CN113415271A - Driving assistance method, device, computer-readable storage medium and processor - Google Patents
Driving assistance method, device, computer-readable storage medium and processor Download PDFInfo
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- CN113415271A CN113415271A CN202110826963.7A CN202110826963A CN113415271A CN 113415271 A CN113415271 A CN 113415271A CN 202110826963 A CN202110826963 A CN 202110826963A CN 113415271 A CN113415271 A CN 113415271A
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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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
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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
Abstract
The invention discloses a driving assistance method, a driving assistance device, a computer-readable storage medium and a processor. Wherein, the method comprises the following steps: identifying a second vehicle according to a road surface image in front of the first vehicle, wherein the road surface image comprises the second vehicle; determining a driving state parameter of the second vehicle according to the road surface image; determining a first lane line of the first vehicle according to the driving state parameter of the first vehicle, and determining a second lane line of the second vehicle according to the driving state parameter of the second vehicle; and controlling the first vehicle to execute a preset action according to the first lane line, the second lane line and a preset condition. The invention solves the technical problem of how to more prospectively avoid the running vehicles on the road.
Description
Technical Field
The present invention relates to the field of driving assistance, and in particular, to a driving assistance method, apparatus, computer-readable storage medium, and processor.
Background
Automatic driving is the leading-edge field of road vehicle research at present, and how to guarantee the safety of the vehicles on the road is very important to ensure that the vehicles do not collide with other vehicles. However, in the prior art, a method for predicting a vehicle collision with a foresight is lacked, generally only the adjustment of the vehicle posture and the vehicle speed when the vehicle is about to collide is focused, and whether the vehicle is likely to collide in the future or generate mutual influence cannot be predicted according to the existing information of the vehicle, other vehicles around and the environment, and the current running state of the vehicle is adjusted in advance based on the prediction result.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
Embodiments of the present invention provide a driving assistance method, an apparatus, a computer-readable storage medium, and a processor, so as to at least solve a technical problem of how to more prospectively avoid a driving vehicle on a road.
According to an aspect of an embodiment of the present invention, there is provided a driving assistance method including: identifying a second vehicle according to a road surface image in front of the first vehicle, wherein the road surface image comprises the second vehicle; determining a driving state parameter of the second vehicle according to the road surface image; determining a first lane line of the first vehicle according to the driving state parameter of the first vehicle, and determining a second lane line of the second vehicle according to the driving state parameter of the second vehicle; and controlling the first vehicle to execute a preset action according to the first lane line, the second lane line and a preset condition.
Optionally, in a case where the driving state parameter includes a position and a driving direction, determining the driving state parameter of the second vehicle according to the road surface image includes: establishing a virtual environment with the first vehicle as an origin according to the road surface image; and determining the position of the second vehicle in the virtual environment and the driving direction of the second vehicle in the virtual environment according to the road surface image.
Optionally, the preset condition includes at least one of: the first lane line and the second lane line form a preset included angle, and the intersection point of the first lane line and the second lane line is a preset physical distance from the first vehicle.
Optionally, when the preset condition includes the preset included angle, controlling the first vehicle to execute a predetermined action according to the first lane line, the second lane line and the preset condition, including: determining an included angle between the first lane line and the second lane line; and controlling the first vehicle to avoid the second vehicle under the condition that the included angle is larger than the preset included angle.
Optionally, in a case that the preset condition includes the preset physical distance, controlling the first vehicle to perform a predetermined action according to the first lane line, the second lane line, and a preset condition, including: determining an intersection point of the first lane line and the second lane line; determining a physical distance between the junction and the first vehicle; and under the condition that the physical distance is smaller than the preset physical distance, controlling the first vehicle to avoid the second vehicle.
According to another aspect of the embodiments of the present invention, there is also provided a driving assistance method including: displaying a road surface image ahead of a first vehicle, wherein the road surface image includes a second vehicle; displaying a first lane line of the first vehicle and a second lane line of the second vehicle, wherein the first lane line is determined according to a driving state parameter of the first vehicle, the second lane line is determined according to a driving state parameter of the second vehicle, and the driving state parameter of the second vehicle is determined according to the road surface image; receiving a control instruction, wherein the control instruction is used for controlling the first vehicle to execute a preset action.
According to still another aspect of the embodiment of the present invention, there is also provided a driving assistance apparatus including: the vehicle-mounted device comprises an identification module, a display module and a control module, wherein the identification module is used for identifying a second vehicle according to a road surface image in front of a first vehicle, and the road surface image comprises the second vehicle; the first determining module is used for determining the driving state parameters of the second vehicle according to the road surface image; the second determining module is used for determining a first lane line of the first vehicle according to the driving state parameter of the first vehicle and determining a second lane line of the second vehicle according to the driving state parameter of the second vehicle; and the control module is used for controlling the first vehicle to execute a preset action according to the first lane line, the second lane line and a preset condition.
According to still another aspect of the embodiments of the present invention, there is also provided a driving assistance apparatus including: the device comprises a first display module, a second display module and a control module, wherein the first display module is used for displaying a road surface image in front of a first vehicle, and the road surface image comprises a second vehicle; the second display module is used for displaying a first lane line of the first vehicle and a second lane line of the second vehicle, wherein the first lane line is determined according to the driving state parameter of the first vehicle, the second lane line is determined according to the driving state parameter of the second vehicle, and the driving state parameter of the second vehicle is determined according to the road surface image; the receiving module is used for receiving a control instruction, wherein the control instruction is used for controlling the first vehicle to execute a preset action.
According to still another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein when the program runs, the apparatus on which the computer-readable storage medium is located is controlled to execute any one of the above-mentioned driving assistance methods.
According to still another aspect of the embodiments of the present invention, there is also provided a processor for executing a program, wherein the program executes the driving assistance method according to any one of the above-mentioned items.
In the embodiment of the invention, a second vehicle is identified and obtained according to a road surface image in front of the first vehicle, wherein the road surface image comprises the second vehicle; determining a driving state parameter of the second vehicle according to the road surface image; determining a first lane line of the first vehicle according to the driving state parameter of the first vehicle, and determining a second lane line of the second vehicle according to the driving state parameter of the second vehicle; according to the first lane line, the second lane line and the preset conditions, the first vehicle is controlled to execute the preset action, the purpose of predicting the collision which may occur when the vehicle runs on the road is achieved, the technical effect of reducing the collision of the vehicle running on the road is achieved, and the technical problem of how to more prospectively avoid the running vehicle on the road is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flowchart illustrating a first driving assistance method according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a second driving assistance method according to an embodiment of the present invention;
fig. 3 is a block diagram showing a first driving assistance apparatus according to an embodiment of the present invention;
fig. 4 is a block diagram of a second driving assistance device according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided a method embodiment of driving assistance, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a schematic flow chart of a first driving assistance method according to an embodiment of the present invention, as shown in fig. 1, the method includes the following steps:
step S102, identifying and obtaining a second vehicle according to a road surface image in front of the first vehicle, wherein the road surface image comprises the second vehicle. Alternatively, the road surface image may be an image acquired by a camera mounted on the vehicle, or a lidar data image acquired by a lidar on the vehicle.
Step S104, determining the driving state parameter of the second vehicle according to the road surface image. Alternatively, the driving state parameters may include information of the speed, acceleration, and driving direction of the vehicle.
Step S106, determining a first lane line of the first vehicle according to the running state parameter of the first vehicle, and determining a second lane line of the second vehicle according to the running state parameter of the second vehicle.
The lane line of the vehicle described here may be a virtual lane line, that is, if it is predicted that the vehicle will continue to travel according to the current travel state parameters, the line on which the travel locus is predicted is the lane line of the vehicle. Optionally, the virtual lane line may further include other parameters, for example, if the vehicle continues to travel along the current travel state parameter, the specific time when the vehicle travels to the virtual lane line may be included, and the time is marked on the virtual lane line, so as to form a lane line with a time mark.
And S108, controlling the first vehicle to execute a preset action according to the first lane line, the second lane line and a preset condition. Alternatively, the predetermined action may be to control the first vehicle to re-plan its own driving route and to control the vehicle speed so as to avoid the second vehicle and avoid mutual interference when the two vehicles are driving.
Through the steps, a second vehicle is identified and obtained according to a road surface image in front of the first vehicle, wherein the road surface image comprises the second vehicle; determining a driving state parameter of the second vehicle according to the road surface image; determining a first lane line of the first vehicle according to the driving state parameter of the first vehicle, and determining a second lane line of the second vehicle according to the driving state parameter of the second vehicle; according to the first lane line, the second lane line and the preset conditions, the first vehicle is controlled to execute the preset action, the purpose of predicting the collision which may occur when the vehicle runs on the road is achieved, the technical effect of reducing the collision of the vehicle running on the road is achieved, and the technical problem of how to more prospectively avoid the running vehicle on the road is solved.
As an alternative embodiment, in the case where the driving state parameter includes a position and a driving direction, determining the driving state parameter of the second vehicle based on the road surface image includes: establishing a virtual environment with a first vehicle as an origin according to the road surface image; from the road surface image, a position of the second vehicle in the virtual environment and a direction of travel of the second vehicle in the virtual environment are determined.
Alternatively, the virtual environment may be established with the first vehicle as an origin and the head orientation of the first vehicle as a positive direction, and the virtual environment may be a coordinate space including environment information. Through this embodiment, can conveniently provide convenient demonstration visual angle for the navigating mate of first vehicle, be convenient for it to understand the motion relation of judging its vehicle of driving and other vehicles fast.
As an alternative embodiment, the preset condition includes at least one of: the preset included angle between the first lane line and the second lane line, and the preset physical distance between the intersection point of the first lane line and the second lane line and the first vehicle. Under the condition that an included angle exists between the first lane line and the second lane line or intersection exists, it is indicated that the two vehicles may interfere with each other in future driving, and at this time, the two vehicles can be distinguished through a preset condition.
As an optional embodiment, in a case that the preset condition includes a preset included angle, controlling the first vehicle to perform a predetermined action according to the first lane line, the second lane line and the preset condition, including: determining an included angle between the first lane line and the second lane line; and controlling the first vehicle to avoid the second vehicle under the condition that the included angle is larger than the preset included angle.
As an alternative embodiment, in the case that the preset condition includes a preset physical distance, controlling the first vehicle to perform a predetermined action according to the first lane line, the second lane line and the preset condition, including: determining an intersection point of the first lane line and the second lane line; determining a physical distance between the intersection and the first vehicle; and controlling the first vehicle to avoid the second vehicle under the condition that the physical distance is smaller than the preset physical distance.
Fig. 2 is a schematic flow chart of a second driving assistance method according to an embodiment of the present invention, and as shown in fig. 2, the method includes the following steps:
step S202, displaying a road surface image in front of a first vehicle, wherein the road surface image comprises a second vehicle;
step S204, displaying a first lane line of the first vehicle and a second lane line of the second vehicle, wherein the first lane line is determined according to the driving state parameters of the first vehicle, the second lane line is determined according to the driving state parameters of the second vehicle, and the driving state parameters of the second vehicle are determined according to the road surface image;
and step S206, receiving a control instruction, wherein the control instruction is used for controlling the first vehicle to execute a preset action.
Through the steps, the lane line of the first vehicle and the lane line of the second vehicle appearing in the road image in front of the first vehicle can be presented to the driver of the vehicle, the vehicle control instruction made by the driver is received, the vehicle is controlled to reasonably plan the next driving state, the technical effects of helping the driver of the vehicle to prospectively acquire the driving route of other vehicles and assisting the driver to react in advance are achieved, and mutual driving interference with the second vehicle around the first vehicle is avoided.
Example 2
According to an embodiment of the present invention, there is also provided a first driving assistance device for implementing the first driving assistance method, and fig. 3 is a block diagram of a first driving assistance device according to an embodiment of the present invention, and as shown in fig. 3, the first driving assistance device 30 includes: the identification module 32, the first determination module 34, the second determination module 36 and the control module 38 are explained below with reference to the first driving assistance device 30.
The identification module 32 is configured to identify a second vehicle according to a road surface image in front of the first vehicle, where the road surface image includes the second vehicle;
a first determining module 34, connected to the identifying module 32, for determining a driving state parameter of the second vehicle according to the road surface image;
a second determining module 36, connected to the first determining module 34, for determining a first lane line of the first vehicle according to the driving state parameter of the first vehicle, and determining a second lane line of the second vehicle according to the driving state parameter of the second vehicle;
and a control module 38, connected to the second determining module 36, for controlling the first vehicle to execute a predetermined action according to the first lane line, the second lane line and a preset condition.
It should be noted here that the identification module 32, the first determination module 34, the second determination module 36 and the control module 38 correspond to steps S102 to S108 in embodiment 1, and a plurality of modules are the same as the corresponding steps in the implementation example and application scenario, but are not limited to the disclosure in embodiment 1.
According to an embodiment of the present invention, there is also provided a second driving assistance device for implementing the second driving assistance method, fig. 4 is a block diagram of a second driving assistance device according to an embodiment of the present invention, and as shown in fig. 4, the second driving assistance device 40 includes: a first display module 42, a second display module 44 and a receiving module 46, which will be described below with respect to the second driving assistance device 40.
A first display module 42 for displaying an image of a road surface ahead of a first vehicle, wherein the image of the road surface includes a second vehicle;
a second display module 44 connected to the first display module 42 for displaying a first lane line of the first vehicle and a second lane line of the second vehicle, wherein the first lane line is determined according to the driving state parameter of the first vehicle, the second lane line is determined according to the driving state parameter of the second vehicle, and the driving state parameter of the second vehicle is determined according to the road surface image;
and a receiving module 46, connected to the second display module 44, for receiving a control command, where the control command is used to control the first vehicle to perform a predetermined action.
It should be noted that the first display module 42, the second display module 44 and the receiving module 46 correspond to steps S202 to S206 in embodiment 1, and the three modules are the same as the corresponding steps in the implementation example and the application scenario, but are not limited to the disclosure in embodiment 1.
Example 3
An embodiment of the present invention may provide a computer device, and optionally, in this embodiment, the computer device may be located in at least one network device of a plurality of network devices of a computer network. The computer device includes a memory and a processor.
The memory may be configured to store software programs and modules, such as program instructions/modules corresponding to the driving assistance method and apparatus in the embodiments of the present invention, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory, so as to implement the driving assistance method. The memory may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include memory located remotely from the processor, and these remote memories may be connected to the computer terminal through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The processor can call the information and application program stored in the memory through the transmission device to execute the following steps: identifying a second vehicle according to a road surface image in front of the first vehicle, wherein the road surface image comprises the second vehicle; determining a driving state parameter of the second vehicle according to the road surface image; determining a first lane line of the first vehicle according to the driving state parameter of the first vehicle, and determining a second lane line of the second vehicle according to the driving state parameter of the second vehicle; and controlling the first vehicle to execute a preset action according to the first lane line, the second lane line and a preset condition.
Optionally, the processor may further execute the program code of the following steps: determining a driving state parameter of the second vehicle from the road surface image in a case where the driving state parameter includes a position and a driving direction, including: establishing a virtual environment with a first vehicle as an origin according to the road surface image; from the road surface image, a position of the second vehicle in the virtual environment and a direction of travel of the second vehicle in the virtual environment are determined.
Optionally, the processor may further execute the program code of the following steps: the preset condition includes at least one of: the preset included angle between the first lane line and the second lane line, and the preset physical distance between the intersection point of the first lane line and the second lane line and the first vehicle.
Optionally, the processor may further execute the program code of the following steps: under the condition that the preset condition comprises a preset included angle, controlling a first vehicle to execute a preset action according to a first lane line, a second lane line and the preset condition, wherein the preset action comprises the following steps: determining an included angle between the first lane line and the second lane line; and controlling the first vehicle to avoid the second vehicle under the condition that the included angle is larger than the preset included angle.
Optionally, the processor may further execute the program code of the following steps: under the condition that the preset condition comprises a preset physical distance, controlling the first vehicle to execute a preset action according to the first lane line, the second lane line and the preset condition, wherein the preset action comprises the following steps: determining an intersection point of the first lane line and the second lane line; determining a physical distance between the intersection and the first vehicle; and controlling the first vehicle to avoid the second vehicle under the condition that the physical distance is smaller than the preset physical distance.
Optionally, the processor may further execute the program code of the following steps: displaying a road surface image ahead of the first vehicle, wherein the road surface image includes the second vehicle; displaying a first lane line of the first vehicle and a second lane line of the second vehicle, wherein the first lane line is determined according to the driving state parameter of the first vehicle, the second lane line is determined according to the driving state parameter of the second vehicle, and the driving state parameter of the second vehicle is determined according to the road surface image; and receiving a control instruction, wherein the control instruction is used for controlling the first vehicle to execute a preset action.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by a program instructing hardware associated with the terminal device, where the program may be stored in a computer-readable storage medium, and the storage medium may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
Example 4
Embodiments of the present invention also provide a computer-readable storage medium. Alternatively, in the present embodiment, the computer-readable storage medium may be used to store the program code executed by the driving assistance method provided in embodiment 1.
Optionally, in this embodiment, the computer-readable storage medium may be located in any one of a group of computer terminals in a computer network, or in any one of a group of mobile terminals.
Optionally, in this embodiment, the computer readable storage medium is configured to store program code for performing the following steps: identifying a second vehicle according to a road surface image in front of the first vehicle, wherein the road surface image comprises the second vehicle; determining a driving state parameter of the second vehicle according to the road surface image; determining a first lane line of the first vehicle according to the driving state parameter of the first vehicle, and determining a second lane line of the second vehicle according to the driving state parameter of the second vehicle; and controlling the first vehicle to execute a preset action according to the first lane line, the second lane line and a preset condition.
Optionally, in this embodiment, the computer readable storage medium is configured to store program code for performing the following steps: determining a driving state parameter of the second vehicle from the road surface image in a case where the driving state parameter includes a position and a driving direction, including: establishing a virtual environment with a first vehicle as an origin according to the road surface image; from the road surface image, a position of the second vehicle in the virtual environment and a direction of travel of the second vehicle in the virtual environment are determined.
Optionally, in this embodiment, the computer readable storage medium is configured to store program code for performing the following steps: the preset condition includes at least one of: the preset included angle between the first lane line and the second lane line, and the preset physical distance between the intersection point of the first lane line and the second lane line and the first vehicle.
Optionally, in this embodiment, the computer readable storage medium is configured to store program code for performing the following steps: under the condition that the preset condition comprises a preset included angle, controlling a first vehicle to execute a preset action according to a first lane line, a second lane line and the preset condition, wherein the preset action comprises the following steps: determining an included angle between the first lane line and the second lane line; and controlling the first vehicle to avoid the second vehicle under the condition that the included angle is larger than the preset included angle.
Optionally, in this embodiment, the computer readable storage medium is configured to store program code for performing the following steps: under the condition that the preset condition comprises a preset physical distance, controlling the first vehicle to execute a preset action according to the first lane line, the second lane line and the preset condition, wherein the preset action comprises the following steps: determining an intersection point of the first lane line and the second lane line; determining a physical distance between the intersection and the first vehicle; and controlling the first vehicle to avoid the second vehicle under the condition that the physical distance is smaller than the preset physical distance.
Optionally, in this embodiment, the computer readable storage medium is configured to store program code for performing the following steps: displaying a road surface image ahead of the first vehicle, wherein the road surface image includes the second vehicle; displaying a first lane line of the first vehicle and a second lane line of the second vehicle, wherein the first lane line is determined according to the driving state parameter of the first vehicle, the second lane line is determined according to the driving state parameter of the second vehicle, and the driving state parameter of the second vehicle is determined according to the road surface image; and receiving a control instruction, wherein the control instruction is used for controlling the first vehicle to execute a preset action.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit may be a division of a logic function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.
Claims (10)
1. A driving assistance method characterized by comprising:
identifying a second vehicle according to a road surface image in front of the first vehicle, wherein the road surface image comprises the second vehicle;
determining a driving state parameter of the second vehicle according to the road surface image;
determining a first lane line of the first vehicle according to the driving state parameter of the first vehicle, and determining a second lane line of the second vehicle according to the driving state parameter of the second vehicle;
and controlling the first vehicle to execute a preset action according to the first lane line, the second lane line and a preset condition.
2. The method according to claim 1, wherein determining the driving state parameter of the second vehicle from the road surface image in a case where the driving state parameter includes a position and a driving direction includes:
establishing a virtual environment with the first vehicle as an origin according to the road surface image;
and determining the position of the second vehicle in the virtual environment and the driving direction of the second vehicle in the virtual environment according to the road surface image.
3. The method of claim 1, wherein the preset condition comprises at least one of: the first lane line and the second lane line form a preset included angle, and the intersection point of the first lane line and the second lane line is a preset physical distance from the first vehicle.
4. The method of claim 3, wherein in the case that the preset condition includes the preset included angle, controlling the first vehicle to perform a predetermined action according to the first lane line, the second lane line and a preset condition comprises:
determining an included angle between the first lane line and the second lane line;
and controlling the first vehicle to avoid the second vehicle under the condition that the included angle is larger than the preset included angle.
5. The method of claim 3, wherein, in the case where the preset condition includes the preset physical distance, controlling the first vehicle to perform a predetermined action according to the first lane line, the second lane line, and a preset condition includes:
determining an intersection point of the first lane line and the second lane line;
determining a physical distance between the junction and the first vehicle;
and under the condition that the physical distance is smaller than the preset physical distance, controlling the first vehicle to avoid the second vehicle.
6. A driving assistance method characterized by comprising:
displaying a road surface image ahead of a first vehicle, wherein the road surface image includes a second vehicle;
displaying a first lane line of the first vehicle and a second lane line of the second vehicle, wherein the first lane line is determined according to a driving state parameter of the first vehicle, the second lane line is determined according to a driving state parameter of the second vehicle, and the driving state parameter of the second vehicle is determined according to the road surface image;
receiving a control instruction, wherein the control instruction is used for controlling the first vehicle to execute a preset action.
7. A driving assistance apparatus characterized by comprising:
the vehicle-mounted device comprises an identification module, a display module and a control module, wherein the identification module is used for identifying a second vehicle according to a road surface image in front of a first vehicle, and the road surface image comprises the second vehicle;
the first determining module is used for determining the driving state parameters of the second vehicle according to the road surface image;
the second determining module is used for determining a first lane line of the first vehicle according to the driving state parameter of the first vehicle and determining a second lane line of the second vehicle according to the driving state parameter of the second vehicle;
and the control module is used for controlling the first vehicle to execute a preset action according to the first lane line, the second lane line and a preset condition.
8. A driving assistance apparatus characterized by comprising:
the device comprises a first display module, a second display module and a control module, wherein the first display module is used for displaying a road surface image in front of a first vehicle, and the road surface image comprises a second vehicle;
the second display module is used for displaying a first lane line of the first vehicle and a second lane line of the second vehicle, wherein the first lane line is determined according to the driving state parameter of the first vehicle, the second lane line is determined according to the driving state parameter of the second vehicle, and the driving state parameter of the second vehicle is determined according to the road surface image;
the receiving module is used for receiving a control instruction, wherein the control instruction is used for controlling the first vehicle to execute a preset action.
9. A computer-readable storage medium characterized by comprising a stored program, wherein the apparatus on which the computer-readable storage medium is stored is controlled to execute the driving assistance method according to any one of claims 1 to 6 when the program is executed.
10. A processor, characterized in that the processor is configured to execute a program, wherein the program executes the driving assistance method according to any one of claims 1 to 6.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110826963.7A CN113415271A (en) | 2021-07-21 | 2021-07-21 | Driving assistance method, device, computer-readable storage medium and processor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110826963.7A CN113415271A (en) | 2021-07-21 | 2021-07-21 | Driving assistance method, device, computer-readable storage medium and processor |
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| CN113415271A true CN113415271A (en) | 2021-09-21 |
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| CN202110826963.7A Pending CN113415271A (en) | 2021-07-21 | 2021-07-21 | Driving assistance method, device, computer-readable storage medium and processor |
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