicle information; and determining the probability of adding the jam according to the distance.
In this regard, the following judgment is preferably made:
when the distance between the vehicle and the intersection is less than a first preset distance, if the vehicle is in a first nearest lane to the intersection, determining the congestion probability to be high, and if the vehicle is in a second nearest lane to the intersection, determining the congestion probability to be medium;
when the distance between the vehicle and the intersection is greater than a second preset distance, determining the jam probability to be low; and/or
When the vehicle is at a distance greater than a first predetermined distance and less than a second predetermined distance from the intersection, the probability of congestion is determined to be medium if the vehicle is in a first closest lane to the intersection and low if the vehicle is in a second closest lane to the intersection.
Preferably, the speed of the vehicle may be adjusted according to the jam probability. Thereby, the possibility of a collision can be reduced or another vehicle can be prevented from getting jammed.
It is also preferred that the driver of the vehicle can be warned in accordance with said jam probability. In this way, early warning of danger can be achieved, the anticipation time of the driver can be increased, and risks such as sudden braking and accidents can be reduced.
According to a second aspect of the present disclosure, there is provided a driving assist apparatus for a vehicle, which may include: the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring road information of a current driving road of a vehicle and vehicle information of vehicles in a lane where the vehicle is located and adjacent lanes; a determination module configured to determine a congestion probability of another vehicle being congested in front of and to the side of the vehicle based on the road information and the vehicle information; a control module configured to control a vehicle according to the jam probability.
According to a third aspect of the present disclosure, a vehicle is provided, which may include the driving assistance apparatus for a vehicle according to the present disclosure.
In a fourth aspect of the disclosure, the disclosure provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the method according to the first aspect as described above.
In a fifth aspect of the present disclosure, the present disclosure provides an electronic device, which may comprise a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the computer program is executed by the processor to implement the method according to the first aspect as described above.
The driving assistance apparatus for a vehicle, the computer-readable storage medium, and the electronic device according to the second to fifth aspects of the present disclosure also bring about the same advantages as the driving assistance method for a vehicle according to the first aspect of the present disclosure, accordingly, and will not be described again.
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In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, embodiments accompanying the present disclosure are described in detail below.
Fig. 1 is a schematic block diagram of a driving assistance system 100 for a vehicle according to the present disclosure;
fig. 2 is a schematic block diagram of a driving assistance apparatus 200 for a vehicle according to the present disclosure;
FIG. 3 is a scenario in which a vehicle is traveling on a current road;
FIG. 4 is another scenario in which the vehicle is traveling on a current road;
fig. 5 is a flowchart of a driving assistance method for a vehicle according to the present disclosure.
Detailed Description
In the following description, specific details are set forth in order to provide a thorough understanding of the present invention. The invention can be implemented in a number of ways different from those described herein and similar generalizations can be made by those skilled in the art without departing from the spirit of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.
The expression "and/or" is used herein in the sense of including at least one of the components listed before and after the expression. The singular forms herein also include the plural unless specifically mentioned in the context of a phrase. Further, as used herein, reference to "comprising" or "including" components, steps, operations, and elements means that at least one other component, step, operation, and element is present or added.
It should be understood that the term "vehicle" or "vehicular" or other similar terms as used herein generally includes motor vehicles, such as passenger vehicles including Sport Utility Vehicles (SUVs), buses, vans, various commercial vehicles, watercraft including various boats, ships, aircraft, and the like, and includes hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., fuel derived from sources other than petroleum). Here, the hybrid vehicle is a vehicle having two or more power sources, such as a gasoline-powered vehicle and an electric-powered vehicle.
Fig. 1 is a schematic block diagram of a driving assistance system 100 for a vehicle according to the present disclosure. As shown in fig. 1, the driving assistance system 100 may include: a driving assistance apparatus 200 for a vehicle according to the present disclosure, which will be also explained in further detail below; an in-vehicle system 300 with an electronic map; and a sensor system 400 having at least one sensor.
The on-board system 300 may be, for example, a navigator, and its electronic map may be, in particular, a high-definition map. Information about the traveling road, such as the number of lanes included in the traveling road, the lane type of the vehicle, whether and where there is an intersection on the traveling road, etc., can be obtained by the in-vehicle system 300.
The at least one sensor of the sensor system 400 may comprise, inter alia, a camera, a radar, an ultrasound (sonar), etc. Information about the vehicle, in particular about the vehicle speed, can be obtained by the sensor system 400.
The on-board system 300 and/or the sensor system 400 may be, inter alia, components of the vehicle itself.
Fig. 2 illustrates a driving assistance apparatus 200 for a vehicle according to the present disclosure, and fig. 3 and 4 illustrate different scenarios in which the vehicle travels on a current travel road. As shown in fig. 2 to 4, the driving assistance apparatus 200 according to the present disclosure may include an acquisition module 201, a determination module 202, and a control module 203.
The acquisition module 201 may be configured to acquire road information of a road on which the vehicle 10 is currently traveling and vehicle information of vehicles on the own-vehicle lane L10 in which the vehicle 10 is located and the adjacent lanes L20, L30 thereof from the in-vehicle system 300 and/or the sensor system 400.
For example, for the driving scenario of fig. 3, the acquisition module 201 may acquire the following road information: the current driving road of the vehicle includes 3 lanes, the vehicle 10 is currently running in the lane L10, i.e., the own vehicle lane, and there are two adjacent lanes L20 and L30 beside the own vehicle lane L10. In addition, the acquisition module 201 may acquire the following vehicle information: there are vehicles 21, 22, 23 on the adjacent lane L20 and their vehicle speeds are v21, v22, v23, respectively, there are vehicles 31, 32, 33 on the adjacent lane L30 and their vehicle speeds are v31, v32, v33, respectively, there are vehicles 11, 12 on the own-vehicle lane L10 and their vehicle speeds are v11, v12, respectively, and the speed of the own vehicle 10 is v 10.
The determination module 202 may be configured to determine a probability of congestion of another vehicle being congested in front of and to the side of the vehicle 10 based on the road information and the vehicle information.
For example, for the driving scenario of fig. 3, the determination module 202 may determine a probability of jamming that another vehicle is jammed between the vehicle 10 and the first preceding vehicle 11 in front of the vehicle 10 and a probability of jamming that another vehicle approaches the side of the vehicle 10.
The control module 203 may be configured to control the vehicle 10 according to the jam probability.
Here, the control module 203 may, for example, decrease or increase the speed of the vehicle 10, thereby controlling the spacing of the vehicle 10 from other vehicles to reduce the likelihood of a collision or to prevent another vehicle from jamming.
In this regard, according to a preferred embodiment, the driving assistance device may further comprise an early warning module 204, which may be configured to early warn the driver of the vehicle 10 in dependence on the probability of jamming, in particular when the probability of jamming is high.
For example, the early warning module 204 may display the collision probability and/or issue an audible alarm on a display of the vehicle, particularly a heads-up display.
The operation of the driving assistance apparatus 200 for a vehicle according to the present disclosure will be described in detail below. Fig. 5 shows a flowchart of a driving assistance method for a vehicle according to the present disclosure.
In step S1, road information of the road on which the vehicle 10 is currently traveling and vehicle information of vehicles on the own-vehicle lane L10 and the adjacent lanes L20, L30 in which the vehicle 10 is located may be acquired.
For example, for the driving scenario of fig. 3, the road information may include: the current driving road of the vehicle includes 3 lanes, the vehicle 10 is currently running in the lane L10, i.e., the own vehicle lane, and there are two adjacent lanes L20 and L30 beside the own vehicle lane L10. The vehicle information may include: there are vehicles 21, 22, 23 on the adjacent lane L20 and their vehicle speeds are v21, v22, v23, respectively, there are vehicles 31, 32, 33 on the adjacent lane L30 and their vehicle speeds are v31, v32, v33, respectively, there are vehicles 11, 12 on the own-vehicle lane L10 and their vehicle speeds are v11, v12, respectively, and the speed of the own vehicle 10 is v 10.
In step S2, a probability of jamming that another vehicle is jammed in front of and to the side of the vehicle 10 may be determined based on the road information and the vehicle information.
In this regard, according to a preferred embodiment, the lane speed of the own vehicle lane L10 and its neighboring lanes L20, L30 is first determined from the road information and the vehicle information, and then the probability of congestion is determined from the lane speed.
In the scope of the present disclosure, the lane speed may be an average speed of all vehicles detected on the corresponding lane. It is also contemplated that the lane speed may be a maximum speed or a minimum speed of all vehicles detected on the corresponding lane.
In this regard, when the lane speed of the adjacent lanes L20, L30 is smaller than the lane speed of the own vehicle lane L10, the jam probability is determined to be high if the spacing between the vehicle 10 and the first preceding vehicle 11 ahead thereof is equal to or greater than one vehicle length, and is determined to be medium if the spacing between the vehicle 10 and the first preceding vehicle 11 is smaller than one vehicle length.
When the lane speeds of the adjacent lanes L20, L30 are greater than the lane speed of the own-vehicle lane L10, if the spacing between the vehicle 10 and the first preceding vehicle 11 is equal to or greater than one vehicle length, the jam probability is determined to be medium, if the spacing between the vehicle 10 and the first preceding vehicle 11 is less than one vehicle length, the jam probability is determined to be low, and if there is no vehicle ahead of the vehicle 10 on the own-vehicle lane L10, the jam probability is determined to be low (but the probability of merging into the own-vehicle lane at this time is high because the side vehicle does not actually make a substantial influence on normal driving of the own-vehicle 10 even if merging into the own-vehicle lane).
When the lane speed of the adjacent lanes L20, L30 is equal to or similar to the lane speed of the host vehicle lane L10, the probability of congestion is determined to be high if there is a large vehicle in front of the vehicle 10 on the adjacent lane, and is determined to be low if there is a large vehicle in front of the vehicle 10 on the host vehicle lane L10. In this context, a large motor vehicle is understood to mean in particular a motor vehicle of a type larger than a passenger car, for example a truck, a lorry or the like.
When there are two adjacent lanes L20, L30 and the lane speed of one of the adjacent lanes is equal to or similar to the lane speed of the host vehicle lane L10 and the lane speed of the other adjacent lane is greater than the lane speed of the host vehicle lane L10 or there are relatively few adjacent vehicles on the other adjacent lane, the jam probability is determined to be high if the first front vehicle 11 ahead of the vehicle 10 changes lane to the other adjacent lane, i.e., the adjacent lane whose lane speed is fast or the vehicle is relatively few.
According to another preferred embodiment, the distance of the vehicle 10 from the intersection can be first determined from the road information and the vehicle information; the probability of jamming is then determined from the distance.
As shown in fig. 4, when the distance d of the vehicle 10 from the intersection I is less than the first predetermined distance d1, the probability of congestion is determined to be high if the vehicle 10 is in the first closest lane to the intersection I (here, L30), and medium if the vehicle 10 is in the second closest lane to the intersection I (here, L10). In this case, the first predetermined distance d1 may be between 500 and 1000 meters, in particular.
When the vehicle 10 is greater than the second predetermined distance d2 from the intersection I, then the probability of jamming is determined to be low. In this case, the second predetermined distance d2 may be greater than 3000 m, in particular.
When the distance d of the vehicle 10 from the intersection I is greater than the first predetermined distance d1 and less than the second predetermined distance d2, the probability of congestion is determined to be medium if the vehicle 10 is in the first closest lane to the intersection I (i.e., L30 herein), and low if the vehicle 10 is in the second closest lane to the intersection I (i.e., L10 herein).
It is also conceivable that, according to yet another preferred embodiment, the probability of jamming can be determined from the lane speed and the distance d of the vehicle from the intersection as described above. In this regard, the determined jam probabilities as described above for lane speed and for vehicle distance d from the intersection may be superimposed or weighted.
In step S3, the vehicle 10 may be controlled according to the jam probability.
According to a preferred embodiment, the speed of the vehicle 10 may be adjusted according to the jam probability, thereby controlling the separation of the vehicle 10 from other vehicles. For example, the speed of the vehicle 10 may be reduced to prevent the possibility of a collision, and the speed of the vehicle 10 may also be increased to prevent another vehicle from jamming.
In this regard, the speed of the vehicle 10 may be adjusted, in particular, in conjunction with the distance of the vehicle 10 from the first preceding vehicle 11 and/or from another vehicle to be plugged in.
In addition, prior to step S3 or in step S3, a warning may be given to the driver of the vehicle 10 in accordance with the probability of jamming, particularly when the probability of jamming is high. This makes it possible to prompt the driver of the vehicle 10. In this way, early warning of danger can be achieved, the anticipation time of the driver can be increased, and risks such as sudden braking and accidents can be reduced.
Furthermore, the present disclosure also relates to a computer-readable storage medium having stored thereon the driving assistance method for a vehicle according to the present disclosure described above.
The computer-readable storage medium may be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but is not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing.
The computer-readable storage medium may be machine-readable or computer-readable. Thus, in some embodiments, a computer-readable storage medium includes a data carrier having executable instructions that can cooperate with a programmable computer system or programmable hardware components such that one of the methods described herein is performed. An embodiment is thus a data carrier, a digital storage medium or a computer-readable storage medium, on which a program for implementing one of the methods described herein is recorded.
Furthermore, the present disclosure relates to an electronic device comprising a memory, a processor and the above-described driving assistance method for a vehicle according to the present disclosure stored on the memory and operable on the processor.
Those skilled in the art will appreciate that any device comprising a memory and a processor and capable of executing programs is referred to herein as an electronic device, including but not limited to: mobile phones, notebook computers, desktop computers, palm top computers (PDAs), portable navigation devices, vehicle-mounted navigation devices, tablet Pcs (PADs), portable multimedia players, smart watches, wearable devices, and the like.
Furthermore, the present disclosure may also relate to a computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions thereon for causing a processor to perform various aspects of the invention.
The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In some embodiments, electronic circuitry, including, for example, programmable logic circuitry, Field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), may execute computer-readable program instructions to perform aspects of the present invention by utilizing state information of the computer-readable program instructions to personalize the electronic circuitry.
The features disclosed in the present document can be essential for the implementation of the embodiments in terms of different embodiments and can be implemented both individually and in any combination. The invention is not limited to the embodiments shown but comprises or extends to all technical equivalents that may fall within the scope and spirit of the appended claims.
Claims (17)
1. A driving assistance method for a vehicle, characterized by comprising:
s1) acquiring road information of a current driving road of the vehicle (10) and vehicle information of vehicles on a vehicle lane (L10) where the vehicle (10) is located and adjacent lanes (L20, L30) of the vehicle;
s2) determining the probability of the vehicle (10) being jammed by another vehicle in front of and at the side of the vehicle according to the road information and the vehicle information;
s3) controlling the vehicle (10) according to the jam probability.
2. The driving assistance method according to claim 1,
in step S2):
determining lane speeds of a host vehicle lane (L10) and its neighboring lanes (L20, L30) which are average, maximum or minimum speeds of all vehicles detected on the respective lanes, from the road information and the vehicle information;
and determining the jam probability according to the lane speed.
3. The driving assistance method according to claim 2,
when the lane speed of the adjacent lane (L20, L30) is less than the lane speed of the own vehicle lane (L10), determining the probability of congestion to be high if the spacing between the vehicle (10) and the first preceding vehicle (11) ahead thereof is equal to or greater than one vehicle length, and determining the probability of congestion to be medium if the spacing between the vehicle (10) and the first preceding vehicle (11) is less than one vehicle length; and/or
When the lane speed of the adjacent lane (L20, L30) is greater than the lane speed of the own vehicle lane (L10), determining the jam probability to be medium if the spacing between the vehicle (10) and the first preceding vehicle (11) is equal to or greater than one vehicle length, determining the jam probability to be low if the spacing between the vehicle (10) and the first preceding vehicle (11) is less than one vehicle length, and determining the jam probability to be low if there is no vehicle ahead of the vehicle (10) on the own vehicle lane (L10); and/or
When the lane speed of the adjacent lane (L20, L30) is equal to or approximate to the lane speed of the host vehicle lane (L10), determining the probability of congestion to be high if there is a large vehicle in front of the vehicle (10) on the adjacent lane, and determining the probability of congestion to be low if there is a large vehicle in front of the vehicle (10) on the host vehicle lane (L10); and/or
When there are two adjacent lanes and the lane speed of one of the adjacent lanes (L20, L30) is equal to or approximate to the lane speed of the host vehicle lane (L10) and the lane speed of the other adjacent lane (L30, L20) is greater than the lane speed of the host vehicle lane (L10) or there are relatively few adjacent vehicles on the other adjacent lane (L30, L20), the jam probability is determined to be high if the first preceding vehicle (11) ahead of the vehicle (10) is lane-changed onto the other adjacent lane.
4. The drive assist method according to one of claims 1 to 3,
in step S2):
determining the distance between the vehicle (10) and the intersection according to the road information and the vehicle information;
and determining the probability of adding the jam according to the distance.
5. The driving assistance method according to claim 4,
when the distance of the vehicle (10) from the intersection (I) is less than a first predetermined distance, determining the probability of congestion as high if the vehicle (10) is in a first closest lane to the intersection (I) and as medium if the vehicle (10) is in a second closest lane to the intersection (I);
determining the probability of jamming as low when the vehicle (10) is at a distance from the intersection (I) greater than a second predetermined distance; and/or
When the vehicle (10) is at a distance greater than a first predetermined distance and less than a second predetermined distance from the intersection (I), the probability of congestion is determined to be medium if the vehicle (10) is in a first closest lane to the intersection (I), and the probability of congestion is determined to be low if the vehicle (10) is in a second closest lane to the intersection (I).
6. The drive assist method according to one of claims 1 to 5,
before step S3) or in step S3), a warning is given to the driver of the vehicle (10) according to the jam probability.
7. The drive assist method according to one of claims 1 to 6,
in step S3), the speed of the vehicle (10) is adjusted according to the jam probability.
8. A driving assistance apparatus (200) for a vehicle, characterized by comprising:
an acquisition module (201) configured to acquire road information of a road on which a vehicle (10) is currently traveling and vehicle information of vehicles on a host vehicle lane (L10) in which the vehicle (10) is located and on its adjacent lanes (L20, L30);
a determination module (202) configured for determining a congestion probability of another vehicle being congested in front of and to the side of the vehicle (10) based on the road information and the vehicle information;
a control module (203) configured for controlling the vehicle (10) according to the jam probability.
9. The driving assistance apparatus (200) according to claim 8,
the determination module (202) is configured for:
determining lane speeds of a host vehicle lane (L10) and its neighboring lanes (L20, L30) which are average, maximum or minimum speeds of all vehicles detected on the respective lanes, from the road information and the vehicle information;
and determining the jam probability according to the lane speed.
10. The driving assistance apparatus (200) according to claim 9,
the determination module (202) is configured for:
when the lane speed of the adjacent lane (L20, L30) is less than the lane speed of the own vehicle lane (L10), determining the probability of congestion to be high if the spacing between the vehicle (10) and the first preceding vehicle (11) ahead thereof is equal to or greater than one vehicle length, and determining the probability of congestion to be medium if the spacing between the vehicle (10) and the first preceding vehicle (11) is less than one vehicle length; and/or
When the lane speed of the adjacent lane (L20, L30) is greater than the lane speed of the own vehicle lane (L10), determining the jam probability to be medium if the spacing between the vehicle (10) and the first preceding vehicle (11) is equal to or greater than one vehicle length, determining the jam probability to be low if the spacing between the vehicle (10) and the first preceding vehicle (11) is less than one vehicle length, and determining the jam probability to be low if there is no vehicle ahead of the vehicle (10) on the own vehicle lane (L10); and/or
When the lane speed of the adjacent lane (L20, L30) is equal to or approximate to the lane speed of the host vehicle lane (L10), determining the probability of congestion to be high if there is a large vehicle in front of the vehicle (10) on the adjacent lane, and determining the probability of congestion to be low if there is a large vehicle in front of the vehicle (10) on the host vehicle lane (L10); and/or
When there are two adjacent lanes and the lane speed of one of the adjacent lanes (L20, L30) is equal to or approximate to the lane speed of the host vehicle lane (L10) and the lane speed of the other adjacent lane (L30, L20) is greater than the lane speed of the host vehicle lane (L10) or there are relatively few adjacent vehicles on the other adjacent lane (L30, L20), the jam probability is determined to be high if the first preceding vehicle (11) ahead of the vehicle (10) is lane-changed onto the other adjacent lane.
11. The driving assistance apparatus according to one of claims 8 to 10,
the determination module (202) is configured for:
determining the distance between the vehicle (10) and the intersection according to the road information and the vehicle information;
and determining the probability of adding the jam according to the distance.
12. The driving assistance apparatus according to claim 11,
the determination module (202) is configured for:
when the distance of the vehicle (10) from the intersection (I) is less than a first predetermined distance, determining the probability of congestion as high if the vehicle (10) is in a first closest lane to the intersection (I) and as medium if the vehicle (10) is in a second closest lane to the intersection (I);
determining the probability of jamming as low when the vehicle (10) is at a distance from the intersection (I) greater than a second predetermined distance; and/or
When the vehicle (10) is at a distance greater than a first predetermined distance and less than a second predetermined distance from the intersection (I), the probability of congestion is determined to be medium if the vehicle (10) is in a first closest lane to the intersection (I), and the probability of congestion is determined to be low if the vehicle (10) is in a second closest lane to the intersection (I).
13. The driving assistance apparatus according to one of claims 8 to 12,
the driving assistance device further comprises an early warning module (204) configured to early warn a driver of the vehicle (10) in dependence of the jam probability.
14. The driving assistance apparatus according to one of claims 8 to 13,
the control module (203) is configured to adjust the speed of the vehicle (10) in accordance with the jam probability.
15. A vehicle comprising the driving assist apparatus for a vehicle according to any one of claims 8 to 14.
16. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program is executed by a processor to implement the driving assistance method for a vehicle according to any one of claims 1 to 7.
17. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the computer program is executed by the processor to implement a driving assistance method for a vehicle according to any one of claims 1 to 7.
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| CN202010168657.4A CN113386772A (en) | 2020-03-12 | 2020-03-12 | Driving assistance method and device for vehicle, medium, and electronic apparatus |
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| CN202010168657.4A CN113386772A (en) | 2020-03-12 | 2020-03-12 | Driving assistance method and device for vehicle, medium, and electronic apparatus |
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| CN113386772A true CN113386772A (en) | 2021-09-14 |
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