CN113808435B - Auxiliary device for a vehicle, corresponding method and storage medium - Google Patents
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- G—PHYSICS
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- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
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- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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Abstract
An auxiliary device for a vehicle, a corresponding method and a computer-readable storage medium. The auxiliary method comprises the following steps: detecting whether the first object and the second object are about to collide within a preset time or not based on the acquired related information of at least the first object and the second object around the current vehicle; detecting a passable area around the first object and/or the second object based on the acquired environmental information when it is detected that the first object and the second object are about to collide within a preset time; predicting a risk value of collision of the current vehicle with the first object and/or the second object based on a predicted path of the passable area around the first object and/or the second object and the current vehicle; and providing reminding information to the current vehicle and/or controlling and adjusting the running state of the current vehicle based on the predicted collision risk value. By utilizing the scheme of the invention, the traffic participants with potential collision risks with the current vehicle can be predicted in advance, so that the driving safety is improved.
Description
Technical Field
The present invention relates to the field of vehicles, and more particularly to an auxiliary device for a vehicle, a corresponding method, a vehicle, a computer apparatus and a computer readable storage medium.
Background
When driving on a road, there may be many other traffic participants around the current vehicle. These other traffic participants sometimes suddenly change direction of movement toward the current vehicle for various reasons (e.g., to avoid a risk or after being impacted), resulting in an increased risk of collision with the current vehicle.
Therefore, a solution capable of improving the running safety of the vehicle is required.
Disclosure of Invention
In order to solve at least the above technical problems, an auxiliary device and a corresponding method for a vehicle of the present invention are provided.
According to an aspect of the present invention, there is provided an assist apparatus for a vehicle, the assist apparatus including:
a first collision detection unit configured to detect whether or not a first object and a second object are about to collide within a preset time based on acquired related information of at least the first object and the second object around a current vehicle;
a passable area detection unit configured to detect a passable area around the first object and/or the second object based on the acquired environmental information when it is detected that the first object and the second object are about to collide within a preset time;
a second collision detection unit configured to predict a risk value of collision of a current vehicle with the first object and/or the second object based on a predicted path of a passable area around the first object and/or the second object with the current vehicle; and
and a control unit configured to provide reminding information to the current vehicle and/or control and adjust the running state of the current vehicle based on the predicted risk value of the collision of the current vehicle with the first object and/or the second object.
In a preferred embodiment, wherein the first collision detecting unit is further configured for: and calculating the collision time of the first object to be collided with the second object based on the related information of the first object and the second object, and judging that the first object to be collided with the second object within the preset time when the calculated collision time is smaller than a preset time threshold value.
In a preferred embodiment, wherein the passable area detection unit is further configured for: based on the acquired segmentation recognition of the environmental image of the first and/or second object, an area where no stationary or moving object is present on the ground around the first and/or second object is detected, and an area within a set distance range around the first and/or second object is defined in the area as a respective passable area around the first and/or second object.
In a preferred embodiment, wherein the second collision detecting unit is further configured for:
when the first collision detection unit judges that the first object and the second object are about to collide within a preset time, calculating a remaining passable area of the first object by subtracting a portion overlapping with a predicted path of the second object from a first passable area around the first object;
when the first collision detection unit judges that the first object collides with the second object within a preset time, calculating a remaining passable area of the second object by subtracting a part overlapping with a predicted path of the first object from a second passable area around the second object; and/or the number of the groups of groups,
when the first collision detecting unit judges that the first object and the second object are about to collide within a preset time, a remaining passable area of the first object and a remaining passable area of the second object are calculated by subtracting a portion overlapping a predicted path of the first object and a portion overlapping a predicted path of the second object from a first passable area around the first object and a second passable area around the second object.
In a preferred embodiment, wherein the second collision detecting unit is further configured for:
an overlap ratio of the predicted path of the current vehicle with respect to the remaining passable area of the first object and/or the second object is calculated, and a risk value of collision of the current vehicle with the first object and/or the second object is predicted based on the overlap ratio.
According to another aspect of the present invention there is provided a vehicle comprising an auxiliary device as defined in any one of the preceding claims.
According to still another aspect of the present invention, there is provided an assist method for a vehicle, the assist method including:
detecting whether the first object and the second object are about to collide within a preset time or not based on the acquired related information of at least the first object and the second object around the current vehicle;
detecting a passable area around the first object and/or the second object based on the acquired environmental information when it is detected that the first object and the second object are about to collide within a preset time;
predicting a risk value of collision between the current vehicle and the first object and/or the second object based on a predicted path between a passable area around the first object and/or the second object and the current vehicle; and
providing reminding information to the current vehicle and/or controlling and adjusting the running state of the current vehicle based on the predicted risk value of the collision of the current vehicle with the first object and/or the second object.
In a preferred embodiment, wherein said detecting whether said first object and said second object are about to collide within a preset time comprises:
and calculating the collision time of the first object to be collided with the second object based on the related information of the first object and the second object, and judging that the first object to be collided with the second object within the preset time when the calculated collision time is smaller than a preset time threshold value.
In a preferred embodiment, wherein said detecting a passable area around said first object and/or second object based on the acquired environmental information comprises:
based on the acquired segmentation recognition of the environmental image of the first and/or second object, an area where no stationary or moving object is present on the ground around the first and/or second object is detected, and an area within a set distance range around the first and/or second object is defined in the area as a respective passable area around the first and/or second object.
In a preferred embodiment, the method further comprises:
when the first object and the second object are judged to collide within the preset time, calculating the residual passable area of the first object by subtracting a part overlapped with the predicted path of the second object from the first passable area around the first object;
when the first object and the second object are judged to collide within the preset time, calculating the residual passable area of the second object by subtracting a part overlapped with the predicted path of the first object from the second passable area around the second object; and/or the number of the groups of groups,
when it is judged that the first object collides with the second object within a preset time, a remaining passable area of the first object and a remaining passable area of the second object are calculated by subtracting a portion overlapping a predicted path of the first object and a portion overlapping a predicted path of the second object from a first passable area around the first object and a second passable area around the second object.
In a preferred embodiment, the method further comprises:
an overlap ratio of the predicted path of the current vehicle with respect to the remaining passable area of the first object and/or the second object is calculated, and a risk value of collision of the current vehicle with the first object and/or the second object is predicted based on the overlap ratio.
According to a further aspect of the present invention there is provided a computer device comprising a memory and a processor, the memory having stored thereon a computer program which, when executed by the processor, causes the auxiliary method according to any of the preceding claims to be performed.
According to a further aspect of the present invention there is provided a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, cause an auxiliary method according to any of the above to be performed.
With the assistance device and the assistance method of the present invention, it is possible to detect not only the risk of collision between the first object and the second object around the current vehicle, but also calculate the possibility of collision of one or both of the objects with the current vehicle. For example, the collision risk of the current vehicle with the first object and/or the second object may be more accurately predicted by calculating a passable region around the first object and/or the second object and removing a remaining passable region after overlapping a predicted path of the other object, thereby based on an overlapping ratio between a travel track of the current vehicle and the remaining passable region of the first object and/or the second object. Therefore, the scheme of the invention can be convenient for reminding the current vehicles and surrounding traffic participants in advance, so that the current vehicles and surrounding traffic participants can take the risk avoiding measures actively or passively in time, and the traffic safety is greatly improved.
Drawings
Non-limiting and non-exhaustive embodiments of the present invention are described by way of example with reference to the following drawings, wherein:
fig. 1 is a block diagram schematically showing an auxiliary device for a vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart schematically showing an assist method for a vehicle according to an embodiment of the present invention;
fig. 3A-3D are schematic diagrams schematically illustrating various scenarios according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
For example, there is sometimes a risk of collision among other traffic participants around the current vehicle, and in the event that other traffic participants are about to collide, at least one of the other traffic participants may avoid in the direction in which the current vehicle is traveling or move in the direction in which the current vehicle is traveling after being collided, causing a risk of collision with the current vehicle. The auxiliary device for a vehicle and the corresponding method according to the invention can improve safety at least in such traffic situations.
Fig. 1 is a block diagram schematically showing an auxiliary device 100 for a vehicle according to an embodiment of the present invention.
As shown in fig. 1, the auxiliary device 100 includes a first collision detecting unit 110, a passable area detecting unit 120, a second collision detecting unit 130, and a control unit 140. The first collision detecting unit 110 is communicatively connected to the passable area detecting unit 120, the passable area detecting unit 120 is communicatively connected to the second collision detecting unit 130, and the control unit 140 is communicatively connected to the second collision detecting unit 130.
Specifically, the first collision detection unit 110 may be configured to detect whether or not the first object and the second object are about to collide within a preset time based on the acquired related information of at least the first object and the second object around the current vehicle.
The passable area detection unit 120 may be configured to detect a passable area around the first object and/or the second object based on the acquired environmental information when it is detected that the first object and the second object are about to collide within a preset time.
The second collision detection unit 130 may be configured to predict a risk value of collision of the current vehicle with the first object and/or the second object based on a predicted path of a passable area around the first object and/or the second object with the current vehicle.
The control unit 140 may be configured to provide a reminder to the current vehicle and/or control to adjust the driving state of the current vehicle based on the predicted risk value of the collision of the current vehicle with the first object and/or the second object.
Any one or more of the first collision detecting unit 110, the passable area detecting unit 120, and the second collision detecting unit 130 may acquire desired information about the first object and/or the second object and its surroundings at least through one or more sensors provided on the current vehicle 103 and any vehicles or infrastructures therearound or through an online server, and analyze the corresponding result values by means of processing of the acquired information. The sensor may include, for example, a camera, millimeter wave radar, lidar, ultrasonic sensor, or any other suitable sensor, or a combination thereof.
It should be appreciated that the first and second objects described above may each refer to one or more "traffic participants," such as vehicles, non-motor vehicles, pedestrians, or animals that are accidentally present on a road, etc. The related information of the first object and the second object may include information such as a category, a location, a speed, an acceleration, and/or a behavior type of the traffic participant. The category refers to which of the vehicles, non-motor vehicles, pedestrians, or animals that are accidentally present on the road the traffic participant belongs to. The location may refer to an absolute physical location of the traffic participant or a relative location with respect to the current vehicle 103. The speed may also refer to an absolute speed of the traffic participant or a relative speed with respect to the current vehicle 103. The behavior type may refer to what type of behavior activity the traffic participant is currently performing, such as normal or abnormal travel of a vehicle or non-motorized vehicle, running or walking by a pedestrian, frightened state of an animal, or normal running state.
Fig. 2 is a flow chart schematically illustrating an assistance method 200 for a vehicle according to an embodiment of the present invention. The assistance method may be implemented with the assistance device 100 of the present invention as described above.
Specifically, the assistance method 200 may include:
step S210, detecting whether the first object and the second object are about to collide within a preset time or not based on the acquired related information of at least the first object and the second object around the current vehicle;
step S220, when the first object and the second object are detected to collide within a preset time, a passable area around the first object and/or the second object is detected based on the acquired environmental information;
step S230, predicting a risk value of collision between the current vehicle and the first object and/or the second object based on a predicted path between the passable area around the first object and/or the second object and the current vehicle; the method comprises the steps of,
step S240, providing reminding information and/or controlling to adjust the running state of the current vehicle based on the predicted risk value of the collision between the current vehicle and the first object and/or the second object.
Each of the above steps S210-S240 may be performed by a respective unit of the auxiliary device 100, e.g. as shown in fig. 1, as described above in connection with fig. 1 or below in connection with fig. 3A-3D. Additionally, the operational steps described herein in connection with the various units of the auxiliary device may be included in the auxiliary method of the present invention.
Fig. 3A-3D are schematic diagrams schematically illustrating various scenarios according to an embodiment of the present invention.
Referring to fig. 3A, there is shown the presence of a first object 101 (e.g., a pedestrian) and a second object 102 (e.g., a truck) on a lane adjacent to a current vehicle 103. It should be appreciated that the first object 101 or the second object 102 may also be any type of traffic participant. The auxiliary device 100 for a vehicle and the respective units included therein described above may be provided on the current vehicle 103 or on a remote server in communication with the current vehicle 103.
In one embodiment, the first Collision detection unit 110 may acquire information about the first object 101 and the second object 102, for example, through sensors installed on the current vehicle 103, and calculate predicted paths of the first object 101 and the second object 102, respectively, and thus calculate a Time-To-Collision (TTC) at which the pedestrian and the truck will collide. When the calculated collision time TTC is less than the preset time threshold, the first collision detection unit 110 may determine that the pedestrian is about to collide with the truck within the preset time. In a preferred embodiment, the preset time threshold may be, for example, 3 seconds or 5 seconds, or may be set as desired.
In one embodiment, the passable area detection unit 120 detects a passable area 1010 (may also be referred to as a "first passable area") around the first object and/or a passable area 1020 (may also be referred to as a "second passable area") around the second object based on the acquired environmental information in response to the first collision detection unit 110 determining that the first object and the second object are about to collide within a preset time. The passable area may refer to an area where there is no stationary or moving object on the ground around the first object and/or the second object. The manner of detecting the passable region may include, for example, by image-dividing based on the acquired environmental image of the first object and/or the second object and identifying a region where no object exists, and a region where a distance range around the first object and/or the second object is set may be defined as a corresponding passable region around the first object and/or the second object in the region where no object exists for the sake of calculation. The set distance range may be a preset fixed value, or may be set according to information such as the type, position, speed, acceleration, and/or behavior type of the first object or the second object.
The second collision detecting unit 130 may be further configured to determine whether the current vehicle collides with the first object and/or the second object by calculating a remaining passable area around the first object and/or the second object and an overlapping ratio of the remaining passable area to a predicted path of the current vehicle when the first collision detecting unit 110 determines that the pedestrian collides with the truck is about to occur within a preset time. In particular, the remaining passable area may represent a portion of a passable area to which the first object and/or the second object may move in order to avoid a collision with the counterpart, or a portion of a passable area to which the first object and/or the second object may move after a collision with the counterpart.
Referring to the example in fig. 3C, the second collision detection unit 130 is further configured to calculate the remaining passable area of the first object 101 by: the second collision detecting unit 130 subtracts the portion overlapping with the predicted path of the truck from the passable area 1010 of the pedestrian, and calculates a remaining passable area 1011 in the passable area 1010 to which the pedestrian may move for evading the truck or after being collided with by the truck.
Referring next to the example of fig. 3D, the second collision detection unit 130 is further configured to calculate an overlap ratio of the predicted path of the current vehicle 103 with respect to the remaining passable area 1011 of the pedestrian, and predict a risk value of the collision of the current vehicle with the pedestrian based on the overlap ratio. When the overlap ratio is greater than a preset threshold, it is determined that the current vehicle 103 is about to collide with the pedestrian. In a preferred embodiment, the preset threshold may be any set value from 60% to 80%.
It should be noted that the embodiments shown in fig. 3A-3D are for illustration only and are not intended to limit the application scenarios of the present invention. Those skilled in the art will appreciate that the present invention is applicable to other avoidance or collision detection scenarios. For example, in another embodiment, in the case where the second object is intended or it is possible to take an avoidance measure, the second collision detecting unit 130 may also detect a remaining passable area around the second object 102 to determine a risk value of the collision of the current vehicle 103 with the second object 102. The specific example of calculating the remaining passable area around the second object may be similar to that described above in connection with fig. 3C.
In yet another embodiment, the pedestrian and the truck may travel in the opposite direction to the current vehicle 103, if the second collision detecting unit 130 determines that the pedestrian is about to collide with the truck, it is possible for the pedestrian or other type of traffic participant to catch up with the truck, so at this time the second collision detecting unit 130 may calculate the passable area 1020 around the truck minus the portion overlapping the predicted path of the pedestrian or other type of traffic participant to obtain the remaining passable area of the truck. Subsequently, the second collision detection unit 130 may further calculate an overlap ratio of the predicted path of the current vehicle 103 with respect to the remaining passable area of the truck, and calculate a risk value of the current vehicle colliding with the truck based on the overlap ratio. And when the overlapping proportion or risk value is larger than a corresponding preset threshold value, judging that the current vehicle 103 is about to collide with the truck.
In yet another embodiment, the pedestrian may be facing the truck, if the second collision detecting unit 130 determines that the pedestrian is about to collide with the truck, it represents that the pedestrian is about to collide with the truck, so the second collision detecting unit 130 may calculate the remaining passable area of the pedestrian and the remaining passable area of the truck at the same time. Next, the second collision detection unit 130 may further calculate the overlapping ratio of the predicted path of the current vehicle 103 and the remaining passable areas of the first and second objects, respectively, and predict the risk value of the collision of the current vehicle with the first and second objects based on the overlapping ratio.
The control unit 140 may be configured to provide a reminder to the current vehicle 103 and/or control to adjust the driving state of the current vehicle 103 when the risk value of the collision of the current vehicle with the first object 101 and/or the second object 102 predicted by the second collision detection unit 130 exceeds a corresponding preset threshold or is at a corresponding risk level.
For example, in connection with the examples of fig. 3A-3D, the provided alert information may be in various forms, such as a visual or audible alert information may be sent through a display or speaker of the current vehicle 103, or a tactile alert message may be provided to the driver of the current vehicle by vibrating a pedal or steering wheel; or by flashing lights of the current vehicle or sounding to the outside to alert traffic participants around the current vehicle to avoid collision with the current vehicle. When the risk value detected by the second collision detecting unit is high, the running state of the current vehicle 103 may be directly controlled and adjusted by the control unit 140, for example, automatic driving control (e.g., emergency braking or steering) of the vehicle 103 may be triggered to avoid collision with other surrounding traffic participants.
It should be understood that the various units of the auxiliary device for a vehicle of the present invention may be implemented in whole or in part by software, hardware, firmware, or a combination thereof. The respective units may be embedded in the processor of the computer device in the form of hardware or firmware or may be independent of the processor, or may be stored in the memory of the computer device in the form of software for the processor to call to perform the operations of the respective units. Each of the individual units may be implemented as separate components or modules, or two or more units may be implemented as a single component or module.
It will be appreciated by persons of ordinary skill in the art that the schematic diagram of the auxiliary device shown in fig. 1 is merely an exemplary illustrative block diagram of some of the structures associated with aspects of the present invention and is not intended to limit the computer apparatus, processor or computer program embodying aspects of the present invention. A particular computer device, processor, or computer program may include more or fewer components or modules than those shown in the figures, or may combine or split certain components or modules, or may have a different arrangement of components or modules.
In one embodiment, a computer device is provided that includes a memory and a processor, the memory having stored thereon a computer program executable by the processor, the computer program when executed by the processor causing the auxiliary method to be performed. The computer device may be broadly a server, an in-vehicle terminal, or any other electronic device having the necessary computing and/or processing capabilities. In one embodiment, the computer device may include a processor, memory, network interface, communication interface, etc. connected by a system bus. The processor of the computer device may be used to provide the necessary computing, processing and/or control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. The non-volatile storage medium may have an operating system, computer programs, etc. stored therein or thereon. The internal memory may provide an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface and communication interface of the computer device may be used to connect and communicate with external devices via a network. Which computer program, when being executed by a processor, is capable of carrying out the steps of the auxiliary method of any one of the above-mentioned aspects of the invention.
Another aspect of the invention also provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the driving assistance method according to any one of the above embodiments.
Those of ordinary skill in the art will appreciate that all or part of the steps of the above-described methods of assistance may be implemented by a computer program, which may be stored on a non-transitory computer readable storage medium, to instruct related hardware such as a computer device or a processor, which when executed causes the steps of the methods of assistance of the present invention to be performed. Any reference herein to memory, storage, database, or other medium may include non-volatile and/or volatile memory, as the case may be. Examples of nonvolatile memory include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage, hard disk, solid state disk, and the like. Examples of volatile memory include Random Access Memory (RAM), external cache memory, and the like.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
While the invention has been described in conjunction with embodiments, it will be understood by those skilled in the art that the foregoing description and drawings are illustrative only and not limiting of the invention, which is not limited to the disclosed embodiments. Various modifications and variations are possible without departing from the spirit of the invention.
Claims (13)
1. An assist device for a vehicle, characterized by comprising:
a first collision detection unit configured to detect whether or not a first object and a second object are about to collide within a preset time based on acquired related information of at least the first object and the second object around a current vehicle;
a passable area detection unit configured to detect, when it is detected that the first object and the second object are about to collide within a preset time, a passable area where no stationary or moving object is present on the ground around the first object and/or the second object based on the acquired environmental information;
a second collision detection unit configured to predict a risk value of collision of a current vehicle with the first object and/or the second object based on a predicted path of a remaining passable area with the current vehicle among passable areas around the first object and/or the second object, wherein the remaining passable area represents a part of passable area to which the first object and/or the second object may move in order to avoid collision with a counterpart, or a part of passable area to which the first object and/or the second object may move after collision with a counterpart; and
and a control unit configured to provide reminding information to the current vehicle and/or control and adjust the running state of the current vehicle based on the predicted risk value of the collision of the current vehicle with the first object and/or the second object.
2. The auxiliary device of claim 1, wherein the first collision detection unit is further configured to: and calculating the collision time of the first object to be collided with the second object based on the related information of the first object and the second object, and judging that the first object to be collided with the second object within the preset time when the calculated collision time is smaller than a preset time threshold value.
3. The auxiliary device of claim 1, wherein the passable area detection unit is further configured to: based on the acquired segmentation recognition of the environmental image of the first and/or second object, an area where no stationary or moving object is present on the ground around the first and/or second object is detected, and an area within a set distance range around the first and/or second object is defined in the area as a respective passable area around the first and/or second object.
4. A supplemental device according to any of claims 1 to 3, wherein the second collision detection unit is further configured to:
when the first collision detection unit judges that the first object and the second object are about to collide within a preset time, calculating a remaining passable area of the first object by subtracting a portion overlapping with a predicted path of the second object from a first passable area around the first object;
when the first collision detection unit judges that the first object collides with the second object within a preset time, calculating a remaining passable area of the second object by subtracting a part overlapping with a predicted path of the first object from a second passable area around the second object; and/or the number of the groups of groups,
when the first collision detecting unit judges that the first object and the second object are about to collide within a preset time, a remaining passable area of the first object and a remaining passable area of the second object are calculated by subtracting a portion overlapping a predicted path of the first object and a portion overlapping a predicted path of the second object from a first passable area around the first object and a second passable area around the second object.
5. The auxiliary device according to claim 4, wherein the second collision detection unit is further configured to:
an overlap ratio of the predicted path of the current vehicle with respect to the remaining passable area of the first object and/or the second object is calculated, and a risk value of collision of the current vehicle with the first object and/or the second object is predicted based on the overlap ratio.
6. A vehicle, characterized by comprising: the auxiliary device according to any one of claims 1 to 5.
7. An assist method for a vehicle, characterized by comprising:
detecting whether the first object and the second object are about to collide within a preset time or not based on the acquired related information of at least the first object and the second object around the current vehicle;
detecting that no passable area of any stationary or moving object exists on the ground around the first object and/or the second object based on the acquired environmental information when it is detected that the first object and the second object are about to collide within a preset time;
predicting a risk value of a collision of a current vehicle with the first object and/or the second object based on a predicted path of a remaining passable area with the current vehicle in passable areas around the first object and/or the second object, wherein the remaining passable area represents a part of passable areas to which the first object and/or the second object may move in order to avoid collision with the counterpart, or a part of passable areas to which the first object and/or the second object may move after collision with the counterpart; and
providing reminding information to the current vehicle and/or controlling and adjusting the running state of the current vehicle based on the predicted risk value of the collision of the current vehicle with the first object and/or the second object.
8. The assistance method according to claim 7, wherein the detecting whether the first object and the second object are about to collide within a preset time includes:
and calculating the collision time of the first object to be collided with the second object based on the related information of the first object and the second object, and judging that the first object to be collided with the second object within the preset time when the calculated collision time is smaller than a preset time threshold value.
9. The assistance method according to claim 7, wherein the detecting a passable area around the first object and/or the second object based on the acquired environmental information comprises:
based on the acquired segmentation recognition of the environmental image of the first and/or second object, an area where no stationary or moving object is present on the ground around the first and/or second object is detected, and an area within a set distance range around the first and/or second object is defined in the area as a respective passable area around the first and/or second object.
10. The assistance method according to any one of claims 7 to 9, wherein the method further comprises:
when the first object and the second object are judged to collide within the preset time, calculating the residual passable area of the first object by subtracting a part overlapped with the predicted path of the second object from the first passable area around the first object;
when the first object and the second object are judged to collide within the preset time, calculating the residual passable area of the second object by subtracting a part overlapped with the predicted path of the first object from the second passable area around the second object; and/or the number of the groups of groups,
when it is judged that the first object collides with the second object within a preset time, a remaining passable area of the first object and a remaining passable area of the second object are calculated by subtracting a portion overlapping a predicted path of the first object and a portion overlapping a predicted path of the second object from a first passable area around the first object and a second passable area around the second object.
11. The assistance method according to claim 10, wherein the method further comprises:
an overlap ratio of the predicted path of the current vehicle with respect to the remaining passable area of the first object and/or the second object is calculated, and a risk value of collision of the current vehicle with the first object and/or the second object is predicted based on the overlap ratio.
12. A computer device comprising a memory and a processor, the memory having stored thereon a computer program which, when executed by the processor, causes the auxiliary method according to any of claims 7 to 11 to be performed.
13. A computer-readable storage medium, having stored thereon computer instructions, which when executed by a processor, cause the auxiliary method according to any of claims 7 to 11 to be performed.
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