CN113911118A - Driving assistance method and system, vehicle, and computer-readable storage medium - Google Patents
Driving assistance method and system, vehicle, and computer-readable storage medium Download PDFInfo
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- CN113911118A CN113911118A CN202010657604.9A CN202010657604A CN113911118A CN 113911118 A CN113911118 A CN 113911118A CN 202010657604 A CN202010657604 A CN 202010657604A CN 113911118 A CN113911118 A CN 113911118A
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- 238000001514 detection method Methods 0.000 claims description 12
- 230000000994 depressogenic effect Effects 0.000 claims description 11
- 230000001133 acceleration Effects 0.000 claims description 9
- 230000004913 activation Effects 0.000 claims description 4
- 238000011156 evaluation Methods 0.000 claims description 4
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- 238000005516 engineering process Methods 0.000 description 4
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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
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/30—Driving style
Abstract
There is provided a driving assistance method for a vehicle, the driving assistance method including: detecting whether a triggering element of the vehicle is triggered; in response to the trigger element being triggered, switching to a steerable autopilot mode, wherein in the steerable autopilot mode: activating an automatic driving system of the vehicle; detecting whether a driver inputs a driving action; responsive to a driver entering a driving action, assessing whether the driving action is feasible; and in response to the driving action being available, providing an input to the autonomous driving system corresponding to the driving action. Thus, the driver may also enjoy the driving experience during autonomous driving. A driving assistance system, a vehicle, and a computer-readable storage medium are also provided.
Description
Technical Field
The present disclosure relates to the field of driving assistance for vehicles, and more particularly, to a driving assistance method for a vehicle, a driving assistance system, a vehicle including such a driving assistance system, and a computer-readable storage medium.
Background
The vehicle has a driving assistance system that is capable of switching between an automatic driving mode and a manual driving mode. In the automatic driving mode, the driving assistance system automatically drives the automobile during vehicle travel, wherein driving the vehicle includes both lateral and longitudinal steering of the vehicle. The lateral maneuver may be a directional control of the vehicle, such as to cause the vehicle to follow the course of a traffic lane, to cause the vehicle to change lanes, and the like. The longitudinal manipulation may be a control of the traveling speed of the vehicle, for example, maintaining the current traveling speed of the vehicle, accelerating, braking, emergency braking, stopping, and the like. In the automatic driving mode, the driving assistance system can perform driving of the vehicle completely independently, so that the driver can pay attention to other things such as rest, call reception, operation of an entertainment system, and the like, for a relatively long time.
In the automatic driving mode, if the driver manipulates the vehicle, for example, turns the steering wheel of the vehicle, depresses the brake pedal or the accelerator pedal, the driving assistance system will exit the automatic driving mode, enter the manual driving mode, and drive the vehicle by the driver himself.
The vehicle is driven either completely by the drive assistance system on its own or completely by the driver himself.
The apparatus or methods described in this section are not necessarily ones that have been previously conceived or pursued. Unless otherwise indicated, it should not be assumed that any of the devices or methods described in this section qualify as prior art merely by virtue of their inclusion in this section. Similarly, unless otherwise indicated, the problems mentioned in this section should not be considered as having been acknowledged in any prior art.
Disclosure of Invention
It is an object of the present disclosure to provide a steerable automatic driving mode between an automatic driving mode and a manual driving mode, in which a vehicle can be driven independently without intervention of a driver, and when the driver wants to participate in driving, a reaction can be made in conjunction with actual road conditions according to the driver's steering of the vehicle.
According to an aspect of the present disclosure, there is provided a driving assistance method for a vehicle, the driving assistance method including: detecting whether a triggering element of the vehicle is triggered; in response to detecting that the trigger element is triggered, switching to a steerable autopilot mode, wherein in the steerable autopilot mode:
activating an automatic driving system of the vehicle;
detecting whether a driver inputs a driving action;
in response to detecting a driver input driving action, assessing whether the driving action is feasible; and
responsive to the driving action being assessed as feasible, providing an input to the autonomous driving system corresponding to the driving action.
According to another aspect of the present disclosure, there is provided a driving assistance system for a vehicle, the driving assistance system including: a detection unit configured to detect whether a trigger element of the vehicle is triggered; a switching unit configured to switch to a steerable autonomous driving mode in response to detecting that the trigger element is triggered; an activation unit configured to activate an autopilot system of the vehicle in the steerable autopilot mode; a further detection unit configured to detect whether a driver inputs a driving action in the steerable automatic driving mode; an evaluation unit configured to evaluate whether a driver input driving action is possible in response to detecting the driver input driving action in the steerable automatic driving mode; and an input unit configured to provide an input corresponding to the driving action to the autopilot system in response to the driving action being assessed as feasible in the steerable autopilot mode.
According to still another aspect of the present disclosure, there is provided a driving assistance system for a vehicle, the driving assistance system including: a trigger element; a processor; and a memory storing a program including instructions that, when executed by the processor, cause the processor to execute the driving assistance method described above.
According to still another aspect of the present disclosure, there is provided a vehicle including the driving assistance system described above.
According to yet another aspect of the present disclosure, there is provided a computer readable storage medium storing a program, the program comprising machine executable instructions that, when executed, cause the machine to perform the above-described driving assistance method.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the embodiments and, together with the description, serve to explain the exemplary implementations of the embodiments. The illustrated embodiments are for purposes of illustration only and do not limit the scope of the claims. Throughout the drawings, identical reference numbers designate similar, but not necessarily identical, elements.
In the drawings:
fig. 1 shows a flowchart of a driving assistance method for a vehicle according to an exemplary embodiment;
FIG. 2 shows a flowchart of a driving assistance method for a vehicle according to another example embodiment;
FIG. 3 shows a flowchart of a driving assistance method for a vehicle according to another example embodiment;
FIG. 4 shows a flowchart of a driving assistance method for a vehicle according to another example embodiment;
fig. 5 shows a block diagram of a driving assistance system for a vehicle according to an exemplary embodiment;
FIG. 6 shows a schematic diagram of a driving assistance system for a vehicle according to an exemplary embodiment;
FIG. 7 shows a schematic view of a trigger element according to an exemplary embodiment;
FIG. 8 shows a schematic view of a trigger element according to another exemplary embodiment; and (c) and (d).
Fig. 9 shows a schematic diagram of an application scenario comprising a motor vehicle and a communication and control system for the motor vehicle.
Detailed Description
In the present disclosure, unless otherwise specified, the use of the terms "first", "second", etc. to describe various elements is not intended to limit the positional relationship, the timing relationship, or the importance relationship of the elements, and such terms are used only to distinguish one element from another. In some examples, a first element and a second element may refer to the same instance of the element, and in some cases, based on the context, they may also refer to different instances.
The terminology used in the description of the various described examples in this disclosure is for the purpose of describing particular examples only and is not intended to be limiting. Unless the context clearly indicates otherwise, if the number of elements is not specifically limited, the elements may be one or more. Furthermore, the term "and/or" as used in this disclosure is intended to encompass any and all possible combinations of the listed items.
The vehicle includes a driving assistance system that is switchable between a plurality of driving assistance modes including: a manual driving mode in which the vehicle is operated by the driver; and an autonomous driving mode in which the vehicle is automatically driven without driver intervention by an autonomous driving system, for example coupled to or integrated in the driving assistance system. The present disclosure provides a steerable driving mode in which the vehicle can still be automatically driven independently by the autonomous driving system without intervention by the driver, during which the driver can focus on other events, such as rest, making a phone call, operating an entertainment system, etc. Meanwhile, in the steerable automatic driving mode, the driver may also participate in the driving of the vehicle, and if the driving assistance system detects the driving action of the driver, it may provide corresponding input to the automatic driving system, for example, by integrating the driving action of the driver and the current actual road condition. Thereby, the driver can enjoy the driving pleasure during the automatic driving. The driving assistance system may switch from any one of the manual driving mode, the automatic driving mode, and the steerable automatic driving mode to another one of the manual driving mode, the automatic driving mode, and the steerable automatic driving mode.
According to some embodiments, the driving assistance system may include various devices, modules and/or components to enable automated driving, such as sensor devices, sensing devices, positioning devices, navigation devices, path planning devices, control devices, and other similar devices. The sensor device may include a camera, a millimeter wave radar, a laser radar (LiDAR), an ultrasonic sensor, a V2X system (vehicle-to-outside information exchange system), an HD Map (High-Definition Map), or an HAD Map (High-automatic-Driving Map). The sensing device may be configured to detect objects, obstacles, building facilities, and the like around the vehicle by the sensor and predict their next action. The positioning device may be configured to detect the position of the vehicle by, for example, at least one of the HD map or the HAD map. The navigation device may be configured to plan a navigation route to a destination in a map. The path planning means may be configured to plan a driving path following the navigated route based on the sensing and prediction results of the sensing means. The control device may be configured to send a control signal to at least one of a transmission system, a steering system, a braking system, and a transmission system of the vehicle based on the planned driving path, so as to implement corresponding operation on the vehicle.
The driving assistance method and the driving assistance system of the present disclosure are further described below with reference to the drawings.
Fig. 1 shows a flowchart of a driving assistance method for a vehicle according to an exemplary embodiment. The driving assistance method includes:
step S100, detecting whether a trigger element of a vehicle is triggered;
step S200, responding to the detection that the trigger element is triggered, switching to an operable automatic driving mode, wherein in the operable automatic driving mode:
step S300, activating an automatic driving system of the vehicle;
step S400, detecting whether a driver inputs a driving action;
step S500, in response to detecting that a driver inputs a driving action, evaluating whether the driving action is feasible; and
step S600, in response to the driving action being evaluated as feasible, providing an input corresponding to the driving action to the automatic driving system, so that the automatic driving system can drive the vehicle accordingly according to the driving action.
For example, during driving of the vehicle, the driver actively triggers the trigger element to consciously switch to a steerable autonomous mode, for example from a manual driving mode to the steerable autonomous mode, or from an autonomous mode to the steerable autonomous mode. In the steerable autonomous mode, the vehicle is still autonomous, but at the same time the driver may be at least partially involved in the driving of the vehicle, in which case the driving experience may still be enjoyed.
According to some embodiments, the trigger element may be implemented as a button, which may be mounted on the steering wheel, for example. The button is pressed to be triggered. Alternatively, the triggering element can also be embodied as a trigger switch, which is triggered by recognition of a driving instruction of the driver, for example in the form of a voice.
According to some embodiments, the driving action of the driver may for example comprise a steering behavior of the vehicle by the driver, the steering behavior comprising at least one of the following behaviors: steering wheel, brake pedal, and accelerator pedal. The driving action of the driver is not limited to the steering behavior of the vehicle by the driver, and the driving action of the driver may be expressed in other manners, such as voice, gesture, limb action, and the like. According to some embodiments, the magnitude of the driving action may be smaller than the magnitude of the actual driving action when the vehicle is steered by the driver.
According to some embodiments, the driving action may be detected, for example, by at least one of the following sensors: an angle sensor for detecting the angle of rotation of the steering wheel, a displacement sensor or acceleration sensor for detecting the displacement of the brake pedal and/or accelerator pedal, and/or a force sensor for detecting the force on the brake pedal and/or accelerator pedal. Alternatively, detection may be made by other types of sensors used to detect the driver's steering of the vehicle.
Fig. 2 shows a flowchart of a driving assistance method according to another example embodiment. The driving assistance method includes:
step S100, detecting whether a trigger element of a vehicle is triggered;
step S200, responding to the detection that the trigger element is triggered, switching to an operable automatic driving mode, wherein in the operable automatic driving mode:
step S300, activating an automatic driving system of the vehicle;
step S400, detecting whether a driver inputs a driving action;
step S500, in response to detecting that a driver inputs a driving action, evaluating whether the driving action is feasible;
step S600, in response to the driving action being evaluated as feasible, providing an input corresponding to the driving action for the automatic driving system, so that the automatic driving system can drive the vehicle according to the driving action correspondingly; and
step S700, in response to the driving action being assessed as not being feasible, automatically driving the vehicle independent of the driving action.
If the driving action of the driver is not feasible, the vehicle will be driven independently, e.g. according to the originally planned driving path, vehicle driving parameters such as speed, etc., without regard to the driving action of the driver.
Fig. 3 shows a flowchart of a driving assistance method according to another example embodiment. The step S500 of evaluating whether the driving action is feasible includes:
step S510, determining target driving behaviors according to the driving actions;
step S520, sensing a surrounding environment of the vehicle; and
step S530, evaluating whether the target driving behavior is feasible based on the sensed surroundings.
In the face of the detected driving action, it is necessary to determine the actual driving intention of the driver, i.e., the target driving behavior to be achieved by the driver, for example, in combination with the actual road condition, thereby avoiding misinterpretation of the actual driving intention of the driver, which does not reflect the actual driving intention thereof.
By determining whether the operation intended by the driver is feasible or not based on the surrounding environment of the vehicle, it is possible to avoid compromising the safety of the driver himself or other road participants, for example, by forcing a lane change or acceleration because the driver does not notice the passing vehicle.
Fig. 4 shows a flowchart of a driving assistance method according to another example embodiment. The driving assistance method includes, during automatic driving of the vehicle: detecting whether a triggering element of the vehicle is triggered; and in response to the trigger element not being triggered, autonomously driving the vehicle, e.g., by an autonomous driving system.
According to some embodiments, the driving assistance method further comprises: in response to not detecting a driver input driving action, autonomously driving the vehicle, e.g., by an autonomous driving system;
according to some embodiments, the driving assistance method further comprises: the vehicle is autonomously driven, for example by an autonomous driving system, in response to the driving action being assessed as not being feasible. That is, if the driver's driving action is not feasible, the vehicle will be driven independently according to, for example, a driving path planned by the automatic driving system, vehicle driving parameters, etc., regardless of the driver's driving action.
Hereinafter, driving assistance methods according to some exemplary embodiments will be described with reference to exemplary cases.
According to some embodiments, the vehicle is, for example, running in an autonomous driving mode, detecting whether the triggering element is triggered, for example whether the triggering element embodied as a button is depressed. If the triggering element is not detected to be triggered, continuing to drive in the automatic driving mode; switching to steerable autonomous driving mode if it is detected that the trigger element is triggered.
In the steerable automatic driving mode, it is detected whether a driver inputs a driving action. If the driver input driving action is not detected, the vehicle still continues to run in the automatic driving mode; if it is detected that the driver enters a driving action, the driving action will be taken into account in driving.
According to some embodiments, the target driving behavior is determined in response to a driver entering a driving action.
Lane changing device
According to some embodiments, the determining target driving behavior comprises: the target driving behavior is determined to be lane change in response to detecting that the driver is steering the steering wheel and that there is no intersection ahead of the vehicle, e.g., a predetermined distance from the vehicle, that is, when the driver does not see the intersection and wants to turn at the intersection. According to some embodiments, the driving assistance system may include at least one of a global navigation positioning system, a high-precision map (HD map), and a high-automatic driving map (HAD map) for determining whether the vehicle is currently located at a position and whether there is an intersection at a predetermined distance in front of the position.
According to some embodiments, the determining target driving behavior comprises: in response to detecting that the driver is steering the steering wheel, it is determined, for example from a positioning device and a navigation device of the vehicle, that there is an intersection ahead of the vehicle at a predetermined distance and that the angle at which the driver is steering the steering wheel is less than a first preset angle, it is determined that the target driving behavior is lane changing. According to some embodiments, the first predetermined angle may be set to a fixed value. For example, the first preset angle may be set to 30 degrees. According to further embodiments, the first preset angle may be dynamically set according to a current vehicle speed of the vehicle, a property of a traffic lane in which the vehicle is located, and/or a surrounding environment of the vehicle.
According to some embodiments, in response to the target driving behavior being determined to change lanes, feasibility of changing lanes is assessed based on the sensed surroundings. According to some embodiments, the lane change is assessed as possible, i.e. a lane change is possible, in response to sensing that there is space on a side of the vehicle corresponding to the direction in which the driver is steering the steering wheel.
According to some embodiments, in response to the lane change being assessed as feasible, providing an input to the autonomous driving system corresponding to the lane change, such that the autonomous driving system automatically controls the vehicle to change lanes. The automatic driving system can automatically control at least one of a power system, a transmission system, a steering system, a braking system and a speed changing system of the vehicle to realize lane changing. According to some embodiments, it is possible to continuously or intermittently sense whether there is a space on the left or right side of the vehicle for a predetermined period of time after the driver turns the steering wheel to the left or right side, and automatically control the vehicle to change the vehicle to the left or right side when a space is sensed on the left or right side of the vehicle.
Turning
According to some embodiments, the target driving behavior is determined to be a turn in response to detecting that the driver is steering the steering wheel, determining that there is an intersection ahead of the vehicle, e.g., a predetermined distance ahead of the vehicle, e.g., from a positioning device and a navigation device of the vehicle, and that the driver is steering the steering wheel at an angle greater than a second preset angle. The second preset angle may be set to be the same as the first preset angle, or may be set to be different from the first preset angle. For example, the second preset angle may be set to 90 degrees.
According to some embodiments, in response to determining that the target driving behavior is a turn, feasibility of the turn is evaluated based on the sensed surroundings. According to some embodiments, for example, in response to sensing that the vehicle has reached an intersection and no other vehicles are approaching on the side of the vehicle intended to turn, the turn is assessed as being feasible, i.e., available to turn.
According to some embodiments, in response to evaluating the turn as feasible, providing an input to the autonomous driving system corresponding to the turn, such that the autonomous driving system automatically controls the vehicle to turn. The automatic driving system can automatically control at least one of a power system, a transmission system, a steering system, a braking system and a speed changing system of the vehicle to realize turning.
Braking device
According to some embodiments, in response to detectingAnd the driver operates a brake pedal to determine that the target driving behavior is braking. If the stroke of the brake pedal is less than a predetermined stroke, it may be determined that the target driving behavior is normal braking;if it is notThe stroke of the brake pedal is greater than or equal to a predetermined stroke, it may be determined that the target driving behavior is emergency braking.
According to some embodiments, the feasibility of braking may be assessed based on the sensed surroundings in response to determining that the target driving behavior is braking.
According to some embodiments, in response to evaluating the braking as possible, providing an input to the autonomous system corresponding to the braking such that the autonomous system automatically controls the vehicle braking. The automatic driving system can automatically control at least one of a power system, a transmission system, a steering system, a braking system and a speed changing system of the vehicle to realize the braking of the vehicle. According to some embodiments, the deceleration parameter of the vehicle is based on at least one of: a rate at which the brake pedal is depressed, a time at which the brake pedal is depressed. The deceleration parameters may include, for example, a deceleration duration and/or a deceleration rate.
According to some embodiments, in case it is determined that the target driving behavior is emergency braking, the vehicle emergency braking may be directly controlled without evaluating the feasibility or necessity of emergency braking based on the surrounding environment.
Acceleration
According to some embodiments, the target driving behavior is determined to be accelerating the vehicle in response to detecting that the driver manipulates an accelerator pedal.
According to some embodiments, the acceleration parameter of the vehicle is based on at least one of: an object in front of the vehicle, a speed limit, a planned path, a proportion of the accelerator pedal depressed, a time the accelerator pedal was depressed. The above factors have different weights and/or priorities. For example, objects ahead of the vehicle, speed limits, planned paths may have a higher weight and/or priority, while the proportion of the accelerator pedal that is depressed, the time the accelerator pedal is depressed, may have a lower weight and/or priority.
According to some embodiments, the input corresponding to the acceleration is provided to the autonomous driving system, such that the autonomous driving system automatically controls the vehicle to accelerate, e.g. automatically controls the vehicle to accelerate to a target acceleration value.
Fig. 5 shows a block diagram of a driving assistance system for a vehicle according to an exemplary embodiment. The driving assistance system includes:
a detection unit 100 configured to detect whether a trigger element of the vehicle is triggered;
a switching unit 200 configured to switch to a steerable autonomous driving mode in response to detecting that the trigger element is triggered;
an activation unit 300 configured to activate an autopilot system of the vehicle in the steerable autopilot mode;
a further detection unit 400 configured to detect whether a driver inputs a driving action in the steerable automatic driving mode;
an evaluation unit 500 configured to evaluate, in the steerable autonomous driving mode, whether a driving action is possible in response to detecting a driver input driving action; and
an input unit 600 configured to provide an input corresponding to the driving action to the autopilot system in response to the driving action being assessed as feasible in the steerable autopilot mode.
The method described above in connection with fig. 1 to 4 may be implemented by the system shown in fig. 5.
Another aspect of the present disclosure provides a driving assistance system for a motor vehicle. Fig. 6 shows a schematic diagram of a driving assistance system according to an exemplary embodiment. As shown in fig. 6, the driving assistance system 1100 includes: a trigger element 1101; a processor 1102; and a memory 1103 storing a program comprising instructions that, when executed by the processor 1102, cause the processor 1102 to perform the driving assistance method according to any one of the above embodiments. A plurality of programs may be stored in the memory 1103. Examples of such programs may include, for example, computer program logic (e.g., computer program code or instructions) to implement the following components/functions: the detection unit 100, the switching unit 200, the activation unit 300, the further detection unit 400, the evaluation unit 500, the input unit 600, the driving assistance method described above (including any suitable step of the driving assistance method described above), and/or further embodiments described herein.
Fig. 7 shows a schematic view of the trigger element in fig. 6 according to an exemplary embodiment. The trigger element is a button 111 mounted on the steering wheel. For example, by pressing the button 111, the driving assistance system is switched to the steerable automatic driving mode. According to some embodiments, the button 111 is disposed on one side of the steering wheel, and preferably, the button 111 may be selectively disposed on the left side of the steering wheel or the right side of the steering wheel according to the operation habit of the driver.
Fig. 8 shows a schematic view of the trigger element in fig. 6 according to another exemplary embodiment. The triggering member includes two buttons, i.e., a first button 111 'and a second button 112' installed at left and right sides of the steering wheel, respectively. The driver pressing either of the first button 111 'and the second button 112' may trigger the switching of the driving assistance system to the steerable automatic driving mode. Thus, it is convenient for the driver to select whether to press the first button 111 'on the left side or the second button 112' on the right side according to his operation habit or the degree of hand idleness.
A further aspect of the present disclosure provides a vehicle including the driving assistance system according to any one of the above embodiments.
Yet another aspect of the present disclosure provides a computer-readable storage medium storing a program comprising machine-executable instructions that, when executed, cause the machine to perform the above-described driving assistance method. The program may be stored on a permanent or rewritable storage medium, a CD-ROM, a DVD, a blu-ray disc or a USB stick, for example. Additionally or alternatively, the program may be provided on a machine for downloading, for example, over a data network such as the internet or a communications connection (e.g., a telephone line or wireless connection), for example, on a server or cloud computing system.
Fig. 9 shows a schematic diagram of an application scenario comprising a motor vehicle 10 and a communication and control system for the motor vehicle 10.
The motor vehicle 10 may include sensors 110 for sensing the surrounding environment. The sensors 110 may include one or more of the following sensors: ultrasonic sensors, millimeter wave radar, LiDAR (LiDAR), vision cameras, and infrared cameras. Different sensors may provide different detection accuracies and ranges. The ultrasonic sensors can be arranged around the vehicle and used for measuring the distance between an object outside the vehicle and the vehicle by utilizing the characteristics of strong ultrasonic directionality and the like. The millimeter wave radar may be installed in front of, behind, or other positions of the vehicle for measuring the distance of an object outside the vehicle from the vehicle using the characteristics of electromagnetic waves. The lidar may be mounted in front of, behind, or otherwise of the vehicle for detecting object edges, shape information, and thus object identification and tracking. The radar apparatus can also measure a speed variation of the vehicle and the moving object due to the doppler effect. The camera may be mounted in front of, behind, or otherwise on the vehicle. The visual camera may capture conditions inside and outside the vehicle in real time and present to the driver and/or passengers. In addition, by analyzing the picture captured by the visual camera, information such as traffic light indication, intersection situation, other vehicle running state, and the like can be acquired. The infrared camera can capture objects under night vision conditions.
The motor vehicle 10 may also include an output device 120. The output device 120 includes, for example, a display, a speaker, and the like, to present various outputs or instructions. Furthermore, the display may be implemented as a touch screen, so that input may also be detected in different ways. A user graphical interface may be presented on the touch screen to enable a user to access and control the corresponding controls.
The motor vehicle 10 may also include one or more controllers 130. The controller 130 may include a processor, such as a Central Processing Unit (CPU) or a Graphics Processing Unit (GPU), or other special purpose processor, etc., in communication with various types of computer-readable storage devices or media. A computer-readable storage apparatus or medium may include any non-transitory storage device, which may be non-transitory and may implement any storage device that stores data, and may include, but is not limited to, a magnetic disk drive, an optical storage device, solid state memory, floppy disk, flexible disk, hard disk, magnetic tape, or any other magnetic medium, an optical disk or any other optical medium, ROM (read only memory), RAM (random access memory), cache memory, and/or any other memory chip or cartridge, and/or any other medium from which a computer can read data, instructions, and/or code. Some of the data in the computer readable storage device or medium represents executable instructions used by the controller 130 to control the vehicle. Controller 130 may include an autopilot system for automatically controlling various actuators in a vehicle. The autopilot system is configured to control the powertrain, steering system, and braking system, etc. of the motor vehicle 10 via a plurality of actuators in response to inputs from a plurality of sensors 110 or other input devices to control acceleration, steering, and braking, respectively, without human intervention or limited human intervention. Part of the processing functions of the controller 130 may be implemented by cloud computing. For example, some processing may be performed using an onboard processor while other processing may be performed using the computing resources in the cloud. According to some embodiments, the controller 130 may be configured to perform the method described in connection with fig. 1. The controller 130 and its associated computer-readable storage device are one example of the system shown in fig. 5 above. The computer-readable storage device associated with the controller 130 may be one example of the non-transitory computer-readable storage medium described above.
The motor vehicle 10 also includes a communication device 140. The communication device 140 includes a satellite positioning module capable of receiving satellite positioning signals from the satellites 12 and generating coordinates based on these signals. The communication device 140 also includes modules for communicating with the mobile communication network 13, which may implement any suitable communication technology, such as current or evolving wireless communication technologies (e.g., 5G technologies) like GSM/GPRS, CDMA, LTE, etc. The communication device 140 may also have a V2X module configured to enable vehicle-to-outside communications, such as V2V communications with other vehicles 11 and V2I communications with infrastructure. Furthermore, the communication device 140 may also have a module configured to communicate with the user terminal 14 (including but not limited to a smartphone, a tablet, or a wearable device such as a watch), for example, by wireless local area network using IEEE802.11 standards or bluetooth. With the communication device 140, the motor vehicle 10 can access the online server 15 or the cloud server 16 via the wireless communication system, and the online server or the cloud server is configured to provide services such as data processing, data storage and data transmission for the motor vehicle.
In addition, the motor vehicle 10 includes a powertrain, a steering system, a brake system, and the like, which are not shown in fig. 9, for implementing a motor vehicle driving function.
Although embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it is to be understood that the above-described methods, systems and apparatus are merely exemplary embodiments or examples and that the scope of the present invention is not limited by these embodiments or examples, but only by the claims as issued and their equivalents. Various elements in the embodiments or examples may be omitted or may be replaced with equivalents thereof. Further, the steps may be performed in an order different from that described in the present disclosure. Further, various elements in the embodiments or examples may be combined in various ways. It is important that as technology evolves, many of the elements described herein may be replaced with equivalent elements that appear after the present disclosure.
Claims (19)
1. A driving assistance method for a vehicle, the driving assistance method comprising:
detecting whether a triggering element of the vehicle is triggered;
in response to detecting that the trigger element is triggered, switching to a steerable autopilot mode, wherein in the steerable autopilot mode:
activating an autopilot system of the vehicle;
detecting whether a driver inputs a driving action;
in response to detecting a driver input driving action, assessing whether the driving action is feasible; and
responsive to the driving action being assessed as feasible, providing an input to the autonomous driving system corresponding to the driving action.
2. The driving assistance method according to claim 1, wherein the driving assistance method includes:
automatically driving the vehicle independent of the driving action in response to the driving action being assessed as not being feasible.
3. The driving assistance method according to claim 1 or 2, wherein the driving action includes at least one of: steering wheel, brake pedal, and accelerator pedal.
4. The driving assistance method according to claim 1 or 2, wherein the evaluating whether the driving action is possible includes:
determining a target driving behavior according to the driving action;
sensing a surrounding environment of the vehicle; and
evaluating whether the target driving behavior is feasible based on the sensed surroundings.
5. The driving assistance method according to claim 4, wherein the determining target driving behavior includes:
determining that the target driving behavior is lane change in response to detecting that the driver is steering a steering wheel and there is no intersection ahead of the vehicle.
6. The driving assistance method according to claim 4, wherein the determining target driving behavior includes:
determining that the target driving behavior is lane change in response to detecting that a driver manipulates a steering wheel, that there is an intersection ahead of the vehicle, and that an angle at which the driver manipulates the steering wheel is less than a first preset angle.
7. The driving assistance method according to claim 4, wherein the determining target driving behavior includes:
determining that the target driving behavior is a turn in response to detecting that the driver is steering the steering wheel, that there is an intersection ahead of the vehicle, and that the angle at which the driver is steering the steering wheel is greater than a second preset angle.
8. The driving assistance method according to claim 5 or 6, wherein the evaluating whether the target driving behavior is feasible based on the sensed surroundings includes:
evaluating the target driving behavior as feasible in response to sensing that a side of the vehicle corresponding to a direction in which a driver manipulates a steering wheel is clear.
9. The driving assistance method according to claim 4, wherein the determining target driving behavior includes:
determining that the target driving behavior is braking in response to detecting that the driver manipulates a brake pedal.
10. The driving assist method according to claim 9, wherein the braking deceleration parameter of the vehicle is set based on at least one of: a rate at which the brake pedal is depressed, a time at which the brake pedal is depressed.
11. The driving assistance method according to claim 4, wherein the determining target driving behavior includes:
in response to detecting that the driver manipulates an accelerator pedal, determining that the target driving behavior is acceleration.
12. The driving assistance method according to claim 11, wherein,
an acceleration parameter of the vehicle is set based on at least one of the following factors: an object in front of the vehicle, a speed limit, a planned path, a proportion of the accelerator pedal depressed, a time the accelerator pedal was depressed.
13. The driving assistance method according to claim 12, wherein,
the factors have different weights and/or priorities.
14. A driving assistance system for a vehicle, the driving assistance system comprising:
a detection unit (100) configured to detect whether a trigger element of the vehicle is triggered;
a switching unit (200) configured to switch to a steerable autonomous driving mode in response to detecting that the trigger element is triggered;
an activation unit (300) configured to activate an autopilot system of the vehicle in the steerable autopilot mode;
a further detection unit (400) configured to detect whether a driver inputs a driving action in the steerable autonomous mode;
an evaluation unit (500) configured to evaluate, in the steerable autonomous driving mode, whether a driving action is feasible in response to detecting a driver input driving action; and
an input unit (600) configured to provide an input corresponding to the driving action to the autopilot system in response to the driving action being assessed as feasible in the steerable autopilot mode.
15. A driving assistance system for a vehicle, the driving assistance system comprising:
a trigger element;
a processor; and
a memory storing a program comprising instructions that, when executed by the processor, cause the processor to perform the driving assistance method according to any one of claims 1 to 13.
16. The driving assistance system according to claim 15, wherein the triggering element is a button (111) mounted on a steering wheel.
17. The driving assistance system according to claim 16,
the triggering elements are a first button (111 ') and a second button (112') mounted on the left and right sides of the steering wheel, respectively, and the driving assistance system is configured to:
switching to the steerable autopilot mode in response to either of the first button (111 ') and the second button (112') being triggered.
18. A vehicle comprising the driving assistance system according to any one of claims 15 to 17.
19. A computer readable storage medium storing a program, the program comprising machine executable instructions that, when executed, cause the machine to perform a driving assistance method according to any one of claims 1 to 13.
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| CN202010657604.9A CN113911118A (en) | 2020-07-09 | 2020-07-09 | Driving assistance method and system, vehicle, and computer-readable storage medium |
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