CN113619608B - Vehicle driving method and device based on driving assistance system and electronic equipment - Google Patents
Vehicle driving method and device based on driving assistance system and electronic equipment Download PDFInfo
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/06—Direction of travel
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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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
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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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
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Abstract
The invention provides a vehicle driving method, a device and electronic equipment based on a driving assistance system, relates to the technical field of vehicle driving, is applied to a current vehicle without the driving assistance system, and comprises the following steps: determining a target vehicle corresponding to the current vehicle based on a preset driving demand, wherein the preset driving demand comprises a driving destination, a driving direction and/or a driving route, the target vehicle is provided with a driving auxiliary system, and the current vehicle and the target vehicle are connected with a cloud end through a vehicle networking; acquiring road condition information acquired by a target vehicle based on a cloud end; the driving operation of the current vehicle is controlled according to the road condition information, so that the driving operation of the current vehicle meets the preset driving requirement, and the driving assisting function of other vehicles can be used for realizing accurate learning of the road condition in front of the current vehicle and further ensuring the driving reliability.
Description
Technical Field
The present invention relates to the field of vehicle driving technologies, and in particular, to a vehicle driving method and apparatus based on a driving assistance system, and an electronic device.
Background
With the development of vehicle automatic Driving technology, advanced Driving Assistance System (ADAS) is also widely used.
However, due to the cost and complexity of the driving assistance system, there are still a large number of vehicles that do not have the driving assistance function, and such vehicles cannot accurately know the road condition and ensure the driving reliability.
Disclosure of Invention
In view of the above, the present invention provides a vehicle driving method and apparatus based on a driving assistance system, and an electronic device, which can accurately obtain a current road condition ahead of a vehicle based on driving assistance functions of other vehicles, so as to ensure driving reliability.
In a first aspect, an embodiment provides a driving assistance system-based vehicle driving method applied to a current vehicle without a driving assistance system, the method including:
determining a target vehicle corresponding to the current vehicle based on a preset driving demand, wherein the preset driving demand comprises a driving destination, a driving direction and/or a driving route, the target vehicle is provided with a driving assistance system, and the current vehicle and the target vehicle are connected with a cloud end through a vehicle networking;
acquiring road condition information acquired by the target vehicle based on the cloud end;
and controlling the running operation of the current vehicle according to the road condition information so that the running operation of the current vehicle meets the preset running requirement.
In an alternative embodiment, the step of determining the target vehicle corresponding to the current vehicle based on the preset running demand includes:
determining a target road section based on a driving direction or a driving route to the driving destination in a preset driving demand;
and determining the vehicle running on the target road section as a target vehicle from the cloud.
In an optional embodiment, the step of determining the target vehicle corresponding to the current vehicle based on a preset driving demand further includes:
determining a first target vehicle in front of the driving position by a preset distance from the cloud based on the driving position and the driving direction of the current vehicle;
and determining a second target vehicle which is a preset distance ahead of the driving position of the first target from the cloud according to the driving position and the driving direction of the first target vehicle.
In an optional implementation manner, the step of obtaining the road condition information collected by the target vehicle based on the cloud includes:
and inquiring road condition information uploaded by the target vehicle from the cloud according to the running position and the running direction of the target vehicle, wherein the road condition information is environmental data of a road where the target vehicle is located, which is acquired in real time through a visual and/or optical sensor.
In an optional embodiment, the step of controlling the driving operation of the current vehicle according to the road condition information includes:
determining road information of the position where the target vehicle is located and vehicle congestion conditions according to the road condition information;
and controlling the current vehicle to limit speed, change lanes or advance according to the driving route based on the road information and the vehicle congestion condition.
In an alternative embodiment, the method further comprises:
if the road information and the vehicle congestion situation exceed preset conditions of the current vehicle, controlling the current vehicle to change a running route or a running destination, wherein the preset conditions comprise preset running road size, preset congestion vehicle number and preset time for reaching the running destination;
or,
and if the road information and the vehicle congestion condition exceed the preset conditions of the current vehicle, sequentially acquiring the road condition information of each vehicle running in front of the target vehicle from the cloud end so that the current vehicle can acquire the abnormal reason of the road where the target vehicle is located.
In an alternative embodiment, the method further comprises:
acquiring a road condition analysis result of a road where the target vehicle is located from the cloud, wherein the road condition analysis result is obtained by the cloud based on the road condition information acquired by the target vehicle, calling historical road condition information of which the similarity with the road condition information reaches a preset threshold value, and determining according to the historical road condition information and a corresponding historical road fault result of the historical target vehicle;
and controlling the running operation of the current vehicle according to a comparison result of the first running time corresponding to the road condition analysis result and the second running time corresponding to the running replacement operation.
In a second aspect, an embodiment provides a driving assistance system-based vehicle travel apparatus applied to a current vehicle without a driving assistance system, the apparatus including:
the vehicle driving system comprises a determining module, a driving assisting module and a driving assisting module, wherein the determining module determines a target vehicle corresponding to the current vehicle based on a preset driving demand, the preset driving demand comprises a driving destination, a driving direction and/or a driving route, the target vehicle is provided with a driving assisting system, and the current vehicle and the target vehicle are connected with a cloud end through a vehicle networking;
the acquisition module acquires road condition information acquired by the target vehicle based on the cloud end;
and the control module is used for controlling the running operation of the current vehicle according to the road condition information so as to enable the running operation of the current vehicle to meet the preset running requirement.
In a third aspect, an embodiment provides an electronic device, including a memory and a processor, where the memory stores a computer program operable on the processor, and the processor executes the computer program to implement the steps of the method of any one of the foregoing embodiments.
In a fourth aspect, embodiments provide a machine-readable storage medium having stored thereon machine-executable instructions that, when invoked and executed by a processor, cause the processor to carry out the steps of the method of any preceding embodiment.
According to the vehicle driving method, the vehicle driving device and the electronic equipment based on the driving assistance system, which are provided by the embodiment of the invention, the driving destination, the driving direction, the driving route and the like in the preset driving requirement of the current vehicle can be determined, the target vehicle with the driving assistance function, which is connected with the cloud end of the same vehicle network, acquires the road condition information acquired by the target vehicle through the cloud end, and then the driving operation control of the current vehicle is realized based on the road condition information, so that the vehicle without the driving assistance function can carry out timely and accurate driving control on the current vehicle under the condition of knowing the road condition in front of driving, and the current vehicle can be ensured to meet the preset driving requirement and driving safety.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part may be learned by the practice of the above-described techniques of the disclosure, or may be learned by practice of the disclosure.
In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a vehicle driving method based on a driving assistance system according to an embodiment of the present invention;
fig. 2 is a functional block diagram of a vehicle running device based on a driving assistance system according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a hardware architecture of an electronic device according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
With the development of vehicle technology, many vehicles with auxiliary systems are now on the market in order to ensure the driving safety of drivers more accurately. However, such vehicles are expensive and may not be replaced in time by vehicles with auxiliary systems for the majority of the drivers of the purchased vehicles. Compared with a vehicle with an auxiliary system, the old vehicle cannot acquire the front road environment information, and therefore reliability is poor.
Based on this, the vehicle driving method and device based on the driving assistance system and the electronic device provided by the embodiment of the invention can realize accurate acquisition of the current road condition in front of the vehicle based on the driving assistance function of other vehicles, thereby ensuring the driving reliability.
For the convenience of understanding the present embodiment, a detailed description will be given first of all on a vehicle driving method based on a driving assistance system, which is disclosed in the present embodiment and can be applied to a vehicle without a driving assistance system.
Fig. 1 is a flowchart of a vehicle driving method based on a driving assistance system according to an embodiment of the present invention.
As shown in fig. 1, the method comprises the steps of:
step S102, a target vehicle corresponding to the current vehicle is determined based on the preset running demand.
The preset driving requirement comprises a driving destination, a driving direction and/or a driving route, the target vehicle is provided with a driving assistance system, and the current vehicle and the target vehicle are connected with the cloud end through the internet of vehicles.
It should be noted that, before step S102, the controller of the current vehicle may obtain the preset driving requirement from the navigation device or obtain the preset driving requirement in response to an operation instruction input by the driver user. The cloud end connects a plurality of vehicles through the internet of vehicles, wherein the vehicles comprise current vehicles without driving assistance systems and target vehicles with driving assistance systems.
And step S104, acquiring road condition information acquired by the target vehicle based on the cloud.
The target vehicle can upload the road condition information of the road where the target vehicle is located to the cloud server in real time based on the internet of vehicles, and the current vehicle can acquire the uploaded road condition information of any vehicle from the cloud based on the internet of vehicles. As an optional embodiment, the target vehicle acquires the access request sent by the cloud, and then forwards the acquired road condition information to the current vehicle without the driving assistance function through the cloud.
And S106, controlling the running operation of the current vehicle according to the road condition information so that the running operation of the current vehicle meets the preset running requirement.
It can be understood that, the driver of the user can know what kind of driving operation is controlled on the current vehicle by knowing the road condition information of the road where the target vehicle is located, so as to ensure that the current vehicle can reach the driving destination according to the preset driving route and the driving direction.
In the preferred embodiment of practical application, the driving destination, the driving direction, the driving route and the like in the driving requirement are preset based on the current vehicle, the target vehicle with the driving assistance function and connected with the cloud end of the same vehicle network is used, the road condition information uploaded by the target vehicle is acquired from the cloud end according to the target vehicle, and then the driving operation control of the current vehicle is realized based on the road condition information, so that the vehicle without the driving assistance function can carry out timely and accurate driving control on the current vehicle under the condition of knowing the road condition in the front of driving, and the current vehicle is ensured to meet the preset driving requirement and driving safety.
In some embodiments, the number of target vehicles having the driving assistance function is large, and the target vehicle that best meets the driving requirement can be determined, so that the driving control of the current vehicle is more accurate. As an example, the step S102 may include the following steps:
step 1.1), determining a target road section based on the driving direction or the driving route to the driving destination in the preset driving demand.
As an alternative, a predetermined distance from the current vehicle in the driving direction or a predetermined route section of the driving route may be used as the target link. For example, the destination of the current vehicle is a, the driving route is a straight line, the driving direction is a north direction, and the target link may be selected from a middle portion of the straight line driving route or a portion of the link that is 10km away from the current vehicle along the driving direction.
And 1.2) determining the vehicle running on the target road section as the target vehicle from the cloud.
In this case, a vehicle having a driving assistance function and connected to the cloud via the internet of vehicles in the target road section may be a target vehicle in a middle portion of the driving route or in a section of the road section that is 10km away from the current vehicle along the driving direction.
As another example, the target vehicle may have the same driving direction, driving destination, or driving route as the current vehicle.
In some embodiments, different target vehicles can be determined in real time in the driving process to obtain road condition information acquired by the different target vehicles, so that the driving control of the current vehicle is more accurate. As an example, the step S102 further includes the following steps:
and 2.1) determining a first target vehicle in a preset distance in front of the running position from the cloud based on the running position and the running direction of the current vehicle.
Illustratively, a vehicle that is 10km away from the current vehicle position along the traveling direction is the first target vehicle. It should be noted that the current vehicle sensor can acquire the current vehicle position C and the preset distance of 10km, and further can acquire that the position of the first target vehicle is 10+ C, and a vehicle with the same driving direction as the current vehicle and the driving position of 10+ C is searched in the cloud, that is, the first target vehicle.
And 2.2) determining a second target vehicle which is a preset distance in front of the driving position of the first target from the cloud according to the driving position and the driving direction of the first target vehicle.
Illustratively, a vehicle that is 10km away from the first target vehicle location along the direction of travel is the second target vehicle. It should be noted that, knowing the position of the first target vehicle as 10+ c and the preset distance as 10km, it can be further known that the position of the second target vehicle is 20+ c, and finding the vehicle with the same driving direction as the current vehicle and the driving position as 20+ c in the cloud, that is, the second target vehicle.
In some embodiments, based on step 2.1) above, the environmental data collected by the target vehicle may be acquired, and step S204 further includes the following steps:
and 3.1) inquiring road condition information uploaded by the target vehicle from the cloud according to the running position and the running direction of the target vehicle, wherein the road condition information is environmental data of a road where the target vehicle is located, which is acquired in real time through a vision and/or optical sensor.
Illustratively, based on the position of the target vehicle determined in the foregoing steps, the road condition information collected by the target vehicle is found, where the road condition information may include a road picture, a road video, a speed of a vehicle traveling on a road, geomagnetic information, and the like. The sensors in the target vehicle for acquiring road conditions may include millimeter-wave radar, laser radar, cameras, and the like.
Or,
and 3.2), the current vehicle sends a road condition access request to the cloud end and receives road condition information acquired by the target vehicle forwarded by the cloud end, wherein the cloud end forwards the road condition access request to the target vehicle so as to enable the target vehicle to forward the acquired road condition information through the cloud end.
It should be noted that, under such a situation, the target vehicle does not actively upload the road condition information acquired by the target vehicle, and the cloud end does not store the road condition information of each vehicle, so that the vehicle is safer. When the current vehicle actively expects to acquire road conditions in front of a road, an access request is actively sent to the cloud end, the cloud end accesses a target vehicle which is connected with the cloud end and meets the requirement based on the request, and the acquired road condition information is forwarded to the current vehicle without a driving assistance function, so that the current vehicle can actively acquire the road condition information in front and perform corresponding adjustment in advance. For example, the current vehicle can actively acquire the road condition of the road ahead, the road condition information acquired by the target vehicle is acquired through the cloud, the congestion in the front is known, the current vehicle timely changes the road at the moment, the congested road section in the front is bypassed, and the initiative is strong and more flexible.
In the actual application process, the current vehicle can initiate a video access request, the video access request is forwarded to the target vehicle through the cloud end, the target vehicle can be signed with the cloud end in advance, the access request of the type is acquiescent, or a driver of the target vehicle manually agrees to the request, and the vehicle machine of the current vehicle can receive road condition information collected by the target vehicle and carry out corresponding operation.
In some embodiments, step S206 can also be implemented by the following steps, specifically including:
and 4.1) determining road information of the position of the target vehicle and the vehicle congestion condition according to the road condition information.
In the practical application process, the current vehicle can display road condition information such as road pictures and videos corresponding to the target vehicle acquired from the cloud through the navigation equipment and the intelligent terminal connected with the vehicle end, so that a driver of a user can recognize the road condition of the front target vehicle. As an optional embodiment, the current vehicle may identify road condition information such as a road picture and a video corresponding to the target vehicle, which is acquired from the cloud, from the picture or the video through a target object identification network built in the controller, so that the size information of the road and the number of vehicles running on the road are identified, and when a user is busy and cannot view the road picture or the video, the current vehicle can also know the congestion condition of the road and perform corresponding running control.
And 4.2) controlling the current vehicle to limit the speed, change the lane or advance according to the driving route based on the road information and the vehicle congestion condition.
For example, if the road ahead is congested, the current vehicle may be controlled to limit the speed so as not to collide with the congested vehicle ahead, or if the current driving lane of the road ahead is congested, the current vehicle may perform a lane change operation before driving into the congested area, and drive to the destination through the relatively smooth lane, or if the road ahead is normal, the current vehicle may be controlled to continue to advance along the driving route.
In some embodiments, the current vehicle can estimate the congestion relief time of the target vehicle and a first required time for the current vehicle to travel to the target vehicle position according to the size information of the road where the target vehicle is located, the number of vehicles traveling on the road, the vehicle speed of the current vehicle, the distance from the current vehicle to the target vehicle, and the like, and can estimate a second required time for the current vehicle to travel to the target vehicle position if the current replacement road or the replacement travel route reaches the target vehicle position, compare the required times, and select the travel strategy corresponding to the scheme with shorter required time.
In some embodiments, to ensure the driving experience of the user, the method further comprises:
and 5.1) if the road information and the vehicle congestion situation exceed preset conditions of the current vehicle, controlling the current vehicle to change the running route or the running destination, wherein the preset conditions comprise a preset running road size, a preset congestion vehicle number and a preset time for reaching the running destination.
Illustratively, the preset running road size of the current vehicle is D, the preset number of the congested vehicles is E, and the preset time length for reaching the preset destination is F. If the size of the road ahead is smaller than D, or the number of congested vehicles exceeds E, or the road size is larger than D but still smaller, and the number of congested vehicles does not exceed E but still larger, then the time for the current vehicle to reach the destination exceeds the preset time length F due to the two factors, the current vehicle may keep the driving destination to perform route planning again, or replace the destination.
As another optional embodiment, the number of congested vehicles may be determined according to a size of a current driving road, the preset time length of the preset destination may be determined according to a distance between the current vehicle and the preset destination, that is, there is a first positive correlation between the preset number of congested vehicles and the size of the current driving road, there is a second positive correlation between the preset time length of the preset destination and the distance between the current vehicle and the preset destination, and the user may preset the first positive correlation coefficient and the second positive correlation coefficient.
In some embodiments, based on the foregoing steps 2.1) -2.2), when the road on which the target vehicle is currently located is relatively congested, the driver of the user may know the reason for the congestion ahead so as to perform correct driving control, and the method further includes:
and 6.1) if the road information and the vehicle congestion condition exceed the preset conditions of the current vehicle, sequentially acquiring the road condition information of each vehicle running in front of the target vehicle from the cloud end so that the current vehicle can know the abnormal reason of the road where the target vehicle is located.
It should be noted that, when the road information and the vehicle congestion situation exceed the preset conditions of the current vehicle, the road information of a target vehicle and a target vehicle before the vehicle runs may be obtained according to the foregoing steps 2.1) -2.2), until the foremost target vehicle in which a congestion accident occurs is determined, the congestion cause at this time is determined, so that the current vehicle can perform more accurate running operation control based on the congestion abnormal cause.
In some embodiments, if the cloud end stores road condition information (environmental data) uploaded by a target vehicle with a driving assistance system, the cloud end can match and call historical road condition information with which the similarity reaches a preset threshold and a road fault result of the historical target vehicle corresponding to the historical road condition information according to the road condition information of the target vehicle, and predict a possible road condition analysis result of the road condition information corresponding to the current target vehicle based on the historical road condition information, where the road fault result includes a historical road fault reason and a fault elimination time thereof, and the road condition analysis result includes a fault condition, a fault reason, a fault elimination time (first transit time), and the like. And (3) selecting a strategy with shorter time to control the running operation of the current vehicle according to the comparison result of the first running time for waiting for the current road condition fault to be eliminated and the second running time corresponding to the corresponding running replacing operation by the current vehicle, wherein if the current vehicle continuously waits for 10 minutes, the forward congestion can be eliminated, and the lane changing running can reach the position of the target vehicle in about 15 minutes, namely the current vehicle selects to continuously wait.
As shown in fig. 2, an embodiment of the present invention further provides a driving assistance system-based vehicle driving apparatus 200 applied to a current vehicle without a driving assistance system, the apparatus including:
a determining module 201, configured to determine a target vehicle corresponding to the current vehicle based on a preset driving demand, where the preset driving demand includes a driving destination, a driving direction, and/or a driving route, the target vehicle has a driving assistance system, and the current vehicle and the target vehicle are connected to a cloud via a vehicle networking;
the acquisition module 202 acquires road condition information acquired by the target vehicle based on the cloud end;
and the control module 203 controls the running operation of the current vehicle according to the road condition information so that the running operation of the current vehicle meets the preset running requirement.
In practical application's preferred embodiment, the vehicle that does not have driving assistance function can pass through the internet of vehicles and connect the high in the clouds to acquire the road conditions information that satisfies the target vehicle collection of predetermineeing the driving demand in the high in the clouds, this target vehicle has driving assistance function, and then current vehicle can rely on the driving assistance function of other vehicles, realizes the perception to the place ahead road conditions environment, so that the operation of in time controlling, guarantees driving safety.
In some embodiments, the determining module is further specifically configured to determine a target road segment based on a driving direction or a driving route to the driving destination in a preset driving demand; and determining the vehicle running on the target road section as a target vehicle from the cloud.
In some embodiments, the determining module is further specifically configured to determine, from the cloud, a first target vehicle a preset distance ahead of the driving position based on the driving position and the driving direction of the current vehicle; and determining a second target vehicle in a preset distance in front of the driving position of the first target from the cloud according to the driving position and the driving direction of the first target vehicle.
In some embodiments, the obtaining module is further specifically configured to query, according to the driving position and the driving direction of the target vehicle, road condition information uploaded by the target vehicle from the cloud, where the road condition information is environment data of a road where the target vehicle is located, which is acquired in real time through a visual and/or optical sensor, or send a road condition access request to the cloud, and then receive the road condition information acquired by the target vehicle forwarded by the cloud, where the cloud forwards the road condition access request to the target vehicle, so that the target vehicle forwards the acquired road condition information through the cloud.
In some embodiments, the control module is further specifically configured to determine road information of a location where the target vehicle is located and a vehicle congestion condition according to the road condition information; and controlling the current vehicle to limit speed, change lanes or advance according to the driving route based on the road information and the vehicle congestion condition.
In some embodiments, the control module is further specifically configured to control the current vehicle to change the travel route or change the travel destination if the road information and the vehicle congestion condition exceed preset conditions of the current vehicle, where the preset conditions include a preset travel road size, a preset number of congested vehicles, and a preset time period for reaching the travel destination.
In some embodiments, the control module is further specifically configured to, if the road information and the vehicle congestion condition exceed preset conditions of the current vehicle, sequentially acquire, from the cloud, road condition information of each vehicle traveling ahead of the target vehicle, so that the current vehicle knows an abnormal cause of a road where the target vehicle is located.
Fig. 3 is a schematic hardware architecture diagram of an electronic device 300 according to an embodiment of the present invention. Referring to fig. 3, the electronic device 300 includes: a machine-readable storage medium 301 and a processor 302, and may further include a non-volatile storage medium 303, a communication interface 304, and a bus 305; the machine-readable storage medium 301, the processor 302, the nonvolatile storage medium 303, and the communication interface 304 communicate with each other via a bus 305. The processor 302 may perform the driving assistance system based vehicle travel method described in the above embodiments by reading and executing the machine executable instructions of the driving assistance system based vehicle travel in the machine readable storage medium 301.
A machine-readable storage medium as referred to herein may be any electronic, magnetic, optical, or other physical storage device that can contain or store information such as executable instructions, data, and the like. For example, the machine-readable storage medium may be: a RAM (random Access Memory), a volatile Memory, a non-volatile Memory, a flash Memory, a storage drive (e.g., a hard drive), any type of storage disk (e.g., an optical disk, a dvd, etc.), or similar storage medium, or a combination thereof.
The non-volatile medium may be non-volatile memory, flash memory, a storage drive (e.g., a hard drive), any type of storage disk (e.g., an optical disk, dvd, etc.), or similar non-volatile storage medium, or a combination thereof.
It can be understood that, for the specific operation method of each functional module in this embodiment, reference may be made to the detailed description of the corresponding step in the foregoing method embodiment, and no repeated description is provided herein.
The computer readable storage medium provided in the embodiments of the present invention stores a computer program, and when executed, the computer program code may implement the vehicle driving method based on the driving assistance system according to any of the embodiments described above, and specific implementation may refer to the method embodiments, and details are not repeated herein.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein.
Claims (8)
1. A driving assistance system-based vehicle running method applied to a current vehicle having no driving assistance system, the method comprising:
determining a target vehicle corresponding to the current vehicle based on a preset driving demand, wherein the preset driving demand comprises a driving destination, a driving direction and/or a driving route, the target vehicle is provided with a driving assistance system, and the current vehicle and the target vehicle are connected with a cloud end through a vehicle networking;
acquiring road condition information acquired by the target vehicle based on the cloud end;
controlling the running operation of the current vehicle according to the road condition information so that the running operation of the current vehicle meets the preset running requirement;
controlling the running operation of the current vehicle according to the road condition information, wherein the step comprises the following steps of:
determining road information of the position of the target vehicle and vehicle congestion conditions according to the road condition information;
controlling the current vehicle to limit speed, change lanes or advance according to a driving route based on the road information and the vehicle congestion condition;
the step of determining a target vehicle corresponding to the current vehicle based on a preset driving demand further includes:
determining a first target vehicle in front of the driving position by a preset distance from the cloud based on the driving position and the driving direction of the current vehicle;
and determining a second target vehicle which is a preset distance ahead of the driving position of the first target vehicle from the cloud according to the driving position and the driving direction of the first target vehicle.
2. The method of claim 1, wherein the step of determining a target vehicle corresponding to the current vehicle based on a preset driving demand comprises:
determining a target road section based on a driving direction or a driving route to the driving destination in a preset driving demand;
and determining the vehicle running on the target road section as a target vehicle from the cloud.
3. The method according to any one of claims 1-2, wherein the step of obtaining the road condition information collected by the target vehicle based on the cloud comprises:
and inquiring road condition information uploaded by the target vehicle from the cloud according to the running position and the running direction of the target vehicle, wherein the road condition information is environmental data of a road where the target vehicle is located, which is acquired in real time through a visual and/or optical sensor.
4. The method of claim 1, further comprising:
if the road information and the vehicle congestion situation exceed preset conditions of the current vehicle, controlling the current vehicle to change a running route or a running destination, wherein the preset conditions comprise preset running road size, preset congestion vehicle number and preset time for reaching the running destination;
or,
and if the road information and the vehicle congestion condition exceed the preset conditions of the current vehicle, acquiring the road condition information of each vehicle running in front of the target vehicle from the cloud end in sequence so that the current vehicle can know the abnormal reason of the road where the target vehicle is located.
5. The method of claim 1, further comprising:
acquiring a road condition analysis result of a road where the target vehicle is located from the cloud, wherein the road condition analysis result is obtained by the cloud based on the road condition information acquired by the target vehicle, calling historical road condition information of which the similarity with the road condition information reaches a preset threshold value, and determining according to the historical road condition information and a corresponding historical road fault result of the historical target vehicle;
and controlling the running operation of the current vehicle according to a comparison result of the first running time corresponding to the road condition analysis result and the second running time corresponding to the running replacement operation.
6. A driving assistance system-based vehicle travel apparatus that is applied to a current vehicle that does not have a driving assistance system, the apparatus comprising:
the vehicle driving system comprises a determining module, a driving assisting module and a driving assisting module, wherein the determining module determines a target vehicle corresponding to the current vehicle based on a preset driving demand, the preset driving demand comprises a driving destination, a driving direction and/or a driving route, the target vehicle is provided with a driving assisting system, and the current vehicle and the target vehicle are connected with a cloud end through a vehicle networking;
the acquisition module acquires road condition information acquired by the target vehicle based on the cloud end;
the control module is used for controlling the running operation of the current vehicle according to the road condition information so as to enable the running operation of the current vehicle to meet the preset running requirement;
the control module is also used for determining road information of the position where the target vehicle is located and vehicle congestion conditions according to the road condition information; controlling the current vehicle to limit speed, change lanes or advance according to a driving route based on the road information and the vehicle congestion condition;
the determining module is further used for determining a first target vehicle which is a preset distance ahead of the running position from the cloud based on the running position and the running direction of the current vehicle; and determining a second target vehicle which is a preset distance ahead of the driving position of the first target vehicle from the cloud according to the driving position and the driving direction of the first target vehicle.
7. An electronic device comprising a memory and a processor, wherein the memory stores a computer program operable on the processor, and wherein the processor implements the steps of the method of any of claims 1 to 5 when executing the computer program.
8. A machine-readable storage medium having stored thereon machine-executable instructions which, when invoked and executed by a processor, cause the processor to perform the steps of the method of any one of claims 1 to 5.
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| CN113978472B (en) * | 2021-11-10 | 2023-07-28 | 上海洛轲智能科技有限公司 | Vehicle control method and device and electronic equipment |
| CN114422719A (en) * | 2021-12-22 | 2022-04-29 | 东软睿驰汽车技术(大连)有限公司 | Video processing method, control device, vehicle, and computer-readable storage medium |
| CN114648504B (en) * | 2022-03-17 | 2022-12-02 | 小米汽车科技有限公司 | Automatic driving method, device, electronic equipment and storage medium |
| CN114435406A (en) * | 2022-03-23 | 2022-05-06 | 蔡渤 | Vehicle control method and device and storage equipment |
| CN115662117A (en) * | 2022-10-14 | 2023-01-31 | 中国第一汽车股份有限公司 | Information interaction method and device and vehicle |
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