CN114248783A

CN114248783A - Vehicle auxiliary control method and device, map acquisition method and server

Info

Publication number: CN114248783A
Application number: CN202011001261.7A
Authority: CN
Inventors: 胡荣东; 龙韬; 张续辉; 蒋昶
Original assignee: Changsha Intelligent Driving Research Institute Co Ltd
Current assignee: Changsha Intelligent Driving Research Institute Co Ltd
Priority date: 2020-09-22
Filing date: 2020-09-22
Publication date: 2022-03-29
Also published as: WO2022063089A1

Abstract

The embodiment of the invention provides a vehicle auxiliary control method and device, a map acquisition method and a server, wherein the vehicle auxiliary control method comprises the following steps: acquiring a real-time safety map, vehicle pose information and vehicle structure data, wherein the real-time safety map comprises a plurality of real-time areas and a real-time safety level corresponding to each real-time area; determining P key point position information of P preset key points on the vehicle according to the vehicle pose information and the vehicle structure data, wherein the P preset key points correspond to the P key point position information one by one, and P is a positive integer; determining real-time safety levels corresponding to real-time areas where P preset key points are respectively located according to the real-time safety map and the position information of P key points; and determining a vehicle auxiliary control strategy according to the real-time safety levels corresponding to the real-time areas where the P preset key points are respectively located. The embodiment of the invention can effectively improve the effect of preventing safety accidents and improve the driving safety of vehicles.

Description

Vehicle auxiliary control method and device, map acquisition method and server

Technical Field

The invention relates to the technical field of vehicle safety, in particular to a vehicle auxiliary control method and device, a map acquisition method and a server.

Background

In road traffic, it often happens that a vehicle deviates from a normal driving route or a safety accident occurs after the vehicle enters some special road sections, for example, the vehicle enters a non-motor lane or enters a school road section, and the safety accident is easy to occur. In the prior art, corresponding danger levels are generally given to different geographical position ranges in advance, and the danger levels of the vehicle are determined according to the geographical position range corresponding to the driving position of the vehicle to perform early warning so as to prevent the safety accidents. However, in the prior art, when the corresponding danger level is determined for the driving position of the vehicle, consideration on the actual driving condition of the vehicle is often lacked, and the safety accident prevention effect is poor.

Disclosure of Invention

The embodiment of the invention provides a vehicle auxiliary control method and device, a map acquisition method and a server, and aims to solve the problem that in the prior art, when a corresponding danger level is determined according to a running position of a vehicle, the actual running condition of the vehicle is often lack of consideration, and the safety accident prevention effect is poor.

In order to solve the technical problem, the invention is realized as follows:

in a first aspect, an embodiment of the present invention provides a vehicle assist control method, including:

acquiring a real-time safety map, vehicle pose information and vehicle structure data, wherein the real-time safety map comprises a plurality of real-time areas and a real-time safety level corresponding to each real-time area;

determining P key point position information of P preset key points on the vehicle according to the vehicle pose information and the vehicle structure data, wherein the P preset key points correspond to the P key point position information one by one, and P is a positive integer;

determining real-time safety levels corresponding to real-time areas where the P preset key points are respectively located according to the real-time safety map and the position information of the P key points;

and determining a vehicle auxiliary control strategy according to the real-time safety levels corresponding to the real-time areas where the P preset key points are respectively located.

In a second aspect, an embodiment of the present invention further provides a map obtaining method, applied to a server, where the method includes:

acquiring an initial safety map and adjustment information, wherein the initial safety map comprises a plurality of initial areas and an initial safety level corresponding to each initial area;

adjusting the initial safety map according to the adjustment information to obtain a real-time safety map;

and sending the real-time safety map to a vehicle, wherein the real-time safety map is used for determining a vehicle auxiliary control strategy by the vehicle according to the real-time safety map.

In a third aspect, an embodiment of the present invention further provides a vehicle assist control device, including:

the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a real-time safety map, vehicle pose information and vehicle structure data, and the real-time safety map comprises a plurality of real-time areas and a real-time safety level corresponding to each real-time area;

the first determining module is used for determining P key point position information of P preset key points on the vehicle according to the vehicle pose information and the vehicle structure data, wherein the P preset key points correspond to the P key point position information one by one, and P is a positive integer;

the second determining module is used for determining real-time safety levels corresponding to real-time areas where the P preset key points are respectively located according to the real-time safety map and the position information of the P key points;

and the third determining module is used for determining the vehicle auxiliary control strategy according to the real-time safety levels corresponding to the real-time areas where the P preset key points are respectively located.

In a fourth aspect, an embodiment of the present invention further provides a server, including:

the second acquisition module is used for acquiring an initial safety map and adjustment information, wherein the initial safety map comprises a plurality of initial areas and an initial safety level corresponding to each initial area;

the third acquisition module is used for adjusting the initial safety map according to the adjustment information to obtain a real-time safety map;

and the sending module is used for sending the real-time safety map to a vehicle, and the real-time safety map is used for determining a vehicle auxiliary control strategy according to the real-time safety map.

In a fifth aspect, an embodiment of the present invention further provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the above method when executing the computer program.

In a sixth aspect, the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the above method.

The vehicle auxiliary control method provided by the embodiment of the invention comprises the steps of acquiring a real-time safety map and vehicle pose information, determining key point position information of each preset key point on a vehicle according to the vehicle pose information and vehicle structure data, determining a real-time safety level corresponding to each preset key point according to a real-time area and a corresponding real-time safety level of the key point position information in the real-time safety map, and determining a vehicle auxiliary control strategy according to the real-time safety level. The embodiment of the invention can dynamically determine the real-time area and the corresponding real-time safety level by utilizing the real-time safety map, and is beneficial to adapting to the changing driving environment in the actual scene; meanwhile, a vehicle auxiliary control strategy is determined based on the real-time safety level corresponding to each preset key point on the vehicle, so that the actual running state of the whole vehicle can be better mastered; by fully considering the actual driving conditions such as the driving environment and the actual driving state of the vehicle, the effect of preventing safety accidents can be effectively improved, and the driving safety of the vehicle is improved.

Drawings

FIG. 1 is a flow chart of a vehicle assist control method provided by an embodiment of the present invention;

FIG. 2 is a flowchart of a map obtaining method according to an embodiment of the present invention;

FIG. 3 is a flowchart illustrating an exemplary implementation of a vehicle assist control method according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a vehicle assist control device according to an embodiment of the invention;

fig. 5 is a schematic structural diagram of a server according to an embodiment of the present invention.

Detailed Description

In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help the full understanding of the embodiments of the present invention. Thus, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one.

As shown in fig. 1, a vehicle assist control method according to an embodiment of the present invention includes:

step 101, acquiring a real-time safety map, vehicle pose information and vehicle structure data, wherein the real-time safety map comprises a plurality of real-time areas and a real-time safety level corresponding to each real-time area;

102, determining P key point position information of P preset key points on the vehicle according to the vehicle pose information and the vehicle structure data, wherein the P preset key points correspond to the P key point position information one by one, and P is a positive integer;

103, determining real-time safety levels corresponding to real-time areas where the P preset key points are respectively located according to the real-time safety map and the position information of the P key points;

and 104, determining a vehicle auxiliary control strategy according to the real-time safety levels corresponding to the real-time areas where the P preset key points are respectively located.

In this embodiment, the real-time security map may be considered as a dynamically changing security map, that is, a range of a real-time area in the security map, and/or a security level (corresponding to the real-time security level) corresponding to the real-time area, and the like, which may be dynamically changed. The safety level can be understood as the high or low of safety, for example, the safety level can be represented by the safety from high to low through the "safe driving zone", "warning zone" and "high-risk zone"; or, the security level is expressed as "primary", "secondary", etc.; alternatively, the safety level can also be embodied in the form of scores; the specific representation of the security level is not limited herein.

As for the dynamic change process of the real-time security map, for example, for a school, under sunny weather and a period of time of getting on and off school, a motor vehicle lane within a range of 100m around the geographic position of the school can be determined as a real-time area, and the real-time security level corresponding to the real-time area is a warning area; in rainy days and on-school and off-school time periods, the range of the real-time area can be adjusted to be 150m around the geographical position of the school; or under the non-learning and non-learning period, the real-time safety level of the real-time area is adjusted to be the safe driving area. Of course, this is only an example of the implementation manner of the real-time security map, and in practical applications, the adjustment manner of the real-time security map may be determined as needed.

The vehicle pose information mainly includes position information and attitude information of the vehicle, and can be acquired by a navigation positioning system of the vehicle, such as a GNSS/IMU system. As for the GNSS/IMU System, it can be considered as a high-precision positioning System based on a Global Navigation Satellite System (GNSS) and an Inertial Measurement Unit (IMU).

Generally, the position information of the vehicle corresponds to position information of a positioning device, such as an on-board integrated navigation sensor, which is usually located at a central point of the vehicle; in a practical application scenario, a situation that the on-vehicle integrated navigation sensor is in a safe area, and some key points on the vehicle body, such as a front left corner or a front right corner of the vehicle, are in an unsafe area may occur, thereby causing a safety accident. It is easily understood that the secure area and the non-secure area may be divided based on the security level.

In this embodiment, the position information of the key points of the preset key points on the vehicle is determined according to the vehicle pose information and the vehicle structure data. Specifically, the preset key point may be a plurality of position points on the vehicle body, for example, at least one of position points of a front left corner, a front right corner, a rear left corner, a rear right corner, and the like of the vehicle. The vehicle structure data may be reflected as a relative positional relationship between the on-vehicle integrated navigation sensor and the preset key point in the vehicle body coordinate system. After the position information of the on-vehicle integrated navigation sensor, the attitude information of the vehicle and the vehicle structure data are determined, the geographical position of the preset key point can be determined through coordinate conversion and other modes, namely the position information of the key point is determined.

Of course, in practical application, the position of the on-vehicle integrated navigation sensor on the vehicle body can also be used as a preset key point.

After key point position information of a certain preset key point is obtained, a real-time area where the preset key point is located can be determined by combining a real-time safety map; since each real-time region has a corresponding real-time security level, the real-time security level corresponding to the real-time region where the preset key point is located can be determined, and for convenience of description, the real-time security level corresponding to the preset key point is hereinafter referred to as the real-time security level.

For the P preset key points, each preset key point has a corresponding real-time security level, and the real-time security levels corresponding to the P preset key points respectively determine the vehicle auxiliary control strategy, which may be determined according to the lowest security level of the P real-time security levels corresponding to the P preset key points, or according to the security level with the largest occurrence frequency of the P real-time security levels, or based on a manner similar to an average value calculation, and the like, and is not specifically limited herein.

The vehicle auxiliary control strategy may be a prompt, an active deceleration, an emergency brake, etc., and is not limited herein.

As can be seen from the above description, in the process of determining the vehicle assist control strategy, the present embodiment considers two types of actual driving situations, namely, the external driving environment of the vehicle and the driving state of the vehicle; specifically, on one hand, the influence of factors of external driving environments such as weather, time and the like on the range division and safety level determination of the geographic position area is further considered by acquiring the real-time dynamic map; and on the other hand, the key point position information of each preset key point of the vehicle and the corresponding real-time safety level are determined by combining the vehicle pose information and other information related to the running state of the vehicle.

It is worth emphasizing that the vehicle auxiliary control method in the embodiment may be applied to a vehicle, and may also be applied to a server; in other words, the implementation of the vehicle assistance control method may be implemented based on the operation of a hardware device on the vehicle, or may be implemented based on the operation of a hardware device on the server, and is not specifically limited herein. The vehicle auxiliary control strategy obtained by the implementation of the method can finally act on the relevant actuating mechanism on the vehicle so as to ensure the running safety of the vehicle. As will be described in detail below.

Optionally, the vehicle auxiliary control method may be applied to a vehicle, and in this case, in step 101, the obtaining a real-time safety map includes:

the method comprises the steps of receiving a real-time safety map sent by a server, wherein the server is used for dividing a plurality of initial areas aiming at a high-precision map, determining a corresponding initial safety level for each initial area to obtain the initial safety map, and adjusting the initial safety map according to obtained adjustment information to obtain the real-time safety map.

In this embodiment, the real-time safety map is from the server, that is, the server may be configured to generate the real-time safety map and send data related to the real-time safety map to the vehicle.

Specifically, the server may perform the division of the geographical location area in advance based on the high-precision map, for example, dividing the corresponding initial area by the positions of the regular motor vehicle lane, the non-motor vehicle lane, the sidewalk, the lane near the school, the lane near the bridge, and the like in the high-precision map. Each initial region may be assigned an initial security level.

The server may refer to a cloud platform, or a Road Side Unit (RSU), or a combination of a cloud platform and a Road Side Unit, and the like, which is not limited herein.

In one example, the above safety level may be represented by "safe driving zone", "alert zone", "warning zone", and "high risk zone"; for example, an area where a vehicle should not enter under normal conditions such as a non-motor lane and an accident is easily caused after entering the area may be divided into a warning area, an area where a vehicle enters a sidewalk and a serious safety accident is caused may be divided into a high-risk area, and a general area where a vehicle is allowed to run such as the above-mentioned conventional motor lane and the like may be divided into a safe driving area.

And after the initial region division and the initial safety level determination are carried out on the high-precision map, the initial safety map can be obtained. Considering the real-time performance and diversity of the traffic environment, the initial safety map can be adjusted by combining some factors influencing the traffic environment. It is easy to understand that the factors affecting the traffic environment, such as weather, time, etc. described above, can be determined according to actual needs, and are not listed here. The information corresponding to these factors constitutes the above-mentioned adjustment information.

In some examples, the adjustment manner for the initial safety map may be to adjust a region boundary between two adjacent initial regions in the plurality of initial regions to update into a real-time region; or adjusting the initial security level of a specific initial area to update to a real-time security level; or directly increasing or decreasing the number of divided areas, etc.

And after the initial safety map is adjusted by the server through the adjustment information, the real-time safety map can be obtained and sent to the vehicle.

In the embodiment, the real-time safety map is obtained through the server, so that the integration of the initial safety map and the adjustment information by the server with relatively strong computing power is facilitated, the generation efficiency of the real-time safety map is improved, and in addition, the real-time safety map can be stored in the server and is convenient to update and obtain; correspondingly, the vehicle needs to receive the data related to the real-time safety map sent by the server, and the vehicle does not need to calculate the adjustment information, so that the requirement on the processing performance of hardware equipment carried by the vehicle is reduced.

In some preferred embodiments, the initial security map and the real-time security map obtained by adjusting the initial security map can be obtained on the basis of the existing open-source high-precision map, so that waste of manpower, material resources and time caused by huge workload of map acquisition can be avoided.

In a feasible implementation scheme, an initial safety map can be loaded locally on the vehicle, and the initial safety map is adjusted to obtain a real-time safety map based on weather information acquired by a network and the like in combination with time; therefore, the method is suitable for application in a server-free scene such as a testing stage or in a scene of network connection failure between a vehicle and the server. In some examples, the initial safety map may also be determined based on the vehicle type. For example, in some road areas near rivers, lakes, seas, and the like, the high-risk area may be classified as a high-risk area for school buses, public buses, and the like, and the safe driving area may be classified as a small-sized sedan.

In contrast to the previous embodiment, in this embodiment, the vehicle auxiliary control method may also be applied to a server, and accordingly, the step 101 of acquiring a real-time safety map, vehicle pose information, and vehicle structure data includes:

acquiring an initial safety map and adjustment information as well as vehicle pose information and vehicle structure data sent by a vehicle, wherein the initial safety map comprises a plurality of initial areas and an initial safety level corresponding to each initial area; adjusting the initial safety map according to the adjustment information to obtain the real-time safety map;

in step 104, after determining the vehicle auxiliary control strategy according to the real-time security levels corresponding to the real-time areas where the P preset key points are respectively located, the method further includes:

transmitting the vehicle assist control strategy to the vehicle.

The manner of adjusting the initial security map according to the adjustment information to obtain the real-time security map has been described in detail in the previous embodiment, and is not described herein again. The present embodiment is different from the previous embodiment in that the determination process of the vehicle assist control strategy is performed in the server, and the server may directly transmit the vehicle assist control strategy to the vehicle for execution by the vehicle.

Specifically, the vehicle can send the vehicle pose information and the vehicle structure data of the vehicle to the server, the server calculates preset key points and position information of the vehicle, and determines the real-time safety level corresponding to each preset key point so as to further determine a vehicle auxiliary control strategy and send the vehicle auxiliary control strategy to the vehicle.

It is easy to understand that, in practical applications, when the vehicle communicates with the server, the vehicle may simultaneously send its own identity information to the server, and the subsequent server may send the vehicle auxiliary control strategy to the corresponding vehicle based on the identity information.

Similarly to the above embodiments, the server herein may refer to a cloud platform, or a road side unit, or a combination of a cloud platform and a road side unit, and the like, and is not limited specifically here.

Based on the above description, in the embodiment, the vehicle auxiliary control strategy may be determined by a server with a stronger computing capability, so as to further reduce the requirement for the computing capability of the vehicle.

Optionally, the adjustment information includes at least one of time information, weather information, traffic flow information, people flow information, and event information.

The following describes the present embodiment with reference to some application scenarios:

according to the time information, the motor vehicle lane near the school in the time period of getting on and off school can be set as the warning area, and the time period of not getting on and off school can be set as the safe driving area, so that the traffic efficiency is improved.

According to weather information (the weather information at the current moment is obtained through networking), the weather condition is good, and under the condition of high visibility, the boundary of each initial area is kept unchanged; under the conditions of severe weather and low visibility, the range of a safety area needs to be reduced, the range of an early warning area is expanded to guarantee driving safety, and the accident rate is reduced. At this time, each area boundary needs to be adaptively enlarged or reduced according to the severity of the weather, for example, two sets of boundary threshold values may be manually set in advance, and the area boundary adaptively adjusted according to the weather condition may be obtained by using the quantized parameter value capable of representing the weather condition as the coefficient value of the boundary formula.

According to special events or important activities, such as examinations, sports activities and the like, which are known in advance in certain areas, the manager of the server manually adjusts the area level of the corresponding time period, such as upgrading the motor vehicle lane near the school from the safe driving area at ordinary times to the alert area during the examination time period.

And acquiring the traffic flow and the pedestrian flow in the road environment by using the road side unit, and automatically adjusting the safety level of the corresponding area according to the change of the traffic flow and the pedestrian flow. For example, when the traffic flow of the safe driving area is increased to be larger than a set threshold value, the safe driving area is automatically upgraded to the warning area; when the traffic flow in the area is reduced below the threshold value, the traffic flow is automatically reduced from the warning area to the safe driving area.

By combining the application scenes, the embodiment can select the type of the adjustment information according to actual needs, is beneficial to dealing with complex traffic environments, and improves the reasonability of the vehicle auxiliary control strategy determination process.

Optionally, the vehicle pose information comprises position and pose information of an on-vehicle integrated navigation sensor;

the step 102, determining P key point position information of P preset key points on the vehicle according to the vehicle pose information and the vehicle structure data, includes:

determining the relative offset of each preset key point and the on-vehicle integrated navigation sensor according to the vehicle structure data;

and determining the position information of each preset key point according to the relative offset and the position and posture information of the on-vehicle integrated navigation sensor.

As described above, the vehicle pose information may directly embody the position information and pose information of a positioning device, such as an on-board combination navigation sensor, i.e., the position and pose information described herein. Since the vehicle body is basically a rigid body, the relative position relationship between the on-vehicle integrated navigation sensor and each preset key point is often fixed in the vehicle coordinate system, and therefore, the vehicle structure data can be represented as the position of each preset key point of the vehicle relative to the on-vehicle integrated navigation sensor. The preset key points of the vehicle are consistent with the posture of the integrated navigation sensor on the vehicle, so that the actual positions of the preset key points on the safety map can be obtained only by simple three-dimensional translation, for example, by using the three-dimensional coordinates of the integrated navigation sensor on the vehicle in a real-time safety map and adding the three-dimensional offset of the preset key points of the vehicle relative to the integrated navigation sensor in a vehicle coordinate system, namely, the position information of each preset key point is determined.

According to the method and the device, the actual positions of the preset key points of the vehicle in the safety map can be calculated only through the structural data of the vehicle and the installation position of the positioning equipment on the vehicle, and the calculation process is simple.

Of course, in some feasible embodiments, positioning devices may also be arranged at a plurality of preset key points, and the position information of the preset key points in the safety map is directly determined; but relatively speaking, increases the acquisition and installation costs of the positioning apparatus.

Optionally, in step 104, determining a vehicle auxiliary control strategy according to the real-time security levels corresponding to the real-time areas where the P preset key points are respectively located includes:

acquiring the lowest safety level in the real-time safety levels corresponding to the real-time areas where the P preset key points are respectively located;

and determining a vehicle auxiliary control strategy according to the corresponding relation between the lowest safety level and a preset safety level auxiliary control strategy.

In an actual application scene, the situation that the center position of a vehicle and some preset key points of the vehicle are located in areas with different safety levels may occur; for example, the front left or right corner of the vehicle has reached the warning zone, whereas the onboard combination navigation sensor indicates that the vehicle is in a safe driving zone, etc. In these situations, the vehicle may actually be in a state of being vulnerable to safety accidents, however, the vehicle cannot timely warn the driver or autonomously adjust the driving strategy.

In the embodiment, on one hand, the real-time safety levels corresponding to the real-time areas where the P preset key points are located are respectively obtained, and compared with the method that only the center position of the vehicle is known, the safety level area where the whole vehicle body is located can be more accurately judged, and accidents caused by making wrong or lagging decisions are avoided. On the other hand, aiming at the P finally obtained real-time safety levels, the lowest safety level is selected to determine the vehicle auxiliary control strategy, and the vehicle auxiliary control strategy is beneficial to effectively ensuring the driving safety of the vehicle.

The preset safety level auxiliary control strategy corresponding relation can be understood as a corresponding relation between a preset safety level and a vehicle auxiliary control strategy.

For example, when the safety level is a safe driving zone, the vehicle assist control strategy is not to perform any operation; when the safety level is in the warning area, the vehicle auxiliary control strategy is to prompt deceleration; when the safety level is in the warning area, the vehicle auxiliary control strategy is warning and actively decelerates; when the safety level is in a high-risk area, the vehicle auxiliary control strategy is emergency braking and alarm is reported. Accordingly, the process of determining the vehicle assist control strategy in this embodiment is: when the preset key point of the vehicle is completely in the safe driving area, no operation is executed; and when the lowest safety level corresponding to the P preset key points of the vehicle is not in the safe driving area, controlling the vehicle according to the vehicle auxiliary control strategy corresponding to the lowest safety level.

As shown in fig. 2, an embodiment of the present invention further provides a map obtaining method applied to a server, including:

step 201, obtaining an initial security map and adjustment information, where the initial security map includes a plurality of initial areas and an initial security level corresponding to each of the initial areas;

step 202, adjusting the initial safety map according to the adjustment information to obtain a real-time safety map;

and 203, sending the real-time safety map to a vehicle, wherein the real-time safety map is used for determining a vehicle auxiliary control strategy according to the real-time safety map.

For the initial safety map, the division of the geographical location area may be performed in advance for the existing map, for example, the corresponding initial area may be divided by the position of the regular motor lane, the non-motor lane, the sidewalk, the lane near the school, the lane near the bridge, and the like in the high-precision map. Each initial region may be assigned an initial security level. In one example, the existing map may be an open source high precision map of the type, such as a Baidu map, Google map, or Goods map.

The adjustment information may refer to information of factors affecting the traffic environment, such as weather information, time information, and the like, and may be determined according to actual needs, which is not listed here.

In some examples, the adjustment manner for the initial security map may be to adjust a region boundary between two adjacent initial regions in the plurality of initial regions; or adjusting the initial security level of a specific initial area; or directly increasing or decreasing the number of divided areas, etc.

And after the initial safety map is adjusted by the server through the adjustment information, the real-time safety map can be obtained and sent to the vehicle. The subsequent vehicle may determine a vehicle assistance control strategy based on the received real-time safety map. For example, the real-time safety map may include a plurality of real-time areas and real-time safety levels respectively corresponding to the real-time areas, and the vehicle may determine the vehicle auxiliary control strategy according to the real-time safety map and the real-time safety levels of the real-time areas where the vehicle is located. It should be noted that the initial area and the real-time area respectively correspond to the area divisions in the initial security map and the real-time security map, and in practical applications, the two are usually different, but in some cases, may be the same; accordingly, the relationship between the initial security level and the real-time security level is similar to the relationship between the two regions, and is not described in detail here.

The map acquisition method applied to the server provided by the embodiment of the invention acquires the initial safety map and the adjustment information, adjusts the initial safety map by using the adjustment information to obtain the real-time safety map, and sends the real-time safety map to the vehicle for the vehicle to determine the vehicle auxiliary control strategy. The embodiment of the invention uses the adjustment information to adjust the initial area and the initial safety level in the initial safety map, is beneficial to fully considering various factors influencing the driving environment in the actual scene, and dynamically adjusts the safety map for area division and safety classification, thereby effectively improving the prevention effect aiming at safety accidents and improving the driving safety of vehicles.

Taking the time information as an example, according to the time information, the motor vehicle lane near the school in the learning time interval can be set as the warning area, and the non-learning time interval can be set as the safe driving area, so that the traffic efficiency is improved.

Similarly, other types of adjustment information may also be used to adjust the initial region and the initial security level, which may specifically refer to the above description and is not illustrated here.

The embodiment can select the type of the adjustment information according to actual needs, is beneficial to dealing with complex traffic environment, and improves the reasonability of the vehicle auxiliary control strategy determination process.

The following description is provided with reference to a specific application scenario, and is directed to a specific implementation process of the vehicle assist control method in the foregoing embodiment. Referring to fig. 3, in the specific application scenario, the server is a cloud platform, and the method specifically includes the following implementation steps:

1) the cloud platform acquires an existing map, such as an existing open source high-precision map;

2) the cloud platform dynamically levels the security map, and specifically, the cloud platform can dynamically determine the regional division and the security level of each region in the security map according to factors such as time, weather and the like;

3) the cloud platform sends the dynamic grading safety map to the vehicle, and the vehicle acquires the positioning information of the vehicle while acquiring the dynamic grading safety map;

4) the vehicle can calculate the position of each key point of the vehicle body in the safety map by combining the vehicle positioning information and the position of each key point of the vehicle body on the vehicle body;

5) judging the area of each key point, namely determining the safety level corresponding to the area of each key point in the safety map;

6) when all key points are positioned in the safe driving area, the vehicle is not limited;

7) when at least one key point is located in the warning area, deceleration is prompted;

8) when at least one key point is located in the warning area, warning and actively decelerating;

9) and when at least one key point is positioned in a high-risk area, emergency braking is carried out, and an alarm condition is reported.

As can be seen from the above embodiments and examples of specific application scenarios, in the vehicle auxiliary control method provided in the embodiments of the present invention, on the first hand, a dynamically-graded safety map is provided, and on the basis of grading the existing high-precision map, the safety grade and the area boundary of each area are dynamically adjusted according to the difference of actual needs, time periods, weather states, and road conditions. Compare with the public transport environment that traditional hierarchical map is difficult to deal with the change of the moment, the form of developments grading is nimble wisdom more, more is favorable to improving current efficiency, reduces the accident rate. In the second aspect, the actual position of each key point of the vehicle in the map can be calculated only by the structural data of the vehicle body and the installation position of the positioning equipment on the vehicle based on the positioning of each key point of the vehicle body. Compared with the method that only the positioning of the center position of the vehicle is known, the safety level area of the whole vehicle body can be judged more accurately, and accidents caused by making wrong or lagging decisions are avoided. And in the third aspect, based on the existing network open source map, the waste of manpower, material resources and time caused by huge workload of map acquisition is avoided.

As shown in fig. 4, an embodiment of the present invention also provides a vehicle assist control apparatus, including:

the system comprises a first acquisition module 401, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a real-time safety map, vehicle pose information and vehicle structure data, and the real-time safety map comprises a plurality of real-time areas and a real-time safety level corresponding to each real-time area;

a first determining module 402, configured to determine, according to the vehicle pose information and the vehicle structure data, P pieces of key point position information of P preset key points on a vehicle, where the P preset key points are in one-to-one correspondence with the P pieces of key point position information, and P is a positive integer;

a second determining module 403, configured to determine, according to the real-time security map and the position information of the P key points, real-time security levels corresponding to real-time areas where the P preset key points are located respectively;

a third determining module 404, configured to determine a vehicle auxiliary control strategy according to the real-time security levels corresponding to the real-time areas where the P preset key points are located respectively.

Optionally, when the vehicle auxiliary control apparatus is applied to a vehicle, the first obtaining module 401 is further configured to receive a real-time safety map sent by a server, where the server is configured to divide a plurality of initial areas for a high-precision map, determine a corresponding initial safety level for each initial area to obtain an initial safety map, and adjust the initial safety map according to the obtained adjustment information to obtain the real-time safety map.

Optionally, in a case that the vehicle auxiliary control apparatus is applied to a server, the first obtaining module 401 is specifically configured to obtain an initial safety map and adjustment information, and vehicle pose information and vehicle structure data sent by a vehicle, where the initial safety map includes a plurality of initial areas and an initial safety level corresponding to each of the initial areas; adjusting the initial safety map according to the adjustment information to obtain the real-time safety map;

meanwhile, the vehicle assist control device further includes:

a second sending module to send the vehicle assist control strategy to the vehicle.

the first determining module 402, comprising:

the first determining unit is used for determining the relative offset of each preset key point and the on-vehicle combined navigation sensor according to the vehicle structure data;

and the second determining unit is used for determining the position information of each preset key point according to the relative offset and the position and posture information of the on-vehicle combined navigation sensor.

Optionally, the third determining module 403 includes:

the acquisition unit is used for acquiring the lowest safety level in the real-time safety levels corresponding to the real-time areas where the P preset key points are respectively located;

and the third determining unit is used for determining the vehicle auxiliary control strategy according to the corresponding relation between the lowest safety level and a preset safety level auxiliary control strategy.

The vehicle assist control device corresponds to the vehicle assist control method, and all the implementation manners in the method embodiment are applied to the embodiment of the device, so that the same technical effects can be achieved.

As shown in fig. 5, an embodiment of the present invention further provides a server, including:

a second obtaining module 501, configured to obtain an initial security map and adjustment information, where the initial security map includes a plurality of initial areas and an initial security level corresponding to each of the initial areas;

a third obtaining module 502, configured to adjust the initial security map according to the adjustment information, so as to obtain a real-time security map;

a first sending module 503, configured to send the real-time safety map to a vehicle, where the real-time safety map is used for the vehicle to determine a vehicle auxiliary control strategy according to the real-time safety map.

It should be noted that the server is a server corresponding to the map obtaining method, and all implementation manners in the method embodiments are applicable to the embodiment of the server, and the same technical effect can be achieved.

Optionally, an embodiment of the present invention further provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the vehicle assistance control method described above or implements the map acquisition method applied to the server when executing the computer program.

Optionally, an embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when executed by a processor, the computer program implements the vehicle assist control method described above, or implements the map acquisition method applied to the server described above.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. A vehicle assist control method, characterized by comprising:

2. The method of claim 1, wherein the method is applied to a vehicle, and the obtaining a real-time safety map comprises:

3. The method of claim 1, wherein the method is applied to a server, and the obtaining of the real-time safety map, the vehicle pose information and the vehicle structure data comprises:

after determining the vehicle auxiliary control strategy according to the real-time safety levels corresponding to the real-time areas where the P preset key points are respectively located, the method further includes:

transmitting the vehicle assist control strategy to the vehicle.

4. The method of claim 2 or 3, wherein the adjustment information comprises at least one of time information, weather information, traffic information, people flow information, and event information.

5. The method according to any one of claims 1 to 3, wherein the vehicle pose information includes position and attitude information of an on-vehicle combination navigation sensor;

the determining P key point position information of P preset key points on the vehicle according to the vehicle pose information and the vehicle structure data comprises:

6. The method according to any one of claims 1 to 3, wherein the determining a vehicle auxiliary control strategy according to the real-time safety levels corresponding to the real-time areas where the P preset key points are respectively located comprises:

7. A map acquisition method applied to a server is characterized by comprising the following steps:

8. The method of claim 7, wherein the adjustment information includes at least one of time information, weather information, traffic information, people flow information, and event information.

9. A vehicle assist control device characterized by comprising:

10. A server, comprising:

the first sending module is used for sending the real-time safety map to a vehicle, and the real-time safety map is used for determining a vehicle auxiliary control strategy according to the real-time safety map.

11. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 6 or implements the method according to claim 7 or 8 when executing the computer program.

12. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method of any one of claims 1 to 6, or carries out the method of claim 7 or 8.