CN113393687B - Driving support device, driving support method, vehicle, and medium - Google Patents
Driving support device, driving support method, vehicle, and medium Download PDFInfo
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- CN113393687B CN113393687B CN202010170764.0A CN202010170764A CN113393687B CN 113393687 B CN113393687 B CN 113393687B CN 202010170764 A CN202010170764 A CN 202010170764A CN 113393687 B CN113393687 B CN 113393687B
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000012545 processing Methods 0.000 claims abstract description 14
- 230000004044 response Effects 0.000 claims description 16
- 206010039203 Road traffic accident Diseases 0.000 abstract description 5
- 230000006399 behavior Effects 0.000 description 10
- 238000004590 computer program Methods 0.000 description 9
- 238000004891 communication Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000013473 artificial intelligence Methods 0.000 description 4
- 238000013519 translation Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000012806 monitoring device Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/26—Speech to text systems
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computational Linguistics (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides a driving assistance device for a vehicle, a corresponding assistance method and medium, and a vehicle. The driving assistance device includes: a receiving unit configured to receive voice information from a traffic participant other than the vehicle; and a control unit configured to control the vehicle to respond based on the received voice information. In particular, the voice information comprises a request from the traffic participant to the vehicle, the request indicating that the traffic participant request the vehicle to assist in achieving a desired traffic behavior, the control unit comprising: an analysis unit configured to perform semantic analysis on the received voice information to identify the request; and a processing unit configured to control the vehicle to assist the traffic participant in achieving the desired traffic behavior based on the identified request. By using the invention, traffic accidents can be reduced.
Description
Technical Field
The present invention relates to the field of vehicles, and more particularly to a driving assistance apparatus for a vehicle, a corresponding driving assistance method and computer-readable storage medium, and a vehicle.
Background
When a vehicle driven by a human driver is traveling on a road, the driver may communicate with other traffic participants, such as cyclists and pedestrians, if necessary, for example, by gestures to coordinate the traffic behavior of the vehicle and those traffic participants. In this case, the vehicle can communicate with other traffic participants on the road due to the presence of the driver to coordinate traffic behavior, which can reduce the occurrence of traffic accidents.
However, for an autonomous vehicle in which there is no driver, the traffic participant cannot communicate with the autonomous vehicle in the above-described manner, which may result in the occurrence of a traffic accident.
Disclosure of Invention
The invention provides a driving assistance device for a vehicle, a driving assistance method for a vehicle, and a corresponding vehicle and computer-readable storage medium, which can help the vehicle communicate with other traffic participants, and help to promote traffic and reduce traffic accidents.
According to an aspect of the present invention, there is provided a driving assistance device for a vehicle, including:
a receiving unit configured to receive voice information from a traffic participant other than the vehicle; and
and a control unit configured to control the vehicle to respond based on the received voice information.
According to another aspect of the present invention, there is provided a driving assistance method for a vehicle, including:
receiving voice information from a traffic participant other than the vehicle; and
the vehicle is controlled to respond based on the received voice information.
According to a further aspect of the invention there is provided a vehicle, in particular an autonomous vehicle, comprising a driving assistance device as described above.
According to a further aspect of the present invention there is provided a non-transitory computer readable storage medium having stored thereon computer instructions which, when executed by a processor, cause the above-described driving assistance method to be performed.
The invention can help vehicles, especially automatic driving vehicles, communicate with other traffic participants to coordinate traffic behavior, thereby being capable of promoting traffic and reducing traffic accidents.
Drawings
Non-limiting and non-exhaustive embodiments of the present invention are described by way of example with reference to the following drawings, wherein:
FIG. 1 shows a schematic architecture diagram of a system for driving assistance according to one embodiment of the invention;
FIG. 2 shows a schematic view of a driving assistance device according to an embodiment of the invention; and
fig. 3 shows a schematic diagram of a driving assistance method according to an embodiment of the invention.
Detailed Description
Fig. 1 shows a schematic architecture diagram of a system for driving assistance according to an embodiment of the invention. As shown in fig. 1, the system 10 may include an autonomous vehicle 20 and additional traffic participants 30.
Autonomous vehicles are known per se in the art and are not described in detail here.
For example, the autonomous vehicle 20 may optionally have one or more of the following features:
an autonomous vehicle may have a sensing module, such as a camera, millimeter wave radar, lidar, ultrasonic sensor, etc. sensor, to sense by the sensor, such as detecting objects, obstacles, infrastructure, etc. around the vehicle;
the autonomous vehicle is adapted to conduct a vehicle-to-vehicle communication and/or to communicate with an online server or database, e.g. an accessible Highly Automated Driving (HAD) map or the like;
the autonomous vehicle may have a positioning function, for example its own position may be determined by one or a combination of the following: global Navigation Satellite System (GNSS), HAD map, sensor-sensed data;
the autonomous vehicle may have a navigation function, for example connectable to an online server by means of which a navigation route is determined;
the autonomous vehicle may have a path planning function, for example, route and path planning may be performed based on the sensing of the sensor and the self-positioning result;
the autonomous vehicle may have a central controller, by which, for example: transmitting control signals to the power train, the steering system, the transmission system based on the planned path to follow the planned path, receiving instructions to control other vehicle components, and the like.
The autonomous vehicle 20 may have other features not listed above, as desired.
Traffic participant 30 may be, but is not limited to, a rider, pedestrian, or vehicle driver, among others.
The traffic participant 30 may have a traffic participant device such as a mobile terminal (e.g., a cell phone), a smart watch, smart glasses, etc. A traffic participant device typically has a microphone that can record sound from the traffic participant 30 and a speaker that can play audio information to the traffic participant 30. The traffic participant device may also be installed with an application to run a control unit that is a traffic participant device.
In one embodiment, the traffic participant devices of the traffic participant 30 may communicate with the autonomous vehicle 20 through technologies such as, but not limited to, mobile networks, wi-Fi, or bluetooth.
In addition, it is possible for the traffic participant 30 to communicate directly with the autonomous vehicle 20 without using the traffic participant device. For example, the autonomous vehicle 20 may be equipped with a microphone and speaker to receive voice information from the traffic participant 30 and to provide audio information to the traffic participant 30. Thus, the traffic participant 30 may communicate directly with the autonomous vehicle 20.
In one embodiment, when it is detected that the travel track of the traffic participant 30 intersects the travel track of the autonomous vehicle 20, the autonomous vehicle 20 pairs it with the traffic participant 30 and establishes a communication connection with the traffic participant device of the traffic participant 30.
The travel trajectory of traffic participant 30 may be obtained by any suitable means. For example, the travel trajectory of the traffic participant 30 may be predicted based on the Global Navigation Satellite System (GNSS) position, speed, and direction of movement of the traffic participant device it is wearing and provided to the autonomous vehicle 20. For example, the GNSS location of the traffic participant device may be acquired by GNSS sensors mounted thereon, and the speed and direction of movement of the traffic participant device may be acquired by gyroscopes and/or velocimeters mounted thereon. As another example, the position, orientation, and speed of the traffic participant 30, and thus the travel trajectory of the traffic participant, may be detected and acquired by the autonomous vehicle 20 using sensors on the vehicle, such as cameras, lidar, millimeter-wave radar, ultrasonic sensors, etc., or detected and acquired by roadside traffic monitoring devices and provided to the autonomous vehicle 20.
The travel track of the autonomous vehicle 20 may be obtained by any suitable means. For example, the travel trajectory of the autonomous vehicle 20 may be predicted based on the GNSS position, speed, and direction of movement of the autonomous vehicle 20. For example, the GNSS position of the autonomous vehicle 20 may be acquired by GNSS sensors mounted thereon, and the speed and direction of movement of the autonomous vehicle 20 may be acquired by gyroscopes and/or velocimeters mounted thereon. For another example, the position, orientation, and speed of the autonomous vehicle 20, and thus the travel trajectory of the autonomous vehicle 20, may be detected and acquired by the autonomous vehicle 20 using its onboard sensors, such as cameras, lidar, millimeter wave radar, ultrasonic sensors, etc., or by roadside traffic monitoring devices and provided to the autonomous vehicle.
In one embodiment, the autonomous vehicle 20 establishes a communication connection with the traffic participant 30 or its traffic participant device upon detection of voice information from the latter.
Fig. 2 shows a schematic view of a driving assistance device according to an embodiment of the invention. The driving assistance device 200 shown in fig. 2 is used for automatically driving the vehicle 20.
As shown in fig. 2, the driving assistance device 200 may include a receiving unit 210 and a control unit 220. The receiving unit 210 is communicatively coupled with the control unit 220.
The receiving unit 210 may be configured to receive voice information from a traffic participant. Alternatively, the traffic participant is a traffic participant whose travel track intersects the travel track of the autonomous vehicle 20. The voice information may be provided to the driving assistance apparatus 200 by the traffic participant directly or through its traffic participant device. In the latter case, in one embodiment, the traffic participant device establishes a communication connection with the autonomous vehicle 20 before the traffic participant device transmits the voice information to the driving assistance device 200. In another embodiment, when the travel track of the traffic participant is detected to intersect the travel track of the autonomous vehicle 20, the autonomous vehicle 20 pairs it with the traffic participant and establishes the communication connection with the traffic participant device of the traffic participant.
The control unit 220 may be configured to control the autonomous vehicle 20 to respond based on the voice information received by the receiving unit 210.
In one embodiment, the voice information includes a request by the traffic participant to the autonomous vehicle 20. The request may indicate that the traffic participant request that the autonomous vehicle 20 assist in achieving the desired traffic behavior.
The control unit 220 may include an analysis unit 222 and a processing unit 224. The analysis unit 222 is communicatively coupled with a processing unit 224. The analysis unit 222 may be configured to perform semantic analysis on the speech information received by the reception unit 210 to identify the request. In one embodiment, analysis unit 222 may employ artificial intelligence techniques to perform semantic analysis on the speech information. Artificial intelligence techniques can include deep learning based machine translation, rule based machine translation, instance based machine translation, or statistical based machine translation, among others.
The processing unit 224 may be configured to control the autonomous vehicle 20 accordingly, e.g. to maneuver the autonomous vehicle 20 to assist the traffic participant in achieving the desired traffic behavior, based on the request identified by the analysis unit 222. In one embodiment, the processing unit 224 may control the autonomous vehicle 20 to perform braking, steering, and/or acceleration control operations, etc., to allow the traffic participant to travel in front of the autonomous vehicle 20, such as when the desired traffic behavior that the traffic participant requests assistance from the autonomous vehicle 20 is to take the traffic participant first.
Alternatively or additionally, the voice message may include questions posed by the traffic participant to the autonomous vehicle 20. The analysis unit 222 may be configured to perform semantic analysis on the voice information received by the reception unit 210 to identify the problem. The processing unit 224 may be configured to control the vehicle to provide a response to the question based on the identified question, for example to control an audio output component of the autonomous vehicle 20, such as a horn, to play the response to the question. The response may be in audio form. Based on the nature of the problem identified by the analysis unit 222, the processing unit may communicate with related modules of the autonomous vehicle 20 to obtain a response to the problem. For example, in one embodiment, the question is "do you see me? The processing unit 224 may communicate with, for example, a sensing module of the autonomous vehicle to obtain a response to the problem according to the sensing result of the sensing module. In another embodiment, the question is "do i walk first? The processing unit 224 may communicate with, for example, a path planning module of the autonomous vehicle to obtain a response to the problem according to the planned path of the path planning module.
In one embodiment, the request is feedback provided to the vehicle by the traffic participant in response to alert information issued by the autonomous vehicle 20. Depending on the circumstances, this alert information may be sent by the autonomous vehicle 20 to the traffic participant directly or via the traffic participant's traffic participant device, and this feedback may be provided by the traffic participant to the autonomous vehicle 20 directly or via the traffic participant's traffic participant device. For example, when the autonomous vehicle 20 finds that it is at risk of collision with the traffic participant by detecting its travel trajectory with the traffic participant, the autonomous vehicle 20 sends alert information (e.g., "please note that there is a vehicle driving on your right") to the traffic participant device of the traffic participant. The traffic participant device may play the alert information to the traffic participant, for example, through its speaker. After hearing the alert information, the traffic participant may input a request to the traffic participant device as feedback that he wants to request the autonomous vehicle 20 to assist in achieving the desired traffic behavior, by voice or any other suitable means. The traffic participant device detects feedback from the traffic participant and generates information including the corresponding request based on the detection results for transmission to the autonomous vehicle 20. In one embodiment, the traffic participant 30 may input his request (e.g., his request to request the autonomous vehicle 20 to assist in achieving the desired traffic behavior) in a voice manner in a prescribed format (e.g., wake word: request made) to his traffic participant device, which may utilize wake word and voice recognition techniques to detect voice input from the traffic participant and to recognize the traffic participant's request. For example, a traffic participant may input "feedback" to the traffic participant device in the form of speech: let me walk ", where" feedback "is a wake word and" let me walk "is a request made. The traffic participant device transmits the identified request in the form of voice information to the autonomous vehicle 20. The autonomous vehicle 20, in particular the analysis unit 222 described above, performs semantic analysis on the received speech information to identify its specific semantics, for example using artificial intelligence techniques or the like, thereby identifying the request of the traffic participant 30.
In one embodiment, the traffic participant 30 may interact with the autonomous vehicle 20 in a question-and-answer manner either directly or through its traffic participant device. In the latter case, for example, when a traffic participant 30 wants to raise a question to an autonomous vehicle 20, the traffic participant 30 may input the question in a voice manner to his traffic participant device in a prescribed format (e.g., wake word: raised question). The traffic participant device may detect input from the traffic participant using wake words and voice recognition techniques. For example, the voice input by traffic participant 30 may be "questions: does i walk good first? "wherein" question "is a wake word, and" do i walk good first? "is a problem to be addressed. The traffic participant device transmits the detected problem in the form of voice information to the autonomous vehicle 20. The autonomous vehicle 20, in particular the analysis unit 222 described above, performs semantic analysis on the received speech information to identify its specific semantics, for example using artificial intelligence techniques or the like, thereby identifying problems posed by the traffic participant 30. Based on the identified problem, the autonomous vehicle 20, in particular the processing unit 224 described above, determines a response to the identified problem by communicating/accessing available data with the relevant module and/or accessing a stored response database or the like. And the autonomous vehicle 20 is controlled to transmit the determined response to the traffic participant device in audio form. The traffic participant device plays the response in audio form to the traffic participant 30 through its speaker.
In one embodiment, the control unit 220 is the same unit as the central controller in the autonomous vehicle 20 that is used to implement autonomous driving. In another embodiment, the control unit 220 is two different units than the central controller in the autonomous vehicle 20 for achieving autonomous driving.
Fig. 3 shows a schematic diagram of a driving assistance method for a vehicle according to an embodiment of the invention. The driving assistance method 300 shown in fig. 3 may be implemented using the driving assistance apparatus 200 described above.
As shown in fig. 3, the driving assistance method 300 may include steps 310 and 320. At step 310, voice information from a traffic participant is received. In step 320, the vehicle is controlled to respond based on the received voice information.
In one embodiment, the voice information includes a request from the traffic participant to the vehicle, the request indicating that the traffic participant request that the vehicle assist in achieving a desired traffic behavior. Step 320 may further include step 322 and step 324. At step 322, semantic analysis is performed on the received voice information to identify the request. At step 324, the vehicle is controlled to assist the traffic participant in achieving the desired traffic behavior based on the identified request.
Alternatively or additionally, the voice information includes questions posed by the traffic participant to the vehicle. At step 322, semantic analysis is performed on the received voice information to identify the problem. At step 324, the vehicle is controlled to provide a response to the question based on the identified question.
Each of the above steps may be performed by a respective unit of the driving assistance apparatus of the invention, as described above in connection with fig. 2. In addition, the operations and details described above in connection with the units of the driving assistance apparatus of the invention may be included or embodied in the driving assistance method of the invention.
Although the invention is described above in connection with an autonomous vehicle, aspects of the invention may be used with other vehicles, such as vehicles driven by a human driver.
It should be understood that the various elements of the driving assistance device of the present invention may be implemented in whole or in part by software, hardware, firmware, or a combination thereof. The units may each be embedded in the processor of the computer device in hardware or firmware or separate from the processor, or may be stored in the memory of the computer device in software for the processor to call to perform the operations of the units. Each of the units may be implemented as a separate component or module, or two or more units may be implemented as a single component or module.
It will be appreciated by persons skilled in the art that the schematic diagram of the driving assistance apparatus shown in fig. 2 is merely an exemplary explanatory block diagram of a part of the structure related to the aspect of the present invention, and does not constitute a limitation of the computer device, processor or computer program embodying the aspect of the present invention. A particular computer device, processor, or computer program may include more or fewer components or modules than those shown in the figures, or may combine or split certain components or modules, or may have a different arrangement of components or modules.
In one embodiment, a computer device is provided that includes a memory and a processor, the memory having stored thereon computer instructions executable by the processor, which when executed by the processor, instruct the processor to perform the steps of the driving assistance method of the invention. The computer device may be broadly a server, an in-vehicle terminal, or any other electronic device having the necessary computing and/or processing capabilities. In one embodiment, the computer device may include a processor, memory, network interface, communication interface, etc. connected by a system bus. The processor of the computer device may be used to provide the necessary computing, processing and/or control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. The non-volatile storage medium may have an operating system, computer programs, etc. stored therein or thereon. The internal memory may provide an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface and communication interface of the computer device may be used to connect and communicate with external devices via a network. The computer program, when executed by a processor, performs the steps of the driving assistance method of the invention.
The invention may be implemented as a computer readable storage medium having stored thereon a computer program which when executed by a processor causes the steps of the method of the invention to be performed. In one embodiment, the computer program is distributed over a plurality of computer devices or processors coupled by a network such that the computer program is stored, accessed, and executed by one or more computer devices or processors in a distributed fashion. A single method step/operation, or two or more method steps/operations, may be performed by a single computer device or processor, or by two or more computer devices or processors. One or more method steps/operations may be performed by one or more computer devices or processors, and one or more other method steps/operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step/operation or two or more method steps/operations.
It will be appreciated by those of ordinary skill in the art that all or part of the steps of the driving assistance method of the present invention may be accomplished by a computer program, such as a computer device or processor, which may be stored in a non-transitory computer-readable storage medium, which when executed causes the steps of the driving assistance method of the present invention to be performed. Any reference herein to memory, storage, database, or other medium may include non-volatile and/or volatile memory, as the case may be. Examples of nonvolatile memory include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage, hard disk, solid state disk, and the like. Examples of volatile memory include Random Access Memory (RAM), external cache memory, and the like.
The technical features described above may be arbitrarily combined. Although not all possible combinations of features are described, any combination of features should be considered to be covered by the description provided that such combinations are not inconsistent.
While the invention has been described in conjunction with embodiments, it will be understood by those skilled in the art that the foregoing description and drawings are illustrative only and that the invention is not limited to the disclosed embodiments. Various modifications and variations are possible without departing from the spirit of the invention.
Claims (9)
1. A driving assistance device for a vehicle, comprising:
a receiving unit configured to receive voice information from a traffic participant other than the vehicle; and
a control unit configured to control the vehicle to respond based on the received voice information,
wherein,,
the voice information includes a request by the traffic participant to the vehicle, the request indicating that the traffic participant request the vehicle to assist in achieving a desired traffic behavior, wherein the control unit includes: an analysis unit configured to perform semantic analysis on the received voice information to identify the request; and a processing unit configured to control the vehicle to assist the traffic participant in achieving the desired traffic behavior based on the identified request,
and/or
The voice information includes questions posed by the traffic participant to the vehicle, wherein the control unit includes: an analysis unit configured to perform semantic analysis on the received voice information to identify the problem; and a processing unit configured to control the vehicle to provide a response to the question based on the identified question.
2. The driving assistance apparatus according to claim 1, wherein the request is provided to the vehicle by the traffic participant in response to warning information issued by the vehicle.
3. The driving assist device according to claim 1 or 2, wherein the vehicle is an autonomous vehicle.
4. A driving assistance method for a vehicle, comprising:
receiving voice information from a traffic participant other than the vehicle; and
controlling the vehicle to respond based on the received voice information,
wherein,,
the voice information includes a request by the traffic participant to the vehicle, the request indicating that the traffic participant request the vehicle to assist in achieving a desired traffic behavior, wherein controlling the vehicle to respond based on the received voice information includes: performing semantic analysis on the received voice information to identify the request; and controlling the vehicle to assist the traffic participant in achieving the desired traffic behavior based on the identified request,
and/or
The voice information includes questions posed by the traffic participant to the vehicle, wherein controlling the vehicle to respond based on the received voice information includes: performing semantic analysis on the received voice information to identify the problem; and controlling the vehicle to provide a response to the problem based on the identified problem.
5. The driving assistance method according to claim 4, wherein the request is provided to the vehicle by the traffic participant in response to warning information issued by the vehicle.
6. The driving assistance method according to claim 4 or 5, wherein the vehicle is an autonomous vehicle.
7. A vehicle comprising the driving assistance apparatus according to any one of claims 1 to 3.
8. The vehicle of claim 7, wherein the vehicle is an autonomous vehicle.
9. A non-transitory computer readable storage medium having stored thereon computer instructions that, when executed by a processor, cause the driving assistance method according to any one of claims 4 to 6 to be performed.
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