CN114639234A - Driving assistance method, system, device and readable storage medium - Google Patents

Driving assistance method, system, device and readable storage medium Download PDF

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Publication number
CN114639234A
CN114639234A CN202011485138.7A CN202011485138A CN114639234A CN 114639234 A CN114639234 A CN 114639234A CN 202011485138 A CN202011485138 A CN 202011485138A CN 114639234 A CN114639234 A CN 114639234A
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vehicle
lane
networked
vehicles
distance
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唐帅
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Audi AG
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Audi AG
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Traffic Control Systems (AREA)

Abstract

Provided is a driving assist method including: when an emergency vehicle is monitored to approach a traffic jam area, acquiring relevant information of a networked vehicle in front of the emergency vehicle, wherein the relevant information of the networked vehicle at least comprises the following information: the self length and position of one or more networked vehicles in front of the emergency vehicle on the lane to be cleared, and the distance between one or more networked vehicles in front of the emergency vehicle on the lane to be driven into and the vehicle in front of the emergency vehicle; generating a vehicle moving scheme according to the relevant information of the networked vehicles, and sending the vehicle moving scheme to the corresponding networked vehicles, wherein the vehicle moving scheme is generated in the following way: the method comprises the steps of accumulating distances between one or more networked vehicles located on a lane to be driven in and vehicles in front of the networked vehicles to be moved forward from the position of the networked vehicles to be moved away currently in the lane to be emptied, and generating a vehicle moving scheme aiming at the networked vehicles to be moved away currently when the accumulated distances are larger than or equal to a first threshold value.

Description

Driving assistance method, system, device and readable storage medium
Technical Field
The present disclosure relates to the field of car networking, and more particularly, to a driving assistance method, system, device, and readable storage medium.
Background
The internet of vehicles, namely the internet of things of vehicles, is characterized in that vehicles in driving are used as information sensing objects, network connection between vehicles and objects (such as vehicles, pedestrians, road infrastructure or service platforms) is realized by means of a new generation of information communication technology, the overall intelligent driving level of the vehicles is improved, safe, comfortable, intelligent and efficient driving feeling and traffic service are provided for vehicle users, and meanwhile traffic operation efficiency is improved.
Currently, although the car networking system can help car owners navigate in real time and improve the efficiency of traffic operation through communication with other vehicles and network systems, it has been found that the existing car networking system cannot provide preferential passing service for emergency vehicles in some cases. For example, when an emergency vehicle approaches a traffic jam area, other vehicles in front of the emergency vehicle need to leave a lane, but due to traffic jam, an adjacent lane does not have a free space to drive in, so that a space cannot be left for the emergency vehicle.
Accordingly, there is a need for an improved driving assistance method and system.
Disclosure of Invention
The invention provides an auxiliary driving method, an auxiliary driving system, an auxiliary driving device and a readable storage medium, and solves the problem that vehicles in front of emergency vehicles cannot avoid when traffic is blocked, so that the emergency vehicles cannot pass through quickly.
Specifically, according to an aspect of the present invention, there is provided a driving assist method including:
when an emergency vehicle is monitored to approach a traffic jam area, acquiring relevant information of a networked vehicle in front of the emergency vehicle, wherein the relevant information of the networked vehicle at least comprises the following information: the method comprises the following steps of determining the length and the position of one or more networked vehicles in front of an emergency vehicle on a lane to be cleared, and the distance between one or more networked vehicles positioned in front of the emergency vehicle on the lane to be cleared and the vehicle in front of the networked vehicles, wherein the lane to be cleared is the lane where the emergency vehicle is located currently, and the lane to be cleared is the lane adjacent to the lane to be cleared and where the vehicle on the lane to be cleared is planned to enter;
generating a vehicle moving scheme according to the relevant information of the networked vehicles, and sending the vehicle moving scheme to the corresponding networked vehicles, wherein the vehicle moving scheme is generated in the following way: the method comprises the steps of accumulating distances between one or more networked vehicles located on a lane to be driven in and vehicles in front of the networked vehicles to be moved forward from the position of the networked vehicles to be moved away currently in the lane to be emptied, and generating a vehicle moving scheme aiming at the networked vehicles to be moved away currently when the accumulated distance is larger than or equal to a first threshold value, wherein the first threshold value is the sum of the length of the networked vehicles to be moved away currently and a buffering safety distance.
Optionally, the generating a vehicle moving scheme according to the relevant information of the networked vehicles, and sending the vehicle moving scheme to the corresponding networked vehicles includes:
sending a forward movement instruction to the networked vehicles involved in the accumulated distance in the lane to be entered, wherein the forward movement instruction at least comprises identification information and moving distance of the forward movement vehicles;
and after all networked vehicles related to the accumulated distance finish moving forward according to the moving forward instruction, sending a lane change instruction to the networked vehicles to be moved away currently in the lane to be emptied, wherein the lane change instruction comprises identification information and target position information of the networked vehicles to be moved away currently.
Optionally, the forward movement instruction is used to instruct the networked vehicle related to the accumulated distance to automatically move forward by a corresponding movement distance, so as to give an insertion space for the currently to-be-removed networked vehicle; the lane change instruction is used for indicating the networked vehicle to be removed to automatically drive into the insertion space in the lane to be driven into.
Optionally, the method further comprises: sending a command for forbidding forward movement or accelerating to the networked vehicle which is to be driven into the lane and is positioned behind the position of the currently to-be-removed networked vehicle; after receiving the message that the networked vehicle to be moved away has finished changing lanes, sending an instruction for allowing forward progress or allowing acceleration to the networked vehicle to be driven into the lane and located behind the position of the networked vehicle to be moved away.
According to another aspect of the present invention, there is provided a driving assistance method adapted to a vehicle, including:
in response to a request for obtaining relevant information of networked vehicles in front of an emergency vehicle, reporting relevant information of a current vehicle, wherein the relevant information at least comprises: the length and position of the current vehicle, and the distance between the current vehicle and the vehicle in front of the current vehicle;
and after receiving a corresponding forward moving or lane changing instruction in a vehicle moving scheme generated according to the related information of the networked vehicles, executing forward moving or lane changing.
According to still another aspect of the present invention, there is provided a driving assistance system including:
an information acquisition unit configured to acquire information about a networked vehicle in front of an emergency vehicle when it is monitored that the emergency vehicle approaches a traffic jam area, the information about the networked vehicle including at least: the method comprises the following steps of determining the length and the position of one or more networked vehicles in front of an emergency vehicle on a lane to be cleared, and determining the distance between one or more networked vehicles positioned in front of the emergency vehicle on the lane to be cleared and the vehicle in front of the emergency vehicle on the lane to be cleared, wherein the lane to be cleared is the lane where the emergency vehicle is located currently, and the lane to be cleared is the lane adjacent to the lane to be cleared and where the vehicle on the lane to be cleared is planned to enter;
a control unit configured to generate a vehicle moving scheme according to the relevant information of the networked vehicles and send the vehicle moving scheme to the corresponding networked vehicles, wherein the vehicle moving scheme is generated by: the method comprises the steps of accumulating distances between one or more networked vehicles located on a lane to be driven in and vehicles in front of the networked vehicles to be moved forward from the position of the networked vehicles to be moved away currently in the lane to be emptied, and generating a vehicle moving scheme aiming at the networked vehicles to be moved away currently when the accumulated distance is larger than or equal to a first threshold value, wherein the first threshold value is the sum of the length of the networked vehicles to be moved away currently and a buffering safety distance.
The control unit is further configured to: sending a forward movement instruction to the networked vehicles involved in the accumulated distance in the lane to be entered, wherein the forward movement instruction at least comprises identification information and moving distance of the forward movement vehicles; and after all networked vehicles related to the accumulated distance finish moving forward according to the moving forward instruction, sending a lane change instruction to the networked vehicles to be moved away currently in the lane to be emptied, wherein the lane change instruction comprises identification information and target position information of the networked vehicles to be moved away currently.
According to still another aspect of the present invention, there is provided a driving assistance apparatus mounted on a vehicle, including:
a distance measuring device for measuring a distance between a current vehicle and a preceding vehicle;
the information acquisition device is used for acquiring the self length and position information of the current vehicle;
the communication device is used for responding to a request for acquiring relevant information of a networked vehicle in front of an emergency vehicle, reporting the relevant information of the current vehicle, and receiving a vehicle moving scheme generated according to the relevant information of the networked vehicle, wherein the relevant information comprises: the distance between the current vehicle and the front vehicle, the length of the current vehicle and the position information of the current vehicle;
and the transfer controller is used for controlling a power system, a transmission system, a steering system, a transmission and a braking system of the current vehicle according to the corresponding forward movement or lane change command in the transfer scheme so as to drive the current vehicle to perform forward movement or lane change.
According to another aspect of the present invention, there is provided an online server-based driving assistance device, comprising a memory storing a computer program and a processor implementing the driving assistance method of any one of the preceding claims when the computer program is executed by the processor.
According to yet another aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the driving-assist method of any one of the above, or the driving-assist method adapted for use on a vehicle side.
When an emergency vehicle approaches a traffic jam area, the scheme of the disclosure accumulates the spacing distances between a plurality of vehicles in front of the lane adjacent to the lane where the emergency vehicle is located and to be driven into the lane, and when the accumulated distance is greater than or equal to a first threshold, a vehicle moving scheme for the vehicle to be moved at present in front of the emergency vehicle is generated according to the networked vehicles related to the accumulated distance, so that the distance between the vehicles in front of the adjacent lane can be rapidly adjusted, a space capable of avoiding is coordinated for the vehicle in front of the emergency vehicle, the emergency vehicle can smoothly pass through the space, and the passing efficiency of the emergency vehicle is improved.
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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 shows one of the application scenarios of an embodiment of the present invention.
Fig. 2 shows a flowchart of a driving assistance method according to an embodiment of the present invention.
Fig. 3 shows a flowchart of a driving assistance method for vehicle according to still another embodiment of the present invention.
FIG. 4 illustrates a schematic diagram of yet another vehicle driving assistance method according to some embodiments of the invention.
Fig. 5 shows a move avoidance schematic of a networked vehicle in front of an emergency vehicle according to an embodiment of the present invention.
FIG. 6 illustrates a flow chart of another vehicle driving assistance method according to some embodiments of the invention.
FIG. 7 illustrates a flow chart of a method of assisted driving on a vehicle side according to some embodiments of the invention.
Fig. 8 illustrates a driving assistance system provided by some embodiments of the present disclosure.
FIG. 9 illustrates a driver assistance device mounted on a vehicle, according to some embodiments of the present disclosure.
Detailed Description
In order to make the aforementioned and other features and advantages of the invention more apparent, the invention is further described below with reference to the accompanying drawings. It is to be understood that the specific embodiments disclosed herein are for purposes of illustration and not limitation, and are to be construed as limitations on the scope of the claims.
For convenience of understanding, although the technical solution of the present invention is described below based on the internet of vehicles, it should be noted that the technical solution of the present invention is not limited thereto. In the implementation of the embodiment of the present invention, the information may be obtained and transmitted as long as the information is obtained and transmitted, and the information includes, but is not limited to, the information related to vehicle movement, the vehicle movement scheme, the vehicle state information, the forward movement instruction, the lane change instruction, and the like mentioned in the following description.
In the present disclosure, "forward", "forward movement", and "forward movement" refer to a direction in which the emergency vehicle travels with reference to the emergency vehicle. "rearward" in this disclosure refers to the direction against which the emergency vehicle travels, with reference to the emergency vehicle.
The emergency vehicle described in this disclosure may refer to any vehicle having priority right of passage, including, for example, vehicles designated and authorized to deal with emergency situations, which typically hang special vehicle numbers and install the use of sirens and sign lights. The emergency vehicle may be, for example, an ambulance, a fire truck, a police vehicle, a construction truck, or the like. The emergency vehicles of the present disclosure may also include vehicles that are temporarily authorized to have priority access to respond to an emergency, such as a general vehicle for escort of emergency patients.
Fig. 1 shows one of the application scenarios of an embodiment of the present invention. Fig. 2 shows a flowchart of a driving assistance method according to an embodiment of the present invention. Fig. 3 shows a flowchart of a driving assistance method according to still another embodiment of the present invention. FIG. 4 illustrates a flow chart of yet another vehicle driving assistance method according to some embodiments of the invention. Fig. 5 shows a move avoidance schematic of a networked vehicle in front of an emergency vehicle according to an embodiment of the present invention.
As shown in fig. 2, an embodiment of the present invention provides a driving assist method including:
s100, when it is monitored that an emergency vehicle approaches a traffic jam area, acquiring related information of a networked vehicle in front of the emergency vehicle; and
s200, generating a vehicle moving scheme according to the related information of the networked vehicles, and sending the vehicle moving scheme to the corresponding networked vehicles.
Specifically, the information related to the networked vehicles includes at least: the method comprises the steps of determining the length and the position of one or more networked vehicles in front of an emergency vehicle on a lane to be cleared, and determining the distance between one or more networked vehicles in front of the emergency vehicle on the lane to be cleared and the vehicle in front of the one or more networked vehicles, wherein the lane to be cleared is the lane where the emergency vehicle is located currently, and the lane to be cleared is the lane adjacent to the lane to be cleared and where the vehicle on the lane to be cleared is planned to enter.
As shown in fig. 1, the problem to be solved by the present invention is that there is no vacant space in the adjacent lane of the lane where the emergency vehicle is located, and the vehicle in front of the emergency vehicle cannot change lane to avoid. The scheme of the embodiment is characterized in that the front-back distance of each vehicle on the adjacent lanes is coordinated, so that a space at least larger than the length of the vehicle to be removed is reserved in the adjacent lanes. Thus, the information at least needed in step S100 includes the own length and position of each networked vehicle to be removed, the distance between the adjacent networked vehicle or vehicles to be driven into the lane and located in front of the emergency vehicle side and the vehicle in front thereof.
In other embodiments, the information of networked vehicles acquired in step S100 may include: the length of the one or more networked vehicles in front of the emergency vehicle (corresponding to the lane to be emptied) and in front of the side (corresponding to the lane to be entered), and the distance between each of these vehicles and the vehicle in front of it. In this way, the relevant information of the networked vehicles required for generating the vehicle moving scheme can be directly obtained from the vehicles, for example, the vehicles carrying the vehicle-mounted intelligent system. For the vehicle-mounted intelligent System, the lane to be emptied and the lane to be driven into may not be distinguished, as long as the position of the vehicle acquired by a Global Navigation Satellite System (Global Navigation Satellite System) is located in front of the emergency vehicle, that is, the length and the position of the vehicle are uploaded, and the distance between the vehicle and the preceding vehicle is also set. And subsequently, distinguishing and judging the lane to be emptied and the lane to be driven into can be carried out according to the requirement in the data processing process. When a certain vehicle in front of the emergency vehicle changes lanes, for example, the lane where the emergency vehicle is located is changed to an adjacent lane, namely, a lane to be driven into, the above scheme is adopted, so that the related information does not need to be reported again. In this case, the subsequent step S202 may be performed by increasing the length of the lane-change vehicle itself on the basis of the accumulated distance. If the vehicle is changing lanes from the lane to be entered to the lane in which the emergency vehicle is located, the distance accumulated in the subsequent step S202 needs to be subtracted by the length of the vehicle itself. In summary, when a lane change occurs to a certain vehicle in front of the emergency vehicle, the GNNS reports in real time, the lane to which the lane change vehicle belongs is updated at the server according to the updated GNNS position, and the accumulated distance is correspondingly increased or reduced by the length of the vehicle.
In addition, in S200, the transfer scenario is generated by:
s201, accumulating the distance between one or more networked vehicles positioned on the lane to be driven in and the vehicle in front of the networked vehicles forward from the position of the currently-to-be-moved networked vehicle in the lane to be emptied;
s202, when the accumulated distance is larger than or equal to a first threshold value, a vehicle moving scheme for the networked vehicle to be moved currently is generated, wherein the first threshold value is the sum of the length of the networked vehicle to be moved currently and the buffering safety distance.
In this step, distances between one or more networked vehicles located on the lane to be driven and vehicles in front of the networked vehicles are accumulated from the current position of the networked vehicles to be moved away, and the larger the accumulated result is, the larger the coordinated space on the lane to be driven is.
The first threshold represents the length of space that needs to be vacated to a lane to be entered when the networked vehicle to be removed changes lanes to an adjacent lane (i.e., a lane to be entered). Generally, the first threshold is the sum of the own length of the networked vehicle currently to be removed and a buffer safety distance. The buffer safety distance may be set according to actual needs, for example, may be set to a fixed value, or may be set to a dynamically variable value related to the experience of the driver, for example. The buffer safety distance may be 1.5m, for example.
As shown in fig. 3, in some embodiments, the generating a vehicle moving scheme according to the information related to the networked vehicles and sending the vehicle moving scheme to the corresponding networked vehicles further includes:
s203, sending an advance command to the networked vehicles related to the accumulated distance in the lane to be entered, wherein the advance command at least comprises identification information and moving distance of the advance vehicle;
s204, after all networked vehicles related to the accumulated distance finish moving forward according to the moving forward instruction, sending lane change instructions to the networked vehicles to be moved away currently in the lanes to be emptied, wherein the lane change instructions comprise identification information and target position information of the networked vehicles to be moved away currently.
Step S201 accumulates distances between adjacent vehicles located on the lane to be driven in, from the position of the currently-removed networked vehicle forward. For example, as shown in fig. 4, the emergency vehicle 20 is traveling in lane L1, lane L1 is a lane to be cleared, and lane L2 is a lane to be driven into adjacent to lane L1. The vehicles 21, 22, 23 are located in front of the emergency vehicle 20 and need to be removed. Vehicle 21 is a networked vehicle currently to be removed. There are vehicles 11, 12 ahead of the vehicle 21 and located in the lane to be entered L2. In this step, the distance between adjacent vehicles on the lane to be driven L2 is accumulated forward from the vehicle 11, the accumulated distance being d2+ d1+ …, d1 being the distance between the vehicle 12 and the vehicle ahead, and d2 being the distance between the vehicle 11 and the vehicle 12.
In step S202, when the accumulated distance is greater than or equal to the first threshold, a vehicle moving plan for the networked vehicle to be moved is generated. Step S203 transmits a move-forward instruction generated according to the move-forward scheme to all networked vehicles involved in the accumulated distance, where the move-forward instruction includes identification information and a moving distance of the move-forward vehicle. The Identification information of the Vehicle here is Vehicle Identification information for identifying a Vehicle moving forward, and may be, for example, a license plate Number or a VIN (Vehicle Identification Number).
When the accumulated distance is larger than or equal to the sum of the length of the networked vehicles to be removed and the buffering safety distance of the networked vehicles to be removed, the distances among all the networked vehicles related to the accumulated distance can meet the lane change requirement of the vehicles to be removed through coordination. By moving all networked vehicles involved in the cumulative distance forward one by one, space is made available for vehicles to be removed. Illustratively, if d1+ d2 is greater than the sum of the own length of the networked vehicle to be removed and its buffer safety distance, a move-forward instruction is generated according to the move-vehicle scenario. If the vehicle moving scheme coordinates the avoidance space only for the lane to be driven L2, the vehicles to be driven on the lane to be driven L2 can be moved forward one by one from front to rear. For example, the move-forward command sent to the vehicle 12 may be a command instructing the vehicle 12 to move forward by d1 or slightly less than d1 (considering the safe distance between the vehicle 12 and the vehicle in front of it), and the move-forward command sent to the vehicle 11 may be a command instructing the vehicle 11 to move forward by d1+ d2 or slightly less than d1+ d2 (considering the safe distance between the vehicle 11 and the vehicle 12 in front of it), for example. After both the vehicles 11 and 10 move forward, the distance between the vehicle 11 and the vehicle 10 becomes about d1+ d 2. In order to minimize the distance between the vehicles, the safety distance may be set relatively small, for example anywhere between 0.1-0.5 meters.
Preferably, the inter-vehicle distance may be stored using a data structure that organizes data on a "first-in-last-out" basis. Such as a stack.
Illustratively, the distances between adjacent vehicles located on the lane to be driven in, from the position of the currently networked vehicle to be removed onwards, are respectively: di, di-1, di-2, …, d2, d 1. The cumulative result of the distances is Σ di, where i is 1, 2, 3 …. If i ═ k, Σ dk is greater than or equal to the sum of the length of the networked vehicles to be removed and their safe buffer distances, the vehicles involved in said cumulative distance move forward in sequence from front to back on the lane to be entered, the distances of forward movement may be d1, d1+ d2, d1+ d2+ d3, …, Σ dk or slightly smaller, respectively. Wherein i and k are natural numbers. dk is the distance between the k-th vehicle and the vehicle in front of the k-th vehicle arranged from front to back (direction close to the emergency vehicle) in all the networked vehicles involved in the accumulated distance.
In some embodiments, the movement distance included in the advance command sent to the kth vehicle may be its corresponding value Σ dk or slightly less.
In some embodiments, the forward movement instruction may be sent to all vehicles involved in the accumulated distance at the same time, or the forward movement instruction may be sent to all vehicles involved in the accumulated distance sequentially from the front to the rear. For example, for a first networked vehicle involved in the accumulated distance, after receiving a message that all vehicles in front of the first networked vehicle involved in the accumulated distance have completed moving, a move-forward instruction is sent to the first networked vehicle. The first networked vehicle may receive a move complete message from the online server or directly from the vehicles in front of it, and upon receiving a message that all vehicles in front of the first networked vehicle complete moving, the first networked vehicle resumes moving.
In step S204, after receiving the forward movement completion message sent by all networked vehicles related to the accumulated distance, for example, a lane change instruction is sent to the currently to-be-removed networked vehicle. And after receiving the lane change instruction, the networked vehicle to be removed drives into a lane adjacent to the emergency vehicle according to the lane change instruction, namely the lane to be driven into.
Referring to fig. 5, after the forward movement of the vehicle 11 and the vehicle 12 is completed, the distance between the vehicle 11 and the vehicle 10 becomes, for example, d1+ d2, and a lane change instruction is sent to the vehicle to be removed 21. The vehicle 21 enters between the vehicle 11 and the vehicle 10 according to the lane change instruction to leave the lane for the emergency vehicle 20. The above steps continue for other networked automobiles in front of emergency vehicle 20, such as vehicle 22 and vehicle 23, one after the other, until emergency vehicle 20 passes through the traffic jam area.
In other embodiments, as shown in fig. 4, there is another lane adjacent to the lane in which the emergency vehicle is located, as shown at L2'. The vehicle in front of the emergency vehicle may also change lane to the right lane L2' if permitted by traffic laws. In this case, the lane L2 'is also the lane to be entered, and the driving assistance method provided by the present invention may be alternately performed for two adjacent lanes, i.e., the lanes L2 and L2'. For example, the lane L2 is taken as the lane to be driven into, the vehicle 21 is taken as the current vehicle to be removed, and the steps S201 to S204 are executed, as a result, the vehicle 21 changes lane into the lane L2; then, the lane L2 'is again taken as the lane to be entered, the vehicle 22 is the current vehicle to be removed, and the steps S201-S204 are executed again, as a result, the vehicle 22 changes lane to enter the lane L2'. Then, taking the lane L2 as the lane to be driven into and the vehicle 23 as the current vehicle to be removed, then executing steps S201-S204, changing the lane of the vehicle 23 into the lane L2, and so on until the networked automobiles in front of the lane where the emergency vehicle is located are removed one by one. The avoidance space is obtained by alternately coordinating the two lanes, and the efficiency is higher.
In addition, each vehicle receiving the forward moving or lane changing instruction can be driven manually by a driver or can be driven to a target position by directly controlling a power assembly system, a braking system, a steering system and the like of the vehicle through an automatic driving system so as to finish forward moving or lane changing. In the latter case, the driving authority of the driver is temporarily handed over to the automatic driving system of the vehicle.
In some embodiments, the move-forward instruction is configured to instruct the networked vehicle involved in the accumulated distance to automatically move forward by a corresponding movement distance to make an insertion space for the networked vehicle to be currently removed. The lane change instruction is used for indicating the networked vehicle to be removed to automatically drive into the insertion space in the lane to be driven into. And the networked vehicles to be driven into the lane receive the forward movement command, and automatically control the power system, the transmission system and the brake system so as to drive the vehicles to automatically drive forwards by the movement distance contained in the forward movement command. And after receiving the lane change instruction, the networked vehicles to be removed on the lane to be emptied automatically control a steering system, a power system, a transmission and a braking system to automatically stop to the space vacated by the adjacent lane.
By the scheme provided by the embodiment, networked vehicles to be driven into the lane automatically move according to the forward movement instruction, an insertion space is reserved for the vehicles to be moved, and the forward movement distance is controllable; and the vehicle in front of the emergency vehicle automatically enters an adjacent lane according to the lane change instruction, and gives way for the emergency lane. The whole process can automatically, accurately, smoothly and efficiently realize the avoidance of the emergency vehicle without depending on the driving level of a driver.
FIG. 6 illustrates a flow chart of yet another vehicle driving assistance method according to some embodiments of the invention. As shown in fig. 6, the driving assistance method includes:
s2011, determining the networked automobile in front of the emergency vehicle on the lane to be emptied as the networked vehicle to be moved away currently;
s2012, accumulating the distance between adjacent vehicles on the lane to be driven in from the position of the current networked vehicle to be moved forward;
s2013, judging whether the accumulated distance is larger than or equal to the first threshold value;
s2021, if the accumulated distance is larger than or equal to a first threshold value, generating a vehicle moving scheme for the networked vehicles to be moved; otherwise, executing step S2014, and continuing to accumulate the distance forward;
s2031, generating a forward movement instruction according to the vehicle moving scheme and sending the forward movement instruction to all networked vehicles related to the accumulated distance;
s2032, judging whether all the networked vehicles related to the accumulated distance finish moving forward;
s2041, if all networked vehicles related to the accumulated distance return a message of completing forward movement, sending a lane change instruction to the currently to-be-moved networked vehicle; otherwise, S2033 is performed. In step S2033, step S2032 is executed after waiting for a preset time, or step S2032 is executed after repeatedly sending a forward movement instruction and waiting for a preset time;
s2042, judging whether vehicles exist within a preset distance in front of lanes where all emergency vehicles are located; if yes, go on to step S2011, otherwise go to step S2043.
S2043, judging whether the emergency vehicle is in the traffic jam area; if yes, the process continues to execute step S2011, otherwise, the process ends.
As shown in fig. 6, further optionally, in some embodiments, the method further comprises:
s205, sending a command for forbidding forward movement or accelerating to the networked vehicle which is to be driven into the lane and is behind the position of the currently to-be-removed networked vehicle; and/or
S206, after the message that the networked vehicle to be moved away has completed lane changing is received, sending an instruction for allowing forward running or accelerating to the networked vehicle to be driven into the lane and located behind the position of the networked vehicle to be moved away.
The scheme provided by the embodiment sends the forward forbidding command to the networked vehicles which are to be driven into the lane and are positioned behind the emergency vehicle, and the forward forbidding command is released after the vehicles to be removed in front of the emergency vehicle are driven into the adjacent lane, so that the situation that the vehicles behind the emergency vehicle and positioned on the adjacent lane cannot change the lane to the adjacent lane due to the fact that the vehicles occupy the space coordinated by the forward moving command with the vehicles in front of the emergency vehicle can be avoided.
FIG. 7 illustrates a flow chart of another vehicle driving assistance method according to some embodiments of the invention. FIG. 8 illustrates a flow chart for monitoring whether an emergency vehicle is approaching a traffic jam area according to some embodiments of the invention.
In some embodiments, before obtaining information about movement of networked vehicles in front of the emergency vehicle, the method further comprises: monitoring whether an emergency vehicle approaches a traffic jam area.
The step of monitoring whether an emergency vehicle approaches a traffic jam area comprises: and detecting the emergency vehicle through the received special identification information of the emergency vehicle, and acquiring the running speed, the direction and the position information of the emergency vehicle. Emergency vehicles typically have proprietary identification information, such as a proprietary license plate number. The emergency vehicle may be identified using the unique identification information detection. For example, when the emergency vehicles execute the emergency task, the dedicated identity marking information is reported to the cloud server for triggering the traffic jam area avoidance process. The emergency vehicle can also report the target position, the running speed, the direction and the position information of the emergency vehicle when networking is carried out, and update the running speed, the running direction and the position information in real time.
An emergency vehicle temporarily authorized to have priority traffic authority can be detected by its identification information. Acquiring a traffic jam condition in the driving direction of the emergency vehicle, wherein the traffic jam condition comprises the following steps: location and length of traffic jam area. The traffic jam condition may be detected in the direction of travel of the emergency vehicle starting from the current global navigation satellite system location of the emergency vehicle. For example, the online server may obtain respective locations of networked vehicles through a Global Navigation Satellite System (GNSS), detect a vehicle density in a certain area according to the number of networked vehicles in the certain area, and determine that traffic jam occurs when the vehicle density is greater than a certain density threshold and the average speed is less than a certain speed threshold. Of course, it can be directly obtained from an existing navigation system.
And when the distance between the emergency vehicle and the traffic jam area is smaller than a second threshold value or the time predicted to reach the traffic jam area is smaller than a third threshold value, judging that the emergency vehicle approaches the traffic jam area. The second threshold value and the third threshold value may be determined empirically or experimentally by one skilled in the art.
According to the auxiliary driving method, when the emergency vehicle is close to the traffic jam area, the avoidable space can be efficiently and quickly coordinated for the vehicle in front of the emergency vehicle, so that the emergency vehicle can smoothly pass through the space, and the passing efficiency of the emergency vehicle is improved. The driving assistance method can be applied to a traffic management platform or a navigation system.
Fig. 7 shows a flowchart of a driving assistance method applied to a vehicle side according to an embodiment of the present invention. As shown in fig. 7, the driving assistance method for a vehicle according to the present invention includes:
s11, responding to the request for obtaining the relevant information of the networked vehicles in front of the emergency vehicle, and reporting the relevant information of the current vehicle, wherein the relevant information at least comprises: the length and position of the current vehicle itself, and the distance between the current vehicle and the vehicle in front of it.
In some embodiments, the vehicle state information of the current vehicle may be reported and updated in real time when the vehicles are networked, where the vehicle state information includes: vehicle identification information, position information, traveling speed, and direction of the current vehicle. When a request for acquiring relevant information of a networked vehicle in front of the emergency vehicle is received, the length of the current vehicle and the distance between the current vehicle and the vehicle in front of the current vehicle are reported.
For example, the relevant information of the current vehicle can be reported through the vehicle-mounted intelligent system. The vehicle-mounted intelligent system is connected to the online server through the Wi-Fi/mobile network to wirelessly upload the relevant information of the vehicle. The vehicle identification information and the length of the current vehicle can be arranged in the vehicle-mounted intelligent system. The position information, the driving speed and the direction can be obtained through a vehicle-mounted positioning system. The distance between the current vehicle and the vehicle in front of it can be detected by sensors mounted on each networked vehicle.
And S12, executing forward movement or lane change after receiving a corresponding forward movement or lane change instruction in the vehicle moving scheme generated according to the related information of the networked vehicles.
Illustratively, the vehicle-mounted intelligent system of the networked vehicle can automatically complete the forward movement or lane change according to a vehicle moving scheme.
As shown in fig. 8, some embodiments of the present disclosure provide a driving assistance system 100 including:
an information obtaining unit 101, configured to, when it is monitored that an emergency vehicle approaches a traffic jam area, obtain relevant information of a networked vehicle in front of the emergency vehicle, the relevant information of the networked vehicle including at least: the method comprises the following steps of determining the length and the position of one or more networked vehicles in front of an emergency vehicle on a lane to be cleared, and determining the distance between one or more networked vehicles positioned in front of the emergency vehicle on the lane to be cleared and the vehicle in front of the emergency vehicle on the lane to be cleared, wherein the lane to be cleared is the lane where the emergency vehicle is located currently, and the lane to be cleared is the lane adjacent to the lane to be cleared and where the vehicle on the lane to be cleared is planned to enter;
a control unit 102 configured to generate a vehicle moving scheme according to the information related to the networked vehicles, and send the vehicle moving scheme to the corresponding networked vehicles, wherein the vehicle moving scheme is generated by: the method comprises the steps of accumulating distances between one or more networked vehicles located on a lane to be driven in and vehicles in front of the networked vehicles to be moved forward from the position of the networked vehicles to be moved away currently in the lane to be emptied, and generating a vehicle moving scheme aiming at the networked vehicles to be moved away currently when the accumulated distance is larger than or equal to a first threshold value, wherein the first threshold value is the sum of the length of the networked vehicles to be moved away currently and a buffering safety distance.
Further, the control unit 102 is further configured to: sending a forward movement instruction to the networked vehicles involved in the accumulated distance in the lane to be entered, wherein the forward movement instruction at least comprises identification information and moving distance of the forward movement vehicles; and after all networked vehicles related to the accumulated distance finish moving forward according to the moving forward instruction, sending a lane change instruction to the currently-to-be-moved networked vehicle in the lane to be emptied, wherein the lane change instruction comprises identification information and target position information of the currently-to-be-moved networked vehicle.
Some embodiments of the present disclosure further provide an online server-based driving assistance device, including a memory and a processor, where the memory stores a computer program, and the processor implements any one of the driving assistance methods when executing the computer program. The driving assistance device can be arranged at a server side for traffic management coordination, and can also be arranged on an emergency vehicle.
Those skilled in the art will appreciate that the driving assistance apparatus of the present disclosure describes only a portion of the structure associated with the present application and does not constitute a limitation on the computer apparatus to which the present application is applied, and a particular computer apparatus may include more or less components than those shown in the figures, or combine certain components, or have a different arrangement of components.
The online server based driver assistance device may be located on the server side and include a processor, memory, network interface, and database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement the driving assistance method of the invention.
FIG. 9 illustrates a driver assistance device mounted on a vehicle, according to some embodiments of the present disclosure. As shown in fig. 9, some embodiments of the present disclosure also provide a driving assistance apparatus mounted on a vehicle, including:
a distance measuring device 31 for measuring a distance between the current vehicle and the preceding vehicle;
an information acquisition means 32 for acquiring the own length and position information of the current vehicle;
a communication device 33, configured to report relevant information of the current vehicle in response to a request for obtaining relevant information of a networked vehicle in front of an emergency vehicle, and receive a vehicle moving plan generated according to the relevant information of the networked vehicle, where the relevant information includes: the distance between the current vehicle and the front vehicle, the length of the current vehicle and the position information of the current vehicle;
and the transfer controller 34 is used for controlling a power system, a transmission system, a steering system, a transmission and a braking system of the current vehicle according to the corresponding forward movement or lane change command in the transfer scheme so as to drive the current vehicle to perform forward movement or lane change.
The driving assistance device is arranged on a networked vehicle and can be partially or completely integrated with the existing devices or components on the vehicle.
According to yet another aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the driving-assist method of any one of the above, or the driving-assist method adapted for use on a vehicle side.
When the emergency vehicle approaches the traffic jam area, the scheme of the invention can quickly adjust the distance between the vehicles on the adjacent lanes, and coordinate an avoidable space for the vehicle in front of the emergency vehicle, so that the emergency vehicle can smoothly pass through the space, and the passing efficiency of the emergency vehicle is improved.
It will be understood by those of ordinary skill in the art that all or part of the steps in implementing the methods according to the above embodiments of the present invention may be directed to relevant hardware implementations by a computer program, which may be stored in a non-volatile computer-readable storage medium, that when executed, may include the steps of the above embodiments of the methods. Any reference to memory, storage, database, or other medium used in the embodiments provided herein can include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory.
The features of the above embodiments may be combined arbitrarily, and for the sake of brevity, all possible combinations of features in the above embodiments are not described, but should be construed as being within the scope of the present disclosure unless there is any conflict 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 (10)

1. A driving assist method, characterized by comprising:
when an emergency vehicle is monitored to approach a traffic jam area, acquiring relevant information of a networked vehicle in front of the emergency vehicle, wherein the relevant information of the networked vehicle at least comprises the following information: the method comprises the following steps of determining the length and the position of one or more networked vehicles in front of an emergency vehicle on a lane to be cleared, and determining the distance between one or more networked vehicles positioned in front of the emergency vehicle on the lane to be cleared and the vehicle in front of the emergency vehicle on the lane to be cleared, wherein the lane to be cleared is the lane where the emergency vehicle is located currently, and the lane to be cleared is the lane adjacent to the lane to be cleared and where the vehicle on the lane to be cleared is planned to enter;
generating a vehicle moving scheme according to the relevant information of the networked vehicles, and sending the vehicle moving scheme to the corresponding networked vehicles, wherein the vehicle moving scheme is generated in the following way: the method comprises the steps of accumulating distances between one or more networked vehicles located on a lane to be driven in and vehicles in front of the networked vehicles to be moved forward from the position of the networked vehicles to be moved away currently in the lane to be emptied, and generating a vehicle moving scheme aiming at the networked vehicles to be moved away currently when the accumulated distance is larger than or equal to a first threshold value, wherein the first threshold value is the sum of the length of the networked vehicles to be moved away currently and a buffering safety distance.
2. The driving assistance method according to claim 1, wherein the generating a vehicle movement plan according to the information related to the networked vehicles and sending the vehicle movement plan to the corresponding networked vehicles comprises:
sending a forward movement instruction to the networked vehicles involved in the accumulated distance in the lane to be entered, wherein the forward movement instruction at least comprises identification information and moving distance of the forward movement vehicles;
and after all networked vehicles related to the accumulated distance finish moving forward according to the moving forward instruction, sending a lane change instruction to the networked vehicles to be moved away currently in the lane to be emptied, wherein the lane change instruction comprises identification information and target position information of the networked vehicles to be moved away currently.
3. The driving assistance method according to claim 2, wherein the forward movement instruction is used to instruct the networked vehicle related to the accumulated distance to automatically move forward by a corresponding movement distance, so as to give an insertion space for the networked vehicle to be currently removed;
the lane change instruction is used for indicating the networked vehicle to be removed to automatically drive into the insertion space in the lane to be driven into.
4. The driving assist method according to claim 2, characterized by further comprising:
sending a command for forbidding forward movement or accelerating to the networked vehicle which is to be driven into the lane and is positioned behind the position of the currently to-be-removed networked vehicle;
after receiving the message that the networked vehicle to be moved away has finished changing lanes, sending an instruction for allowing forward progress or allowing acceleration to the networked vehicle to be driven into the lane and located behind the position of the networked vehicle to be moved away.
5. A driving assist method for a vehicle, characterized by comprising:
in response to a request for obtaining relevant information of networked vehicles in front of an emergency vehicle, reporting relevant information of a current vehicle, wherein the relevant information at least comprises: the length and position of the current vehicle, and the distance between the current vehicle and the vehicle in front of the current vehicle;
and after receiving a corresponding forward moving or lane changing instruction in a vehicle moving scheme generated according to the related information of the networked vehicles, executing forward moving or lane changing.
6. A driving assistance system characterized by comprising:
an information acquisition unit configured to acquire information about a networked vehicle in front of an emergency vehicle when the emergency vehicle is monitored to approach a traffic jam area, the information about the networked vehicle including at least: the method comprises the following steps of determining the length and the position of one or more networked vehicles in front of an emergency vehicle on a lane to be cleared, and the distance between one or more networked vehicles positioned in front of the emergency vehicle on the lane to be cleared and the vehicle in front of the networked vehicles, wherein the lane to be cleared is the lane where the emergency vehicle is located currently, and the lane to be cleared is the lane adjacent to the lane to be cleared and where the vehicle on the lane to be cleared is planned to enter;
a control unit configured to generate a vehicle moving scheme according to the relevant information of the networked vehicles and send the vehicle moving scheme to the corresponding networked vehicles, wherein the vehicle moving scheme is generated by: the method comprises the steps of accumulating distances between one or more networked vehicles located on a lane to be driven in and a vehicle in front of the networked vehicles to be moved forward from the position of the currently-to-be-moved networked vehicle in the lane to be emptied, and generating a vehicle moving scheme for the currently-to-be-moved networked vehicle when the accumulated distance is larger than or equal to a first threshold value, wherein the first threshold value is the sum of the length of the currently-to-be-moved networked vehicle and a buffering safety distance.
7. The driver assistance system according to claim 6, wherein the control unit is further configured to:
sending a forward movement instruction to the networked vehicles involved in the accumulated distance in the lane to be entered, wherein the forward movement instruction at least comprises identification information and moving distance of the forward movement vehicles;
and after all networked vehicles related to the accumulated distance finish moving forward according to the moving forward instruction, sending a lane change instruction to the networked vehicles to be moved away currently in the lane to be emptied, wherein the lane change instruction comprises identification information and target position information of the networked vehicles to be moved away currently.
8. A driving assistance apparatus mounted on a vehicle, characterized by comprising:
a distance measuring device for measuring a distance between a current vehicle and a preceding vehicle;
the information acquisition device is used for acquiring the length and position information of the current vehicle;
the communication device is used for responding to a request for acquiring relevant information of a networked vehicle in front of an emergency vehicle, reporting the relevant information of the current vehicle, and receiving a vehicle moving scheme generated according to the relevant information of the networked vehicle, wherein the relevant information comprises: the distance between the current vehicle and the front vehicle, the length of the current vehicle and the position information of the current vehicle;
and the transfer controller is used for controlling a power system, a transmission system, a steering system, a transmission and a braking system of the current vehicle according to the corresponding forward movement or lane change command in the transfer scheme so as to drive the current vehicle to perform forward movement or lane change.
9. An online server-based driving assistance device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the driving assistance method according to any one of claims 1 to 4 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, carries out the method of any one of claims 1 to 4, or carries out the method of claim 5.
CN202011485138.7A 2020-12-16 2020-12-16 Driving assistance method, system, device and readable storage medium Pending CN114639234A (en)

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