CN114360289A - Assistance system for a vehicle, corresponding method, vehicle and storage medium - Google Patents
Assistance system for a vehicle, corresponding method, vehicle and storage medium Download PDFInfo
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Abstract
An assistance system for a vehicle, a corresponding method, a computer device and a computer-readable storage medium are provided. The assistance system includes: an information acquisition unit configured to acquire travel-related information of a current vehicle and an adjacent vehicle on an adjacent lane of the current vehicle at least by establishing vehicle-to-vehicle communication between the current vehicle and the adjacent vehicle; a determination unit configured to determine whether an adjacent vehicle is to be cut in front of a current vehicle according to one or more parameters in the travel-related information; and the control unit is configured to calculate the time when the current vehicle and the adjacent vehicle respectively reach the intersection point of the running tracks according to the running related information if the adjacent vehicle is judged to be inserted, and send reminding or control information to the current vehicle and/or the adjacent vehicle based on the comparison of the time. By using the scheme of the invention, the queue-inserting behavior of the queue-inserting vehicles can be predicted, the driving state of the current vehicle can be adjusted in response to the queue-inserting behavior, and the driving safety of the vehicle can be improved.
Description
Technical Field
The present invention relates to the field of vehicles, and more particularly, to an assistance system for a vehicle, a vehicle comprising the same, and corresponding method, computer device and computer-readable storage medium.
Background
With the increasing number of vehicles, the congestion in road traffic is increased. Some existing detection techniques in current vehicles are not effective for detecting objects that are moving or stationary at low speeds. Therefore, in a scene of traffic jam, it is sometimes difficult for the vehicles to timely detect the queue-inserting behavior of the queue-inserting vehicles and take corresponding measures, thereby possibly causing a driving safety problem.
Therefore, a more efficient scheme for detecting queue insertion behavior is needed.
Disclosure of Invention
In order to solve the technical problems, the invention provides a technical scheme which can predict the queue-inserting behavior of the vehicles in the queue in time and adjust the driving state of the current vehicle in advance in response to the queue-inserting behavior, and aims to improve the driving safety of the vehicles.
According to an aspect of the present invention, there is provided an assist system for a vehicle, wherein the assist system includes:
an information acquisition unit configured to acquire travel-related information on a current vehicle and an adjacent vehicle on an adjacent lane of the current vehicle at least by establishing inter-vehicle communication between the current vehicle and the adjacent vehicle;
a determination unit configured to determine whether the adjacent vehicle is to be inserted ahead of a current vehicle according to one or more parameters in the travel-related information;
a control unit configured to calculate a travel track intersection point of the current vehicle and the neighboring vehicle and a time at which the current vehicle and the neighboring vehicle respectively reach the travel track intersection point according to one or more parameters in the travel-related information if the determination unit determines that the neighboring vehicle is to be enqueued in front of the current vehicle, and send corresponding reminder information or control information to the current vehicle and/or the neighboring vehicle based on a comparison of the times at which the current vehicle and the neighboring vehicle respectively reach the travel track intersection point.
In one embodiment, the driving-related information includes:
a combination of any one or more of the adjacent vehicle's indicator light status, steering angle, heading, current position, speed, and/or acceleration;
a combination of any one or more of a heading, a current position, a speed, and/or an acceleration of the current vehicle;
a lateral or longitudinal distance between the adjacent vehicle and the current vehicle; and/or
Affecting the speed or position of other surrounding vehicles that said adjacent vehicle is driving on a lane change.
In one embodiment, the determining unit is further configured to:
setting corresponding weight coefficients for a plurality of selected parameters in the driving related information respectively, calculating the probability that the adjacent vehicle will be inserted into the queue based on the weighted sum value of the plurality of selected parameters in the driving related information, and determining that the adjacent vehicle will be inserted into the queue if the calculated probability that the adjacent vehicle will be inserted into the queue is greater than a preset probability threshold, wherein preferably the plurality of selected parameters at least comprise the indicator light state, the steering angle and the head orientation of the adjacent vehicle.
In one embodiment, the control unit is further configured to:
calculating a travel track intersection of the current vehicle and the neighboring vehicle and a time at which the current vehicle and the neighboring vehicle each reach the travel track intersection, at least based on current position, speed, and acceleration information in the travel-related information of each of the current vehicle and the neighboring vehicle.
In one embodiment, the control unit is further configured to:
if the current vehicle reaches the driving track intersection earlier than the adjacent vehicle, controlling the current vehicle to continue driving, and preferably sending reminding information which does not suggest queue-breaking to the adjacent vehicle; or
Controlling the current vehicle to decelerate in advance if the neighboring vehicle reaches the travel track intersection earlier than the current vehicle, and preferably also transmitting control information allowing squat to the neighboring vehicle.
According to another aspect of the invention, a vehicle is provided, wherein the vehicle comprises an assistance system for a vehicle according to any of the above.
According to still another aspect of the present invention, there is provided an assist method for a vehicle, wherein the assist method includes:
acquiring travel-related information about a current vehicle and an adjacent vehicle on an adjacent lane of the current vehicle at least by establishing vehicle-to-vehicle communication between the current vehicle and the adjacent vehicle;
judging whether the adjacent vehicle is about to be inserted in front of the current vehicle according to one or more parameters in the driving related information;
and if the adjacent vehicle is judged to be inserted ahead of the current vehicle, calculating the travel track intersection point of the current vehicle and the adjacent vehicle and the time when the current vehicle and the adjacent vehicle respectively reach the travel track intersection point according to one or more parameters in the travel related information, and sending corresponding reminding information or control information to the current vehicle and/or the adjacent vehicle based on comparison of the time when the current vehicle and the adjacent vehicle respectively reach the travel track intersection point.
In one embodiment, the driving-related information includes:
a combination of any one or more of the adjacent vehicle's indicator light status, steering angle, heading, current position, speed, and/or acceleration;
a combination of any one or more of a heading, a current position, a speed, and/or an acceleration of the current vehicle;
a lateral or longitudinal distance between the adjacent vehicle and the current vehicle; and/or
Affecting the speed or position of other surrounding vehicles that said adjacent vehicle is driving on a lane change.
In one embodiment, the determining whether the neighboring vehicle is about to be enqueued in front of the current vehicle according to one or more parameters in the travel-related information includes:
setting corresponding weight coefficients for a plurality of selected parameters in the driving related information respectively, calculating the probability that the adjacent vehicle will be inserted into the queue based on the weighted sum value of the plurality of selected parameters in the driving related information, and determining that the adjacent vehicle will be inserted into the queue if the calculated probability that the adjacent vehicle will be inserted into the queue is greater than a preset probability threshold, wherein preferably the plurality of selected parameters at least comprise the indicator light state, the steering angle and the head orientation of the adjacent vehicle.
In one embodiment, the secondary method further comprises:
calculating a travel track intersection of the current vehicle and the neighboring vehicle and a time at which the current vehicle and the neighboring vehicle each reach the travel track intersection, at least based on current position, speed, and acceleration information in the travel-related information of each of the current vehicle and the neighboring vehicle.
In one embodiment, the secondary method further comprises:
if the current vehicle reaches the driving track intersection earlier than the adjacent vehicle, controlling the current vehicle to continue driving, and preferably sending reminding information which does not suggest queue-breaking to the adjacent vehicle; or
Controlling the current vehicle to decelerate in advance if the neighboring vehicle reaches the travel track intersection earlier than the current vehicle, and preferably also transmitting control information allowing squat to the neighboring vehicle.
According to yet another aspect of the present invention, a computer device is provided, comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the assistance method of the present invention when executing the computer program.
According to a further aspect of the invention, a computer-readable storage medium is provided, on which a computer program is stored, wherein the computer program, when being executed by a processor, carries out the assistance method of the invention.
The technical scheme of the invention can obtain the driving related information of the current Vehicle and the adjacent Vehicle at least based on a Vehicle-to-Vehicle (V2V) mode, judge whether the adjacent Vehicle is about to be inserted ahead of the current Vehicle or not through the driving related information, then in response to the judgment that the adjacent Vehicle is about to be inserted, calculate the driving track intersection point of the current Vehicle and the adjacent Vehicle and the time when the current Vehicle and the adjacent Vehicle respectively reach the driving track intersection point, and send corresponding reminding information or control information to the current Vehicle and/or the adjacent Vehicle according to the comparison of the time when the current Vehicle and the adjacent Vehicle reach the driving track intersection point. Therefore, the scheme of the invention can predict the queue-inserting behavior of the queue-inserting vehicles in time, and control the current vehicle or the adjacent vehicle to adopt a proper driving strategy in response to the queue-inserting behavior, thereby being beneficial to improving the driving safety of the vehicle.
Drawings
Non-limiting and non-exhaustive embodiments of the present invention are described, by way of example, with reference to the following drawings, in which:
FIG. 1 is a schematic diagram illustrating an assistance system for a vehicle according to one embodiment of the present invention;
FIG. 2 is a flow chart illustrating an assistance method for a vehicle according to one embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating one example application scenario to which the present invention is applicable;
fig. 4 is a flowchart illustrating an assistance method for a vehicle according to another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Fig. 1 shows an assistance system 100 for a vehicle according to an embodiment of the invention.
The assistance system 100 includes an information acquisition unit 110, a determination unit 120, and a control unit 130. The information acquisition unit 110 is in communication connection with the judgment unit 120, and the judgment unit 120 is in communication connection with the control unit 130. The assistance system 100 may be partially or wholly disposed on the vehicle and/or on an online server that may be in communication with the vehicle.
Specifically, the information acquisition unit 110 is configured to acquire travel-related information about a current vehicle and an adjacent vehicle on an adjacent lane of the current vehicle at least by establishing inter-vehicle communication between the current vehicle and the adjacent vehicle.
For example, the information acquisition unit 110 may be provided on the current vehicle or on an online server that can communicate with the current vehicle. The information acquisition unit 110 may additionally or alternatively be configured to: (1) the information acquisition unit 110 may be configured and adapted to acquire the travel-related information of the current vehicle and the adjacent vehicle, for example, by vehicle-to-vehicle communication V2V (via a mobile network or Wi-Fi or the like) between the current vehicle and the adjacent vehicle in the adjacent lane; (2) the information obtaining unit 110 may also be configured and adapted to communicate with available infrastructure or online servers, e.g. via a Vehicle to advertising (V2X), thereby obtaining driving related information of the current Vehicle and the neighboring vehicles. For example, in one embodiment, the information obtaining unit 110 may be connected to a sensor installed on the current vehicle and/or the neighboring vehicle, a central control system, or a source capable of providing GNSS location and map data to obtain travel-related information of the current vehicle and/or the neighboring vehicle. The sensor may include a camera, a lidar, a millimeter wave radar, an ultrasonic sensor, or any other suitable sensor, or any combination thereof.
The travel related information may include: a combination of any one or more of the adjacent vehicle's indicator light status, steering angle, heading, current position, speed, and/or acceleration; a combination of any one or more of a heading, a current position, a speed, and/or an acceleration of the current vehicle; a lateral or longitudinal distance between the adjacent vehicle and the current vehicle; and/or the speed or position of other surrounding vehicles that affect lane changes of said adjacent vehicle.
The determination unit 120 is configured to determine whether the neighboring vehicle is to be enqueued in front of the current vehicle according to one or more parameters in the travel-related information.
For example, the determination unit 120 may be provided on the current vehicle or on an online server communicable with the vehicle. The above determination may be performed in various possible manners, for example, in one embodiment, the determination unit 120 may set corresponding weight coefficients for a plurality of selected parameters in the travel-related information, respectively, and calculate the probability that the adjacent vehicle will be inserted into the queue based on a weighted sum of the plurality of selected parameters in the travel-related information. Determining that the adjacent vehicle is to be cut if the calculated probability that the adjacent vehicle is to be cut is greater than a preset probability threshold. Preferably, the plurality of selected parameters includes at least the indicator light status, steering angle and nose orientation of the adjacent vehicle. In particular, a parameter P can be preset which characterizes the on/off status of the indicator lights of said adjacent vehicles1And set its weight coefficient to w1. Similarly, a parameter P can be preset which characterizes the steering angle of the adjacent vehicle2And setting its weight coefficient to w2. In addition, a parameter P for representing the head orientation of the adjacent vehicle can be preset3And set its weight coefficient to w3. When the information of the states of the indicator lights, the steering angles, the head directions and the like of the adjacent vehicles is obtained, the probability P of the adjacent vehicles to be inserted is calculated based on the weighted sum of the parametersobjFor example, it can be calculated according to the following formula: pobj＝P1×w1+P2×w2+P3×w3. It should be noted that, the present invention is applied to the preset probability threshold and the weighting factor w1、w2、w3The setting is not particularly limited, and may be set according to an empirical value or a demand of a vehicle user, for example.
The control unit 130 is configured to calculate a travel track intersection point of the current vehicle and the neighboring vehicle and a time at which the current vehicle and the neighboring vehicle respectively reach the travel track intersection point according to one or more parameters in the travel-related information if the determination unit determines that the neighboring vehicle is to be enqueued in front of the current vehicle, and send corresponding reminder information or control information to the current vehicle and/or the neighboring vehicle based on a comparison of the times at which the current vehicle and the neighboring vehicle respectively reach the travel track intersection point.
For example, the control unit 130 may be provided on the current vehicle or on an online server communicable with the vehicle. In one embodiment, the control unit 130 may calculate a travel track intersection of the current vehicle and the neighboring vehicle and a time at which the current vehicle and the neighboring vehicle each reach the travel track intersection, based on current position, speed, and acceleration information in the travel-related information of each of the current vehicle and the neighboring vehicle. Alternatively, the travel track intersection and the time to reach the travel track intersection may be provided to a vehicle user by: voice broadcast, holographic projection, augmented reality display, on-board display terminal display, and/or portable smart device (smart phone, smart watch, smart bracelet) display worn by a vehicle user. Similar approaches may also be taken for providing reminder information of various types described below to a vehicle user.
In one case, if the current vehicle reaches the travel track intersection earlier than the neighboring vehicle, the control unit 130 may control the current vehicle to continue traveling, and preferably also transmit a warning message that no queue-break is suggested to the neighboring vehicle.
For example, the control unit 130 may transmit control information to a central control system of the current vehicle, which may control the current vehicle to continue traveling in response to the control information. Alternatively, the control unit 130 may send a reminding message indicating that the current vehicle continues to run to the vehicle user of the current vehicle, so that the user of the current vehicle may control the current vehicle to continue to run according to the reminding message. For another example, the central control system of the neighboring vehicle may control the neighboring vehicle to stop the queue in response to the reminder information, or may present the reminder information to a vehicle user of the neighboring vehicle to prompt the vehicle user to control the neighboring vehicle to stop the queue.
In another case, if the adjacent vehicle reaches the travel locus intersection earlier than the current vehicle, the current vehicle is controlled to decelerate in advance, and preferably control information that allows queue insertion is also transmitted to the adjacent vehicle.
For example, the control unit 130 may transmit control information to a central control system of the present vehicle, which may control the present vehicle to decelerate in advance in response to the control information. Alternatively, the control unit 130 may push a warning message indicating that the adjacent vehicle is allowed to be inserted into the fleet to the vehicle user of the current vehicle, so that the vehicle user may control the current vehicle to decelerate in advance based on the warning message. For another example, the central control system of the adjacent vehicle may control the adjacent vehicle to perform the queue-insertion in response to the control information of the queue-insertion allowance; or the control information for allowing the queue-insertion can be presented to the vehicle driver of the adjacent vehicle to prompt the vehicle driver to control the adjacent vehicle to perform the queue-insertion.
According to another aspect of the invention, a vehicle is provided, wherein the vehicle may comprise an assistance system for a vehicle as described in any of the above. The vehicle may be any type of vehicle, including a vehicle driven by a person or an autonomous vehicle.
Fig. 2 shows an assistance method 200 for a vehicle according to an embodiment of the invention.
As shown in fig. 2, the assistance method 200 includes:
s210, acquiring driving related information of a current vehicle and an adjacent vehicle on an adjacent lane of the current vehicle at least by establishing vehicle-to-vehicle communication between the current vehicle and the adjacent vehicle;
s220, judging whether the adjacent vehicle is about to be inserted in front of the current vehicle according to one or more parameters in the driving related information;
s230, if the adjacent vehicle is judged to be inserted in front of the current vehicle, calculating a running track intersection point of the current vehicle and the adjacent vehicle and the time when the current vehicle and the adjacent vehicle respectively reach the running track intersection point according to one or more parameters in the running related information, and sending corresponding reminding information or control information to the current vehicle and/or the adjacent vehicle based on comparison of the time when the current vehicle and the adjacent vehicle respectively reach the running track intersection point.
In one embodiment, the driving-related information includes:
a combination of any one or more of the adjacent vehicle's indicator light status, steering angle, heading, current position, speed, and/or acceleration;
a combination of any one or more of a heading, a current position, a speed, and/or an acceleration of the current vehicle;
a lateral or longitudinal distance between the adjacent vehicle and the current vehicle; and/or
Affecting the speed or position of other surrounding vehicles that said adjacent vehicle is driving on a lane change.
In one embodiment, the determining whether the neighboring vehicle is about to be enqueued in front of the current vehicle according to one or more parameters in the travel-related information includes: setting corresponding weight coefficients for a plurality of selected parameters in the driving related information respectively, calculating the probability that the adjacent vehicle will be inserted into the queue based on the weighted sum value of the plurality of selected parameters in the driving related information, and determining that the adjacent vehicle will be inserted into the queue if the calculated probability that the adjacent vehicle will be inserted into the queue is greater than a preset probability threshold, wherein preferably the plurality of selected parameters at least comprise an indicator light state, a steering angle and a head orientation.
In one embodiment, the secondary method further comprises: calculating a travel track intersection of the current vehicle and the neighboring vehicle and a time at which the current vehicle and the neighboring vehicle each reach the travel track intersection, at least based on current position, speed, and acceleration information in the travel-related information of each of the current vehicle and the neighboring vehicle.
In one embodiment, the secondary method further comprises: if the current vehicle reaches the driving track intersection earlier than the adjacent vehicle, controlling the current vehicle to continue driving, and preferably sending reminding information which does not suggest queue-breaking to the adjacent vehicle; or if the adjacent vehicle reaches the travel track intersection earlier than the current vehicle, controlling the current vehicle to decelerate in advance, and preferably also transmitting control information that allows queue insertion to the adjacent vehicle.
It will be appreciated that the specific features described herein above in relation to the assistance system of a vehicle may similarly be applied to similar extensions in the assistance method of a vehicle. For the sake of simplicity, it is not described in detail.
The assistance system and method of the invention as described above may be applied in scenarios where the vehicle is subject to a potential squat collision. The following describes the assistance method provided by the present invention in detail with reference to fig. 3 and 4:
the example scenario shown in fig. 3 shows a current vehicle and an adjacent vehicle located in an adjacent lane. For example, referring to fig. 3, a plane coordinate system is established with the current position of the current vehicle as the origin of coordinates, and a plane coordinate system XY is established with the lateral direction of the current vehicle as the X-axis and the longitudinal direction of the current vehicle as the Y-axis.
Referring to fig. 3 and 4, the current vehicle may utilize inter-vehicle communication when an adjacent vehicle travels to within a communicable range of the current vehicleThe technology establishes a communication connection with the neighboring vehicle and shares travel-related information with the neighboring vehicle. The current vehicle may acquire driving related information of the neighboring vehicle, including, for example, the indicator light status, the steering angle, and the heading of the neighboring vehicle. The assistance system of the invention may be based on these driving-related information and the corresponding weighting factor w1、w2、w3Calculating the queue-insertion probability of the adjacent vehicle, judging that the adjacent vehicle is intended to be inserted in front of the current vehicle when the calculated queue-insertion probability is larger than a preset probability threshold, and further calculating a traveling track intersection C (refer to fig. 3) of the current vehicle and the adjacent vehicle.
Further, referring to fig. 4, the assistance system of the invention may calculate a time T1 when the current vehicle reaches the intersection of the travel tracks and a time T2 when the neighboring vehicle reaches the intersection of the travel tracks and compare the magnitude relationship therebetween. If T1 is greater than T2, it indicates that the current vehicle reaches the travel track intersection C first, otherwise, it indicates that the adjacent vehicle reaches the travel track intersection C first.
In the case where the current vehicle reaches the travel locus intersection C first, the assistance system of the invention may determine that the queue-insertion behavior of the adjacent vehicle is not permitted. Therefore, the assistance system of the invention can send a warning message such as "please do not queue up" to the adjacent vehicle. The neighboring vehicle may reply, for example, "good" in response to the received reminder message and control the corresponding neighboring vehicle not to perform the queue-break action.
In the case where the adjacent vehicle first reaches the travel locus intersection C, the assistance system of the invention may determine that the queue-breaking behavior of the adjacent vehicle is permitted. Therefore, the auxiliary system of the invention can send reminding information such as 'please queue' to the adjacent vehicle, calculate the target speed of the current vehicle, and then control the current vehicle to decelerate to the target speed to match the adjacent vehicle queue, so as to ensure the driving safety. The neighboring vehicle may respond to the received reminder message, such as "thank you," and begin the queue.
It should be understood that the various elements of the assistance system of the invention may be implemented in whole or in part by software, hardware, firmware or a combination thereof. The units may be embedded in a processor of the computer device in a hardware or firmware form or independent of the processor, or may be stored in a memory of the computer device in a software form for being called by the processor to execute operations of the units. Each of the units may be implemented as a separate component or module, or two or more units may be implemented as a single component or module.
It will be appreciated by those of ordinary skill in the art that the schematic diagram of the assistance system shown in fig. 1 is merely an illustrative block diagram of a portion of the structure associated with aspects of the present invention and does not constitute a limitation of the computer device, processor or computer program embodying aspects of the present invention. A particular computer device, processor or computer program may include more or fewer components or modules than shown in the figures, or may combine or split certain components or modules, or may have a different arrangement of components or modules.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored thereon computer instructions executable by the processor, the computer instructions, when executed by the processor, instructing the processor to perform the steps of the auxiliary method of the invention. The computer device may broadly be a server, a vehicle mounted terminal, or any other electronic device having the necessary computing and/or processing capabilities. In one embodiment, the computer device may include a processor, memory, network interface, communication interface, etc. connected by a system bus. The processor of the computer device may be used to provide the necessary computing, processing and/or control capabilities. The memory of the computer device may include non-volatile storage media and internal memory. An operating system, a computer program, and the like may be stored in or on the non-volatile storage medium. The internal memory may provide an environment for the operating system and the computer programs in the non-volatile storage medium to run. The network interface and the communication interface of the computer device may be used to connect and communicate with an external device through a network. Which computer program, when being executed by a processor, carries out the steps of the auxiliary method of the invention.
The invention may be implemented as a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, causes the steps of the method of the invention to be performed. In one embodiment, the computer program is distributed across a plurality of computer devices or processors coupled by a network such that the computer program is stored, accessed, and executed by one or more computer devices or processors in a distributed fashion. One or more method steps/operations may be performed by one or more computer devices or processors, and one or more other method steps/operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step/operation, or perform two or more method steps/operations.
It will be understood by those skilled in the art that all or part of the steps of the assistance method of the present invention may be instructed to be performed by associated hardware such as a computer device or a processor through a computer program, which may be stored in a non-transitory computer readable storage medium, and which when executed causes the steps of the assistance method of the present invention to be performed. Any reference herein to memory, storage, databases, or other media may include non-volatile and/or volatile memory, as appropriate. Examples of non-volatile memory include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magnetic data storage device, optical data storage device, hard disk, solid state disk, and the like. Examples of volatile memory include Random Access Memory (RAM), external cache memory, and the like.
The respective technical features described above may be arbitrarily combined. Although not all possible combinations of features are described, any combination of features should be considered to be covered by the present specification as long as there is no contradiction between such combinations.
While the invention has been described in connection with the embodiments, it is to be understood by those skilled in the art that the foregoing description and drawings are merely illustrative and not restrictive of the broad invention, and that this invention not be limited to the disclosed embodiments. Various modifications and variations are possible without departing from the spirit of the invention.
Claims (13)
1. An assistance system for a vehicle, characterized in that the assistance system comprises:
an information acquisition unit configured to acquire travel-related information on a current vehicle and an adjacent vehicle on an adjacent lane of the current vehicle at least by establishing inter-vehicle communication between the current vehicle and the adjacent vehicle;
a determination unit configured to determine whether the adjacent vehicle is to be inserted ahead of a current vehicle according to one or more parameters in the travel-related information;
a control unit configured to calculate a travel track intersection point of the current vehicle and the neighboring vehicle and a time at which the current vehicle and the neighboring vehicle respectively reach the travel track intersection point according to one or more parameters in the travel-related information if the determination unit determines that the neighboring vehicle is to be enqueued in front of the current vehicle, and send corresponding reminder information or control information to the current vehicle and/or the neighboring vehicle based on a comparison of the times at which the current vehicle and the neighboring vehicle respectively reach the travel track intersection point.
2. The assistance system according to claim 1, wherein the travel-related information includes:
a combination of any one or more of the adjacent vehicle's indicator light status, steering angle, heading, current position, speed, and/or acceleration;
a combination of any one or more of a heading, a current position, a speed, and/or an acceleration of the current vehicle;
a lateral or longitudinal distance between the adjacent vehicle and the current vehicle; and/or
Affecting the speed or position of other surrounding vehicles that said adjacent vehicle is driving on a lane change.
3. The assistance system of claim 2, wherein the determination unit is further configured to:
setting corresponding weight coefficients for a plurality of selected parameters in the driving related information respectively, calculating the probability that the adjacent vehicle will be inserted into the queue based on the weighted sum value of the plurality of selected parameters in the driving related information, and determining that the adjacent vehicle will be inserted into the queue if the calculated probability that the adjacent vehicle will be inserted into the queue is greater than a preset probability threshold, wherein preferably the plurality of selected parameters at least comprise the indicator light state, the steering angle and the head orientation of the adjacent vehicle.
4. The assistance system according to any one of claims 1 to 3, wherein the control unit is further configured for:
calculating a travel track intersection of the current vehicle and the neighboring vehicle and a time at which the current vehicle and the neighboring vehicle each reach the travel track intersection, at least based on current position, speed, and acceleration information in the travel-related information of each of the current vehicle and the neighboring vehicle.
5. The assistance system according to any one of claims 1 to 3, wherein the control unit is further configured for:
if the current vehicle reaches the driving track intersection earlier than the adjacent vehicle, controlling the current vehicle to continue driving, and preferably sending reminding information which does not suggest queue-breaking to the adjacent vehicle; or
Controlling the current vehicle to decelerate in advance if the neighboring vehicle reaches the travel track intersection earlier than the current vehicle, and preferably also transmitting control information allowing squat to the neighboring vehicle.
6. A vehicle, characterized in that it comprises an assistance system for a vehicle according to any one of claims 1 to 5.
7. An assist method for a vehicle, characterized by comprising:
acquiring travel-related information about a current vehicle and an adjacent vehicle on an adjacent lane of the current vehicle at least by establishing vehicle-to-vehicle communication between the current vehicle and the adjacent vehicle;
judging whether the adjacent vehicle is about to be inserted in front of the current vehicle according to one or more parameters in the driving related information;
and if the adjacent vehicle is judged to be inserted ahead of the current vehicle, calculating the travel track intersection point of the current vehicle and the adjacent vehicle and the time when the current vehicle and the adjacent vehicle respectively reach the travel track intersection point according to one or more parameters in the travel related information, and sending corresponding reminding information or control information to the current vehicle and/or the adjacent vehicle based on comparison of the time when the current vehicle and the adjacent vehicle respectively reach the travel track intersection point.
8. The assist method according to claim 7, wherein the travel-related information includes:
a combination of any one or more of the adjacent vehicle's indicator light status, steering angle, heading, current position, speed, and/or acceleration;
a combination of any one or more of a heading, a current position, a speed, and/or an acceleration of the current vehicle;
a lateral or longitudinal distance between the adjacent vehicle and the current vehicle; and/or
Affecting the speed or position of other surrounding vehicles that said adjacent vehicle is driving on a lane change.
9. The assistance method according to claim 8, wherein the determining whether the adjacent vehicle is to be enqueued ahead of a current vehicle according to one or more parameters in the travel-related information includes:
setting corresponding weight coefficients for a plurality of selected parameters in the driving related information respectively, calculating the probability that the adjacent vehicle will be inserted into the queue based on the weighted sum value of the plurality of selected parameters in the driving related information, and determining that the adjacent vehicle will be inserted into the queue if the calculated probability that the adjacent vehicle will be inserted into the queue is greater than a preset probability threshold, wherein preferably the plurality of selected parameters at least comprise the indicator light state, the steering angle and the head orientation of the adjacent vehicle.
10. The assistance method according to any one of claims 7 to 9, wherein the assistance method further includes:
calculating a travel track intersection of the current vehicle and the neighboring vehicle and a time at which the current vehicle and the neighboring vehicle each reach the travel track intersection, at least based on current position, speed, and acceleration information in the travel-related information of each of the current vehicle and the neighboring vehicle.
11. The assistance method according to any one of claims 7 to 9, wherein the assistance method further includes:
if the current vehicle reaches the driving track intersection earlier than the adjacent vehicle, controlling the current vehicle to continue driving, and preferably sending reminding information which does not suggest queue-breaking to the adjacent vehicle; or
Controlling the current vehicle to decelerate in advance if the neighboring vehicle reaches the travel track intersection earlier than the current vehicle, and preferably also transmitting control information allowing squat to the neighboring vehicle.
12. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the assistance method of any one of claims 7 to 11 when executing the computer program.
13. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the assistance method of any one of claims 7 to 11.
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