CN116935679A

CN116935679A - Auxiliary driving method and device and related equipment

Info

Publication number: CN116935679A
Application number: CN202210320723.4A
Authority: CN
Inventors: 刘子鸾; 柳淳; 刘星; 王津男; 薛蓬
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2022-03-29
Filing date: 2022-03-29
Publication date: 2023-10-24

Abstract

The embodiment of the application discloses a driving assisting method, a driving assisting device and related equipment, wherein the driving assisting method comprises the following steps: detecting a distance between a vehicle and an intersection in front of the vehicle; under the condition that the trigger display condition is met based on the distance analysis, the vehicle can determine the state information of a first traffic signal lamp according to a traffic signal lamp duration table, wherein the state information of the traffic signal lamp comprises the state and the remaining time of the traffic signal lamp, and the first traffic signal lamp is the traffic signal lamp corresponding to the intersection; thereafter, the vehicle may display status information of the first traffic light through the in-vehicle display module. According to the embodiment of the application, the state and the remaining time of the traffic light can be determined through the traffic light duration table and are displayed through the vehicle-mounted display module, so that under the condition that a driver cannot observe the traffic light of the intersection, the driver can be effectively assisted to pass through the intersection efficiently and safely, the phenomenon of mistakenly running the red light is avoided, and the probability of traffic accidents is reduced.

Description

Auxiliary driving method and device and related equipment

Technical Field

The application belongs to the technical field of vehicles, and particularly relates to an auxiliary driving method, an auxiliary driving device and related equipment.

Background

Along with the increase of the number of automobiles on roads, the situation that a front cart (such as a bus or a large truck) shields the sight of a rear cart driver often occurs at a road junction with traffic congestion, so that the rear cart driver cannot observe the state of a traffic signal lamp of the front road junction, and at the moment, if the rear cart continues to follow the front cart, the phenomenon that the rear cart driver runs a red light by mistake is easily caused, and potential traffic safety hazards are brought; if the rear trolley stops to follow the front cart, the cart passes through the traffic signal lamp in advance and then passes through the intersection, so that the traffic efficiency of the intersection can be reduced, and even the rear cart is trapped to increase the accident risk.

Therefore, how to effectively assist the driver to efficiently and safely pass through the intersection is a problem to be solved under the condition that the driver cannot observe the traffic light of the intersection.

Disclosure of Invention

The embodiment of the invention discloses a driving assisting method, a driving assisting device and related equipment, which are used for effectively assisting a driver to pass through an intersection efficiently and safely under the condition that the driver cannot observe traffic signals at the intersection, avoiding the occurrence of a phenomenon of mistakenly running red lights and reducing the probability of traffic accidents.

The first aspect discloses a driving assistance method that may be applied to a vehicle, which may include an in-vehicle display module, and may also be applied to a module (e.g., a chip) in a vehicle, which is described below as an example of application to a vehicle. The driving assistance method may include:

detecting a distance between the vehicle and an intersection ahead;

under the condition that the trigger display condition is met based on the distance analysis, determining the state information of a first traffic signal lamp according to a traffic signal lamp duration table, wherein the state information of the traffic signal lamp comprises the state and the remaining time of the traffic signal lamp, and the first traffic signal lamp is the traffic signal lamp corresponding to the intersection;

and displaying the state information of the first traffic signal lamp through the vehicle-mounted display module.

In the embodiment of the invention, the distance between the vehicle and the crossing which needs to pass in front can be detected firstly in the running process of the vehicle. Then, the vehicle may determine, based on the distance analysis, whether a trigger display condition is satisfied, and in case it is determined that the trigger display condition is satisfied, the vehicle may determine state information of a traffic light (i.e., a first traffic light) of the intersection according to a traffic light duration table, the state information may include a state and a remaining time of the traffic light, and then the vehicle may display the state information of the first traffic light through an in-vehicle display module. Therefore, under the condition that a driver of the vehicle cannot observe the traffic signal lamp of the intersection, the state and the remaining time of the first traffic signal lamp can be known through the vehicle-mounted display module, so that the vehicle can efficiently and safely pass through the intersection, the phenomenon of mistakenly running the red light is avoided, and the probability of traffic accidents of the intersection is reduced.

As a possible implementation manner, the determining the state information of the first traffic signal according to the traffic signal duration table in the case that the trigger display condition is met based on the distance analysis includes:

detecting the first traffic signal lamp if the distance is detected to be smaller than a first threshold value;

and under the condition that the first traffic signal lamp is detected to be blocked, determining the state information of the first traffic signal lamp according to the traffic signal lamp duration table.

In the embodiment of the invention, when the distance between the vehicle and the crossing which needs to pass in front is detected to be smaller than the first threshold value, the vehicle indicates that the vehicle will pass the crossing, and then the traffic signal lamp (namely the first traffic signal lamp) of the crossing can be detected. In the event that the first traffic signal is detected as not being occluded, indicating that the driver of the vehicle may observe the traffic signal at the intersection, the vehicle may not respond; and under the condition that the first traffic signal lamp is detected to be blocked, the condition that the driver of the vehicle cannot observe the traffic signal lamp at the intersection is indicated, and the vehicle can determine the state information of the first traffic signal lamp according to the traffic signal lamp duration table. Therefore, the vehicle can determine the state information of the first traffic signal lamp according to the traffic signal lamp duration table only when detecting that the distance between the vehicle and the intersection is smaller than the first threshold value and the first traffic signal lamp is blocked, and the number of times that the vehicle determines the state information of the first traffic signal lamp can be reduced, so that the calculation resources can be saved.

As a possible implementation manner, the traffic light duration table includes identifications of a plurality of traffic lights, and period information of the corresponding traffic lights and state information of reference time, where the reference time is any time, and the plurality of traffic lights includes the first traffic light.

In the embodiment of the invention, the traffic signal lamp duration table comprises the identifications of the traffic signal lamps, and the period information and the state information of the reference time of the traffic signal lamp corresponding to each identification, so that the vehicle can conveniently acquire the period information and the state information of the reference time of the traffic signal lamp corresponding to the identification according to the identifications of the traffic signal lamps, and further can conveniently determine the state information of any time of the traffic signal lamp according to the period information and the state information of the reference time.

As one possible implementation manner, the determining the state information of the first traffic signal according to the traffic signal duration table includes:

acquiring the identification of the first traffic signal lamp according to the high-precision map;

acquiring the period information of the first traffic signal lamp and the state information of the reference moment from the traffic light duration table according to the identification;

And determining the state information of the first traffic signal lamp according to the period information and the state information of the reference moment.

In the embodiment of the invention, the vehicle can acquire the identification of the first traffic signal lamp according to the high-precision map, then acquire the period information of the first traffic signal lamp and the state information of the reference moment from the traffic lamp duration table according to the identification, and then determine the state information of any moment of the first traffic signal lamp according to the period information of the first traffic signal lamp and the state information of the reference moment, thereby being convenient for the vehicle to display the state information of the first traffic signal lamp in real time through the vehicle-mounted display module and assisting the driver to safely pass through the intersection.

As a possible implementation manner, the method may further include:

and in the process of passing through the second traffic signal lamp intersection, detecting and acquiring the state information of the second traffic signal lamp, and updating the information of the second traffic signal lamp in the traffic signal lamp duration table based on the state information of the second traffic signal lamp acquired by detection under the condition that the state information of the second traffic signal lamp is inconsistent with the state information of the second traffic signal lamp determined based on the traffic signal lamp duration table.

In the embodiment of the invention, the vehicle can also detect the second traffic signal lamp in the process of passing through the intersection of the second traffic signal lamp (namely, the intersection where the second traffic signal lamp is located), if the state information of the second traffic signal lamp is detected and acquired, the vehicle can judge whether the state information of the second traffic signal lamp is consistent with the state information of the second traffic signal lamp determined based on the traffic signal lamp duration table, if not, the vehicle can update the information of the second traffic signal lamp in the traffic signal lamp duration table based on the detected and acquired state information of the second traffic signal lamp, so that the vehicle can be prevented from obtaining an error result when determining the state information of the second traffic signal lamp according to the traffic signal lamp duration table.

judging whether the traffic signal lamp duration table contains information of the first traffic signal lamp or not;

if the judgment is negative, and the condition that the first traffic signal lamp is blocked is detected, detecting the state and the remaining time of a third traffic signal lamp of the intersection;

And under the condition that the state and the residual time of the third traffic light are detected, determining the state information of the first traffic light according to the state and the residual time of the third traffic light.

In the embodiment of the invention, when the vehicle determines the state information of the first traffic light according to the traffic light duration table, the vehicle can firstly judge whether the traffic light duration table contains the information of the first traffic light, if not (namely, the condition that the information of the first traffic light is not included in the traffic light duration table), and under the condition that the first traffic light is detected to be blocked, the vehicle can detect the state and the remaining time of the third traffic light of the intersection. Then, the vehicle may determine the state information of the first traffic signal based on the state and the remaining time of the third traffic signal in a case where the state and the remaining time of the third traffic signal are detected. Therefore, the state information of the first traffic signal lamp can be further ensured to be accurately acquired by detecting the third traffic signal lamp of the intersection, so that a driver can be assisted to efficiently and safely pass through the intersection, the phenomenon of mistakenly running the red light is avoided, and the probability of traffic accidents of the intersection is reduced.

As a possible implementation manner, the determining the state information of the first traffic signal lamp according to the state and the remaining time of the third traffic signal lamp includes:

and determining the state information of the first traffic signal lamp according to the traffic rule of the intersection, the state and the residual time of the third traffic signal lamp, wherein the traffic rule comprises the change rule and the period information of the traffic signal lamp of the intersection.

In the embodiment of the invention, the traffic rule of the intersection can be fixed, so that the vehicle can determine the state information of the first traffic signal lamp according to the traffic rule of the intersection and the state and the remaining time of any one or more traffic signal lamps (namely, the third traffic signal lamp) of the intersection, thereby assisting a driver to pass through the intersection.

As one possible implementation, the detecting the distance between the vehicle and the intersection ahead includes:

detecting a distance between the vehicle and a lane stop line; or,

acquiring the position of the vehicle through a positioning system;

a distance between the vehicle and an intersection ahead is determined from the position of the vehicle and a high-precision map.

In the embodiment of the invention, the vehicle can detect the distance between the vehicle and the lane stop line at the intersection in front of the vehicle, or the vehicle can acquire the position of the vehicle through a positioning system; the distance between the self and the intersection in front is determined according to the position of the self and the high-precision map, so that whether the self approaches the intersection in front can be determined.

As one possible implementation, the traffic signal is in a straight/no straight state, and left turn/no left turn, and right turn/no right turn, and turn around/no turn around.

In the embodiment of the invention, the state of the traffic signal lamp determined by the vehicle can be straight running/straight running prohibition, left turning/left turning prohibition, right turning/right turning prohibition and turning around/turning around prohibition, so that the vehicle can display information (such as straight running and left turning or straight running and turning around) of various states of the traffic signal lamp through the vehicle-mounted display module, and can assist a driver to safely pass through an intersection.

As a possible implementation manner, the method further comprises:

determining an average speed of the vehicle for a first period of time;

determining traffic indication information according to the average speed, the state information of the first traffic signal lamp and the distance;

when the traffic indication information is a traffic prohibition, the warning information is output as sound and/or image.

In the embodiment of the invention, the vehicle can determine the average speed of the vehicle in the first time period (such as the average speed within 5 seconds before the current moment), and then determine the traffic indication information according to the average speed, the state information of the first traffic signal lamp and the distance between the vehicle and the intersection (namely, the vehicle makes a traffic decision through calculation); under the condition that the traffic indication information is forbidden, warning information is output in a sound and/or image mode, so that a driver of the vehicle can be reminded that the vehicle cannot pass through the intersection at the current average speed, the speed of the vehicle can be reduced, the probability of traffic accidents can be reduced, and the driving safety is further improved.

As a possible implementation manner, the determining traffic indication information according to the average speed, the state information of the first traffic signal lamp and the distance includes:

determining the remaining passing time according to the state information of the first traffic signal lamp;

determining a first time based on the average speed and the distance, the first time being a time expected by the vehicle to pass through the intersection at the average speed;

under the condition that the first time is smaller than the remaining passing time, determining that the passing indication information is passing;

and under the condition that the first time is greater than or equal to the remaining passing time, determining the passing indication information as passing prohibition.

In the embodiment of the invention, the vehicle can determine the remaining passing time according to the state information of the first traffic signal lamp, and can determine the time (namely, the first time) required for the vehicle to pass through the intersection at the average speed according to the average speed and the distance between the vehicle and the intersection in front. Then, the vehicle can compare the size between the residual traffic time and the first time, and under the condition that the first time is smaller than the residual traffic time, the vehicle can determine that the traffic indication information is traffic; in the case where the first time is greater than or equal to the remaining passage time, the vehicle may determine that the passage indication information is a no-passage. Therefore, the vehicle can assist the driver to make more accurate passing decisions, so that the driving safety can be improved, and the probability of traffic accidents is reduced.

A second aspect discloses a driving assistance method that may be applied to a vehicle, which may include an in-vehicle display module, and may also be applied to a module (e.g., a chip) in the vehicle, which is described below as an example of application to the vehicle. The driving assistance method may include:

detecting a distance between the vehicle and an intersection ahead;

detecting a first traffic signal lamp under the condition that the distance is detected to be smaller than a first threshold value, wherein the first traffic signal lamp is a traffic signal lamp corresponding to the intersection;

detecting the state and the remaining time of a second traffic signal lamp of the intersection under the condition that the first traffic signal lamp is detected to be blocked;

under the condition that the state and the residual time of the second traffic light are detected, determining the state information of the first traffic light according to the state and the residual time of the second traffic light, wherein the state information of the traffic light comprises the state and the residual time of the traffic light;

In the embodiment of the invention, the distance between the vehicle and the crossing which needs to pass in front can be detected firstly in the running process of the vehicle. Under the condition that the distance between the vehicle and the intersection is detected to be greater than or equal to a first threshold value (such as 30 meters), the distance between the vehicle and the intersection is further indicated, the vehicle cannot pass through the intersection in a short time (such as 10 seconds), the vehicle can not respond, and the distance between the vehicle and the intersection can be continuously detected; in the case that the distance between the vehicle and the intersection is detected to be smaller than a first threshold value (such as 30 meters), the vehicle can detect the traffic signal lamp of the intersection (namely, a first traffic signal lamp), in the case that the first traffic signal lamp is detected to be not shielded, the driver of the vehicle can observe the traffic signal lamp of the intersection, the vehicle can not respond, and the computing resource can be saved; under the condition that the first traffic signal lamp is detected to be blocked, the driver of the vehicle can not observe the traffic signal lamp of the intersection, the vehicle can detect the state and the residual time of the second traffic signal lamp of the intersection, under the condition that the state and the residual time of the second traffic signal lamp are not detected, the vehicle can not determine the state information of the first traffic signal lamp, and can not respond; under the condition that the state and the remaining time of the second traffic light are detected, the vehicle can determine the state information of the first traffic light according to the state and the remaining time of the second traffic light, the state information can comprise the state and the remaining time of the traffic light, and then the vehicle can display the state information of the first traffic light through the vehicle-mounted display module.

As a possible implementation manner, the determining the state information of the first traffic signal lamp according to the state and the remaining time of the second traffic signal lamp includes:

and determining the state information of the first traffic signal lamp according to the traffic rule of the intersection, the state and the residual time of the second traffic signal lamp, wherein the traffic rule comprises the change rule and the period information of the traffic signal lamp of the intersection.

In the embodiment of the invention, the traffic rule of the intersection can be fixed, so that the vehicle can determine the state information of the first traffic signal lamp according to the traffic rule of the intersection and the state and the remaining time of any one or more traffic signal lamps (namely, the second traffic signal lamp) of the intersection, thereby assisting a driver to pass through the intersection.

detecting a distance between the vehicle and a lane stop line; or,

acquiring the position of the vehicle through a positioning system;

As a possible implementation manner, the method may further include:

determining an average speed of the vehicle for a first period of time;

In the embodiment of the invention, the vehicle can determine the average speed of the vehicle in the first time period (such as the average speed within 5 seconds before the current moment), and then determine the traffic indication information according to the average speed, the state information of the first traffic signal lamp and the distance between the vehicle and the intersection (namely, the vehicle makes a traffic decision through calculation); under the condition that the traffic indication information is forbidden, warning information is output in a sound and/or image mode, so that a driver of the vehicle can be reminded that the vehicle cannot pass through the intersection at the current average speed, the speed of the vehicle can be reduced, the probability of traffic accidents can be reduced, and the driving safety is improved.

A third aspect discloses a driving assistance device that may be a vehicle or a module (e.g., a chip) in a vehicle. The driving assist device may include:

a first detection unit for detecting a distance between the vehicle and an intersection ahead;

the first determining unit is used for determining state information of a first traffic signal lamp according to a traffic signal lamp duration table under the condition that the trigger display condition is met based on the distance analysis, wherein the state information of the traffic signal lamp comprises the state and the remaining time of the traffic signal lamp, and the first traffic signal lamp is a traffic signal lamp corresponding to the intersection;

and the display unit is used for displaying the state information of the first traffic signal lamp.

As a possible implementation manner, the first determining unit is specifically configured to:

As one possible implementation manner, the determining, by the first determining unit, the state information of the first traffic signal according to the traffic signal duration table includes:

As a possible implementation manner, the device may further include:

and the updating unit is used for detecting and acquiring the state information of the second traffic signal lamp in the process of passing through the intersection of the second traffic signal lamp, and updating the information of the second traffic signal lamp in the traffic signal lamp duration table based on the detected and acquired state information of the second traffic signal lamp under the condition that the state information of the second traffic signal lamp is inconsistent with the state information of the second traffic signal lamp determined based on the traffic signal lamp duration table.

As a possible implementation manner, the first detection unit is specifically configured to:

detecting a distance between the vehicle and a lane stop line; or,

acquiring the position of the vehicle through a positioning system;

As a possible implementation manner, the device may further include:

a second determining unit configured to determine an average speed of the vehicle for a first period of time;

a third determining unit for determining traffic indication information according to the average speed, the state information of the first traffic signal lamp and the distance;

And the output unit is used for outputting the warning information in a sound and/or image mode when the traffic indication information is the traffic forbidden.

As a possible implementation manner, the third determining unit is specifically configured to:

A fourth aspect discloses a driving assistance device that may be a vehicle or a module (e.g., a chip) in a vehicle. The driving assist device may include:

the second detection unit is used for detecting a first traffic signal lamp under the condition that the distance is detected to be smaller than a first threshold value, wherein the first traffic signal lamp is a traffic signal lamp corresponding to the intersection;

The third detection unit is used for detecting the state and the remaining time of a second traffic signal lamp of the intersection under the condition that the first traffic signal lamp is detected to be blocked;

a first determining unit, configured to determine, when the state and the remaining time of the second traffic signal are detected, state information of the first traffic signal according to the state and the remaining time of the second traffic signal, where the state information of the traffic signal includes the state and the remaining time of the traffic signal;

detecting a distance between the vehicle and a lane stop line; or,

acquiring the position of the vehicle through a positioning system;

As a possible embodiment, the apparatus further comprises:

A fifth aspect discloses a vehicle that may include a processor, a memory, a camera, and an in-vehicle display module, wherein the in-vehicle display module is configured to display content; the camera is used for collecting images; the memory is for storing a computer program, and the processor is for executing the computer program stored in the memory, so that the vehicle performs the driving assistance method disclosed in the first aspect or any implementation of the first aspect.

A sixth aspect discloses a vehicle that may include a processor, a memory, a camera, and an in-vehicle display module, wherein the in-vehicle display module is configured to display content; the camera is used for collecting images; the memory is for storing a computer program, and the processor is for executing the computer program stored in the memory, so that the vehicle performs the driving assistance method disclosed in the second aspect or any embodiment of the second aspect.

A seventh aspect discloses a computer-readable storage medium, on which a computer program or computer instructions are stored which, when run, implement the driving assistance method as disclosed in any one of the above-mentioned first or second aspects.

An eighth aspect discloses a chip comprising a processor for executing a program stored in a memory, which when executed causes the chip to perform the driving assistance method disclosed in any one of the above or any one of the second aspects.

As a possible implementation, the memory is located off-chip.

A ninth aspect discloses a chip system that can perform any of the methods as referred to in the first or second aspects above, such that the relevant functions are realized. In one possible design, the system on a chip also includes memory to hold the necessary program instructions and data. The chip system can be composed of chips, and can also comprise chips and other discrete devices.

A tenth aspect discloses a computer program product comprising computer program code which, when run, causes the driving assistance method disclosed in any one of the above-mentioned first or second aspects to be performed.

It will be appreciated that the driving assistance apparatus provided in the third aspect, the driving assistance apparatus provided in the fourth aspect, the vehicle provided in the fifth aspect, the vehicle provided in the sixth aspect, the computer readable storage medium provided in the seventh aspect, the chip provided in the eighth aspect, the chip system provided in the ninth aspect and the computer program product provided in the tenth aspect may be used to perform the driving assistance method provided in the first aspect and any one of the possible implementations of the first aspect, or the driving assistance method provided in the second aspect and any one of the possible implementations of the second aspect. Therefore, the advantages achieved by the method can be referred to as the advantages of the corresponding method, and will not be described herein.

Drawings

FIG. 1 is a schematic view of a traffic scenario disclosed in an embodiment of the present application;

FIG. 2 is a functional block diagram of an intelligent vehicle according to an embodiment of the present disclosure;

FIG. 3 is a schematic flow chart of a driving assistance method according to an embodiment of the present application;

fig. 4 is a schematic view of a traffic scene of an intersection according to an embodiment of the present application;

FIG. 5A is a schematic diagram of a user interface disclosed in an embodiment of the application;

FIG. 5B is a schematic diagram of another user interface disclosed in an embodiment of the application;

FIG. 6 is a schematic diagram of a process for identifying a blocking signal according to an embodiment of the present application;

FIG. 7 is a flow chart of another driving assistance method according to an embodiment of the present application;

FIG. 8 is a schematic flow chart of another method for identifying a blocking signal according to an embodiment of the present application;

fig. 9 is a schematic structural view of a driving assistance device according to an embodiment of the present application;

fig. 10 is a schematic structural view of another driving assisting apparatus according to an embodiment of the present application;

fig. 11 is a schematic structural view of still another driving assistance device according to an embodiment of the present application.

Detailed Description

The embodiment of the application discloses a communication method, a communication device and a computer readable storage medium, which are used for improving the throughput of a communication system. The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application.

It will be apparent that the described embodiments are only some, but not all, embodiments of the application. Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application for the embodiment. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly understand that the embodiments described herein may be combined with other embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application. The terms first, second, third and the like in the description and in the claims and in the drawings are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprising," "including," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion. For example, a series of steps or elements may be included, or alternatively, steps or elements not listed or, alternatively, other steps or elements inherent to such process, method, article, or apparatus may be included.

Only some, but not all, of the details relating to the application are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or at the same time. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.

As used in this specification, the terms "component," "module," "system," "unit," and the like are intended to refer to a computer-related entity, either hardware, firmware, a combination of hardware and software, or software in execution. For example, a unit may be, but is not limited to being, a process running on a processor, an object, an executable, a thread of execution, a program, and/or being distributed between two or more computers. Furthermore, these units may be implemented from a variety of computer-readable media having various data structures stored thereon. The units may communicate by way of local and/or remote processes such as in accordance with a signal having one or more data packets (e.g., second unit data from another unit interacting with a local system, distributed system, and/or across a network).

In order to better understand the embodiments of the present invention, a description will be given below of some terms and related techniques of the embodiments of the present invention.

An electronic control unit (electronic control unit, ECU), also simply referred to as an electronic control unit. The electric control unit is used for calculating, processing and judging information input by various sensors of the air gauge according to the program and the data in the memory of the electric control unit, and then outputting instructions to provide electric pulse signals with certain width for the fuel injector so as to control the fuel injection quantity. The electric control unit consists of microcomputer, input, output and control circuits.

Global navigation satellite systems (global navigation satellite system, GNSS) that locate pseudoranges, ephemeris, satellite transmission times and the like using a set of satellites, while also having to know the user clock bias. Global navigation satellite systems are space-based radio navigation positioning systems that can provide all-weather 3-dimensional coordinates and velocity and time information to a user at any location on the surface of the earth or near earth space. The system can accurately position longitude and latitude and altitude based on 4 satellites.

High-precision maps, which may also be referred to as high-definition maps or high-precision maps. The high-precision map contains a large amount of ancillary information, including an accurate three-dimensional representation of the road network (centimeter level precision). Such as road geometry, road sign line location, point cloud models of surrounding road environments, etc. Through the high-precision three-dimensional characterization, the intelligent automobile can accurately confirm the current position of the intelligent automobile by comparing the image data acquired by the vehicle-mounted GPS and the camera, and the like. In addition, the high-precision map can also contain rich semantic information, such as the position and type of traffic lights, the type of road marking lines, and the like. Such information may assist the smart car in perceiving the surrounding environment.

Along with the increase of the number of automobiles on roads, the situation that a front cart (such as a bus or a large truck) shields the sight of a rear cart driver often occurs at a crossroad with traffic congestion, so that the rear cart driver cannot observe the traffic lights of the front road, at this time, if the rear cart continues to follow the front cart, the phenomenon that the rear cart driver runs the red lights by mistake is easily caused, so that traffic accidents are easily caused, and meanwhile, the driver is penalized by deductions, fine and the like; if the rear trolley stops to follow the front cart and keeps a relatively long distance from the front cart, the cart passes through the traffic signal lamp in advance and then passes through the intersection, so that the traffic efficiency of the intersection is often reduced, and even the rear cart is led to squeeze in, so that the accident risk is increased.

In addition, under the condition of certain bad weather or interference of external factors, the vehicle driver cannot accurately observe the state of the traffic lights at the intersections. If the driver encounters dazzling sunlight or heavy fog, heavy rain and the like in the driving process, the driver can possibly feel difficult to see the specific signal and the remaining time of the traffic light, and accordingly accident potential can be easily caused.

Currently, in order to solve the above problem, one implementation manner is: the signal lamp control unit is arranged at the intersection, the vehicle-mounted receiving unit can be arranged on the vehicle, when the vehicle reaches the intersection, the signal lamp control unit can continuously send real-time state information of the traffic light to the vehicle receiving unit, and then the vehicle-mounted processor can assist a driver to make a passing or parking decision by analyzing the real-time state information of the traffic light. Another way is: the method comprises the steps that a central server is arranged, a vehicle uses a navigation function in the driving process, then the server can detect the position of the vehicle in real time through a car navigation map, when the vehicle is within a certain distance from a next traffic signal lamp, the server can send a request to a traffic control center to obtain state information and the remaining time of the traffic signal lamp and send the state information and the remaining time to the server, the server can send the state information and the remaining time of the traffic signal lamp to a car navigation system, and then the car navigation system can display the state information in a navigation screen so as to be convenient for a driver to check.

The system of the first implementation method is complex, the signal lamp control unit is required to be specially arranged at each intersection, the cost is high, the signal lamp control unit and the vehicle-mounted receiving unit of the vehicle need to communicate in real time, and in a crowded intersection, the external interference is usually large, the signal transmission and the signal reception are extremely easy to influence, and the information is easy to be received or the error information is easy to be received, so that the stability of the whole system is low. In the second implementation manner, the system implementation is complex, the server is required to detect the position of the automobile in real time, and meanwhile, the traffic control center is required to cooperate to obtain the state information and the remaining time of each traffic signal lamp. In addition, because the state information and the remaining time of the traffic signal lamp are acquired, the traffic signal lamp needs to be communicated back and forth among the automobile navigation system, the server and the traffic control center, the time delay is large, and meanwhile, the signal is easily interfered by various external factors in the transmission process.

Therefore, how to simply and effectively assist the driver to efficiently and safely pass through the intersection is a concern of the technician when the driver cannot observe the traffic light of the intersection.

In order to better understand the embodiments of the present invention, the following exemplary description will first describe a scenario in which the embodiments of the present invention are applicable.

By means of the driving assisting method, a driver can be assisted to pass through the intersection efficiently and safely, the phenomenon of mistakenly running the red light is avoided, and the probability of traffic accidents at the intersection is reduced.

Referring to fig. 1, fig. 1 is a schematic view of a traffic scene according to an embodiment of the present invention. As shown in fig. 1, in a road section, there are a car a (car) and a car B (bus), and the traffic of the car a and the car B is indicated by a signal lamp a. At this time, the automobile a is located behind the automobile B, and the front view of the driver of the automobile B is blocked by the front automobile B, so that the driver of the automobile a cannot observe the state of the signal lamp a. In this case, the car a continues to follow the front car B. Under the condition, assuming that the current state of the signal lamp A is green, the remaining time is 3 seconds, the remaining passing time can only enable the automobile B to pass successfully, if the automobile A continues to follow, the automobile A can mistakenly run the red light, so that traffic accidents are easy to cause, and meanwhile, the driver can be penalized by deduction, fine and the like.

In another case, the automobile a stops following the front automobile B, waits for the automobile B to pass in advance, and can see the traffic signal lamp and then pass. In this case, assuming that the current state of the signal lamp a is green, and the remaining time is 6 seconds, the remaining passing time may allow both the car B and the car a to pass successfully. However, if the driver of the car a stops following the front car B to avoid running the red light by mistake, and waits for the car B to pass through the intersection after seeing the traffic light, the driver of the car a misses the traffic (for example, after waiting for the car B to pass, the car a still leaves 3 seconds of the traffic time, but the driver of the car a waits for 5 seconds to observe the traffic light a, and at this time, the state of the traffic light a is changed into the red light, so that the traffic light is forbidden), thereby reducing the traffic efficiency of the road section and causing congestion.

If the driving assisting method provided by the embodiment of the invention is executed, the driver of the automobile A can know the real-time state and the residual time of the signal lamp A through the information displayed by the vehicle-mounted display module in the passing process, and the driver can be assisted to communicate and pass, so that the two situations can be avoided.

It should be understood that the scenario shown in fig. 1 is merely exemplary and not limiting. For example, the embodiment of the invention can be also applied to other conditions in which traffic signals cannot be observed, such as the case that the sight of a driver of a small car is blocked by a front large car at the rear of a road section with traffic jam such as an intersection, a T-shaped intersection and the like, and the case that the driver is interfered by severe weather such as heavy fog, heavy rain, sun and the like or external factors. In addition, the embodiment of the invention can be applied to the situation that a driver can only judge whether the traffic can be carried out or not through the signal lamp, but cannot judge specific residual traffic time, for example, the signal lamp at the intersection is only in a flashing state of a green lamp, and specific time information is not displayed.

The driving assisting method provided by the embodiment of the invention can be executed by a vehicle (namely an intelligent vehicle or an intelligent automobile) provided with a camera and having a certain object detection and identification function.

The intelligent vehicle can sense the road environment through the vehicle-mounted sensing system, assist the driver in driving and perform partial/full automatic driving. The intelligent vehicle uses the technologies of computer, modern sensing, information fusion, communication, artificial intelligence, automatic control and the like in a centralized way, and is a high-new technology complex integrating the functions of environment sensing, planning decision, multi-level auxiliary driving and the like. The intelligent vehicle in the embodiment of the invention can be an intelligent vehicle with a signal lamp shielding and identifying function (traffic light recognition + and TLR+) and can be provided with an auxiliary driving system or a full-automatic driving system. The tlr+ may be a function corresponding to the driving assistance method disclosed in the embodiment of the present invention, that is, a function of shielding signal lamp recognition may be implemented by the driving assistance method disclosed in the embodiment of the present invention. When the intelligent vehicle has the function of shielding the signal lamp and runs on the road, the intelligent vehicle can detect the distance between the intelligent vehicle and the intersection to be passed through in real time, then under the condition that the distance between the intelligent vehicle and the intersection to be passed through in front is smaller than a first threshold value (such as 20 meters), the state information of the traffic signal lamp of the intersection can be determined according to the traffic signal lamp duration table, the state information of the traffic signal lamp can comprise the state and the remaining time of the traffic signal lamp, and then the intelligent vehicle can display the state information of the traffic signal lamp on a vehicle-mounted display module of the intelligent vehicle.

Referring to fig. 2, fig. 2 is a functional block diagram of an intelligent vehicle according to an embodiment of the present application. As shown in fig. 2, the intelligent vehicle may include various subsystems, such as a travel system 202, a sensor system 204, a control system 206, one or more peripherals 208, as well as a power supply 210, a computer system 212, and a user interface 216. Alternatively, the intelligent vehicle may include more or fewer subsystems, and each subsystem may include multiple elements. In addition, each subsystem and element of the intelligent vehicle may be interconnected by wire or wirelessly.

The travel system 202 may include components that provide powered movement for the intelligent vehicle. In one embodiment, the travel system 202 may include an engine 218, an energy source 219, a transmission 220, and wheels/tires 221. The engine 218 may be an internal combustion engine, an electric motor, an air compression engine, or other type of engine combination, such as a hybrid engine of a gasoline engine and an electric motor, or a hybrid engine of an internal combustion engine and an air compression engine. The engine 218 converts the energy source 219 into mechanical energy.

Examples of energy sources 219 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. The energy source 219 may also provide energy to other systems of the intelligent vehicle.

The transmission 220 may transmit mechanical power from the engine 218 to the wheels 221. The transmission 220 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission 220 may also include other devices, such as a clutch. Wherein the drive shaft may comprise one or more axles that may be coupled to one or more wheels 221.

The sensor system 204 may include several sensors that sense information about the environment surrounding the intelligent vehicle. For example, the sensor system 204 may include a positioning system 222 (which may be a global positioning system (global positioning system, GPS), a beidou system or other positioning system), an inertial measurement unit (inertial measurement unit, IMU) 224, a radar 226, a laser rangefinder 228, and a camera 230. Sensor system 204 may also include sensors (e.g., in-vehicle air quality monitors, fuel gauges, oil temperature gauges, etc.) of the internal systems of the intelligent vehicle being monitored. Sensor data from one or more of these sensors may be used to detect objects and their corresponding characteristics (location, shape, direction, speed, etc.). Such detection and identification are key functions for the safe operation of autonomous intelligent vehicles.

Positioning system 222 may be used to estimate the geographic location of the intelligent vehicle. The IMU 224 is used to sense the position and orientation changes of the intelligent vehicle based on inertial acceleration. In one embodiment, the IMU 224 may be a combination of an accelerometer and a gyroscope. For example: the IMU 224 may be used to measure the curvature of an intelligent vehicle.

Radar 226 may utilize radio signals to sense objects within the surrounding environment of the intelligent vehicle. In some embodiments, in addition to sensing an object, the radar 226 may be used to sense the speed and/or heading of the object.

The laser rangefinder 228 may utilize a laser to sense objects in the environment in which the smart vehicle is located. In some embodiments, laser rangefinder 228 may include one or more laser sources, a laser scanner, and one or more detectors, among other system components.

A camera (webcam) 230 may be used to capture multiple images of the surroundings of the intelligent vehicle. The camera 230 may be a still camera or a video camera and the intelligent vehicle may include a camera or a plurality of cameras.

The control system 206 is configured to control the operation of the intelligent vehicle and its components. The control system 206 may include various elements including a steering system 232, a throttle 234, a brake unit 236, a computer vision system 240, a route control system 242, and an obstacle avoidance system 244.

Steering system 232 is operable to adjust the heading of the intelligent vehicle. For example, in one embodiment may be a steering wheel system.

The throttle 234 is used to control the operating speed of the engine 218 and thus the speed of the intelligent vehicle.

The brake unit 236 is used to control the intelligent vehicle to slow down. The brake unit 236 may use friction to slow the wheel 221. In other embodiments, the brake unit 236 may convert the kinetic energy of the wheels 221 into electrical current. The brake unit 236 may take other forms to slow the rotational speed of the wheels 221 to control the speed of the intelligent vehicle.

The computer vision system 240 may be operative to process and analyze images captured by the camera 230 to identify objects and/or features in the ambient environment of the intelligent vehicle. Such objects and/or features may include traffic signals, road boundaries, and obstacles. The computer vision system 240 may use object recognition algorithms, in-motion restoration structure (Structure from Motion, SFM) algorithms, video tracking, and other computer vision techniques. In some embodiments, the computer vision system 240 may be used to map an environment, track objects, estimate the speed of objects, and so forth.

The route control system 242 is used to determine the travel route of the intelligent vehicle. In some embodiments, route control system 242 may incorporate data from sensors, GPS 222, and one or more predetermined maps to determine a travel route for the intelligent vehicle.

The obstacle avoidance system 244 is used to identify, evaluate, and avoid or otherwise traverse potential obstacles in the environment of the intelligent vehicle.

Of course, in one example, control system 206 may additionally or alternatively include components other than those shown and described. Or some of the components shown above may be eliminated.

The intelligent vehicle interacts with external sensors, other vehicles, other computer systems, or users through peripheral devices 208. Peripheral devices 208 may include a wireless communication system 246, a vehicle computer 248, a microphone 250, and/or a speaker 252.

In some embodiments, the peripheral device 208 provides a means for a user of the intelligent vehicle to interact with the user interface 216. For example, the vehicle computer 248 may provide information to a user of the intelligent vehicle. The user interface 216 may also operate the vehicle computer 248 to receive user input. The vehicle computer 248 may operate via a touch screen (a physical form of the vehicle display module). In other cases, the peripheral device 208 may provide a means for the intelligent vehicle to communicate with other devices located within the vehicle. For example, microphone 250 may receive audio (e.g., voice commands or other audio input) from a user of the intelligent vehicle. Similarly, speaker 252 may output audio to a user of the intelligent vehicle.

The wireless communication system 246 may communicate wirelessly with one or more devices directly or via a communication network. For example, the wireless communication system 246 may use 2G or 3G cellular communications, such as global system for mobile communications (global system for mobile communication, GSM), code division multiple access (code division multiple access, CDMA), or 4G cellular communications, such as long term evolution (long term evolution, LTE). Or 5G cellular communications, future networks, such as sixth generation mobile communications technology (6th generation mobile communication technology,6G), etc. The wireless communication system 246 may communicate with a wireless local area network (wireless local area network, WLAN) using WiFi. In some embodiments, wireless communication system 246 may communicate directly with devices using an infrared link, bluetooth, or ZigBee (ZigBee). Other wireless protocols, such as: various vehicle communication systems, for example, wireless communication system 246 may include one or more dedicated short-range communication (dedicated short range communications, DSRC) devices, which may include public and/or private data communications between vehicles and/or roadside stations.

The power supply 210 may provide power to various components of the intelligent vehicle. In one embodiment, the power source 210 may be a rechargeable lithium ion or lead acid battery. One or more battery packs of such batteries may be configured as a power source to provide power to various components of the intelligent vehicle. In some embodiments, the power source 210 and the energy source 219 may be implemented together, such as in some all-electric vehicles.

Some or all of the functions of the intelligent vehicle are controlled by the computer system 212. The computer system 212 may include at least one processor 213, the processor 213 executing instructions 215 stored in a non-transitory computer readable medium such as a memory 214. The computer system 212 may also be a plurality of computing devices that control individual components or subsystems of the intelligent vehicle in a distributed manner.

The processor 213 may be any conventional processor, such as a commercially available central processing unit (central processing unit, CPU). Alternatively, the processor may be a special purpose device such as an application specific integrated circuit (application specific integrated circuit, ASIC) or other hardware-based processor. Those of ordinary skill in the art will appreciate that the processor, computer, or memory may in fact comprise a plurality of processors, computers, or memories that may or may not be stored within the same physical housing. For example, the memory may be a hard disk drive or other storage medium located in a different housing than the computer. Thus, references to a processor or computer will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Rather than using a single processor to perform the steps described herein, some components, such as the steering component and the retarding component, may each have their own processor that performs only calculations related to the component-specific functions.

In various aspects described herein, the processor may be located remotely from the vehicle and in wireless communication with the vehicle. In other aspects, some of the processes described herein are performed on a processor disposed within the vehicle and others are performed by a remote processor, including taking the necessary steps to perform a single maneuver.

In some embodiments, memory 214 may contain instructions 215 (e.g., program logic), which instructions 215 may be executed by processor 213 to perform various functions of the intelligent vehicle, including those described above. The data storage 224 may also contain additional instructions, including instructions to send data to, receive data from, interact with, and/or control one or more of the travel system 202, the sensor system 204, the control system 206, and the peripherals 208.

In addition to instructions 215, memory 214 may store data such as road maps, route information, vehicle location, direction, speed, and other such vehicle data, as well as other information. Such information may be used by the intelligent vehicle and the computer system 212 during operation of the intelligent vehicle in autonomous, semi-autonomous, and/or manual modes. For example: the current speed and the current curvature of the vehicle can be finely adjusted according to the road information of the target road section and the received vehicle speed range and vehicle curvature range so that the speed and the curvature of the intelligent vehicle are within the vehicle speed range and the vehicle curvature range.

A user interface 216 for providing information to or receiving information from a user of the intelligent vehicle. Optionally, the user interface 216 may include one or more input/output devices within the set of peripheral devices 208, such as a wireless communication system 246, a vehicle computer 248, a microphone 250, and a speaker 252.

The computer system 212 may control the functions of the intelligent vehicle based on inputs received from various subsystems (e.g., the travel system 202, the sensor system 204, and the control system 206) as well as from the user interface 216. For example, the computer system 212 may utilize input from the control system 206 for the steering system 232 to avoid obstacles detected by the sensor system 204 and the obstacle avoidance system 244. In some embodiments, computer system 212 is operable to provide control over many aspects of the intelligent vehicle and its subsystems.

Alternatively, one or more of these components may be mounted separately from or associated with the intelligent vehicle. For example, the memory 214 may exist partially or completely separate from the intelligent vehicle. The above components may be communicatively coupled together in a wired and/or wireless manner.

Alternatively, the above components are only an example, and in practical applications, components in the above modules may be added or deleted according to actual needs, and fig. 2 should not be construed as limiting the embodiments of the present application.

An autonomous car traveling on a road, such as the intelligent vehicle above, may identify objects within its surrounding environment to determine adjustments to the current speed. The object may be another vehicle, a traffic control device, or another type of object. In some examples, each identified object may be considered independently and based on its respective characteristics, such as its current speed, acceleration, spacing from the vehicle, etc., may be used to determine the speed at which the autonomous car is to adjust.

The intelligent vehicle may be a car, a truck, a motorcycle, a bus, a ship, an airplane, a helicopter, a mower, an amusement ride, a recreation ground vehicle, construction equipment, an electric car, a golf car, a train, a trolley, or the like, and the embodiment of the application is not particularly limited.

It will be appreciated that the smart vehicle functional diagram of fig. 2 is merely an exemplary implementation of an embodiment of the present application, and that smart vehicles in embodiments of the present application include, but are not limited to, the above structures.

Based on the application scenario and the intelligent vehicle, please refer to fig. 3, fig. 3 is a schematic flow chart of an auxiliary driving method disclosed in the embodiment of the application. As shown in fig. 3, the driving assistance method may include the following steps.

301. The distance between the vehicle and the intersection ahead is detected.

In order to avoid the vehicles running the red light of the crossing by mistake and ensure driving safety, the vehicle can detect the distance between itself and the crossing in front (i.e. the crossing to be passed in front of the vehicle) in real time or periodically (e.g. 0.5 seconds, 1 second) so as to find the crossing to be approached by itself in advance and determine the state information of the traffic light of the crossing in front (i.e. the crossing in front) in time. In the embodiment of the invention, the intersection is understood to include a place where traffic signals indicate the traffic of vehicles, such as a signal lamp a in fig. 1 is used to indicate that the vehicles a and B pass through a crosswalk, where the crosswalk may be referred to as an intersection, a common crosswalk, a t-intersection, and the like.

The vehicle may detect the distance between itself and the lane stop line as the distance between the vehicle and the intersection ahead. Specifically, during the running process of the vehicle, an image or a video in front of the vehicle can be acquired through the camera, then whether a lane stop line appears in front can be detected through algorithms such as target detection, and if the lane stop line appears in front is detected, the distance between the vehicle and the lane stop line in front can be calculated. The vehicle may detect traffic lights, crosswalk lines, and the like, and determine the distance between itself and the traffic lights or crosswalk lines at the front intersection as the distance between itself and the lane stop line at the front.

The vehicle can also acquire the position of the vehicle by the positioning system, and then determine the distance between the vehicle and the intersection in front according to the position of the vehicle and the high-precision map. Specifically, the vehicle can acquire the current position of the vehicle through a positioning system such as a GPS (global positioning system), then the vehicle can determine the specific position of the vehicle on a high-precision map through the position, the position of the vehicle can be further accurate by combining external environment information acquired by a camera, and then the vehicle can determine the distance between the vehicle and a lane stop line of a front intersection through the high-precision map.

302. And under the condition that the trigger display condition is met based on the distance analysis between the vehicle and the intersection in front, determining the state information of the first traffic signal lamp according to the traffic signal lamp duration table.

The triggering display condition may be that a distance between the vehicle and the intersection in front of the vehicle is detected to be smaller than a first threshold value, or that a distance between the vehicle and the intersection in front of the vehicle is detected to be smaller than the first threshold value, and that the first traffic signal lamp is blocked. When the trigger display condition is that the distance between the vehicle and the intersection in front is detected to be smaller than the first threshold value, the vehicle can determine whether the first traffic signal lamp is blocked or not without determining whether the first traffic signal lamp is blocked or not, and in this case, the vehicle can determine the state information of the first traffic signal lamp according to the traffic signal lamp duration table. When the triggering display condition is that the distance between the vehicle and the intersection in front is detected to be smaller than a first threshold value and the first traffic signal lamp is detected to be shielded, the vehicle needs to determine whether the first traffic signal lamp is shielded or not, and in the case, the vehicle can determine the state information of the first traffic signal lamp according to the traffic signal lamp duration table only under the condition that the first traffic signal lamp is shielded; that is, the vehicle may not determine the status information of the first traffic signal if the first signal is not occluded.

The vehicle can use the detected distance between itself and the road stop line of the front road junction, or the signal lamp, or the crosswalk line as the distance between itself and the road junction in front, and then determine whether itself approaches the road junction in front. When the trigger display condition is that the distance between the vehicle and the intersection in front of the vehicle is detected to be smaller than the first threshold value, if the distance between the vehicle and the intersection is detected to be larger than or equal to the first threshold value (such as 30 meters), the distance between the vehicle and the intersection is indicated to be further, the vehicle cannot pass through the intersection in a short time (such as 8 seconds), the vehicle can not respond, and the distance between the vehicle and the intersection can be continuously detected; if it is detected that the distance between itself and the lane stop line of the preceding intersection is less than a first threshold value (e.g., 30 meters), the vehicle may consider itself to have approached the preceding intersection and will pass the intersection, after which the vehicle may determine the status information of the first traffic light based on the traffic light duration table. The first traffic signal lamp is a traffic signal lamp corresponding to a front intersection, namely, a traffic signal lamp for indicating the automobile on the lane where the vehicle is currently running to pass. As shown in fig. 1, assuming that the current vehicle is a car a, the first traffic signal may be a signal a indicating that the car a is passing on a lane where the car a is currently traveling (e.g., car a and car B). Similarly, if the current vehicle is automobile C, the first traffic signal is signal C. Taking the automobile C as an example, at the moment, the front of the automobile C is not shielded, a driver of the automobile C can observe the signal lamp C, but if the signal lamp C displays the states of a red light, a green light, a yellow light and the like, specific countdown information (namely the remaining time) is not realistic, so that when the driver of the automobile C observes the states of the signal lamp C such as green light flickering and the like, the time remaining for passing is unclear, the driver is very easy to cause mistakenly running the red light, and therefore, the automobile C can determine the state information of the signal lamp C according to a traffic signal lamp duration table so as to be displayed through a display module, the driver is assisted to pass, and the probability of accident occurrence is reduced.

When the trigger display condition is that the distance between the vehicle and the intersection in front is detected to be smaller than a first threshold value and the first traffic signal lamp is detected to be shielded, the vehicle can detect the first traffic signal lamp first after the distance between the vehicle and the lane stop line of the intersection in front is detected to be smaller than the first threshold value. Since the driver can drive according to the traffic signal safely under the condition that the driver of the vehicle can observe the traffic signal at the intersection ahead, the vehicle can drive without assisting the driver, so that the state information of the first traffic signal can be not determined, and resources (such as computing resources and the like) can be saved. Specifically, after detecting that the distance between the vehicle and the lane stop line of the front intersection is smaller than the first threshold, that is, after determining that the vehicle approaches the intersection, the vehicle may first detect the first traffic signal (that is, detect and track the signal of the current lane through the camera of the vehicle), and when detecting that the first traffic signal is blocked (that is, when the traffic signal of the front intersection fails to detect), it indicates that the line of sight of the driver of the vehicle is blocked (that the vehicle is in front of the vehicle), the traffic signal of the front intersection cannot be observed, the vehicle may enter the tlr+ function, then the state information of the first traffic signal may be determined according to the traffic signal duration table, and when detecting that the first traffic signal is not blocked (that is, when successfully detecting and tracking the traffic signal of the front intersection), it indicates that the line of sight of the driver of the vehicle is not blocked, and the state information of the first traffic signal may not be determined.

It should be understood that the trigger display condition may be other conditions, and embodiments of the present invention are not limited herein. For example, the trigger display condition may also be that the distance between the vehicle and the intersection in front is detected to be smaller than a first threshold value, and the remaining time of the first traffic light is not detected, and the trigger display condition may also be that the time required for the vehicle to pass through the intersection in front is predicted to be smaller than a specific threshold value. Specifically, the vehicle may determine whether the vehicle approaches the intersection by determining whether the time required for the vehicle to pass through the intersection at the current instantaneous speed or average speed (e.g., the average speed within the first 5 seconds of the current time) is less than a specific threshold (e.g., 8 seconds), and in the case that the time is less than the threshold, the vehicle may determine that the distance between the vehicle and the intersection is still further, and the vehicle may not respond by not passing through the intersection in a short time (e.g., 8 seconds), and may continue to detect whether the vehicle approaches the intersection. Meanwhile, the vehicle can comprehensively judge whether the vehicle approaches the front intersection or not by combining the expected time of the vehicle passing through the front intersection and the distance between the vehicle and the front intersection, so that a more accurate judgment result can be obtained.

The status information of the traffic light may include the status of the traffic light and the remaining time. The traffic signal lamp can be in red, green and yellow states, or in green (such as green straight arrow and green left-turn arrow) and red arrow states. The traffic light status may also be straight/no straight, and left/no left, and right/no right, and u/no u. In particular, the states of the traffic lights determined by the vehicle according to the traffic light duration table may include 16 states, respectively (straight, left turn, right turn, turn around), (straight, left turn forbidden, right turn around), straight, left turn forbidden, right turn forbidden, turn around), (straight, left turn forbidden, turn around) right turn, turn-around-inhibit), (straight-going, turn-around-inhibit, turn-around-inhibit, turn left turn, right turn, turn around), (straight run-out prohibition, left turn, right turn, turn around), (straight run prohibition, left turn, right turn prohibition, turn around), (straight run-out prohibition, left turn prohibition, right turn around prohibition), (straight run prohibition, left turn, right turn prohibition, turn around prohibition), (straight run prohibition, left turn prohibition, right turn prohibition, turn around prohibition). The state of the traffic light determined by the traffic light duration table may be straight and/or left and/or right and/or turn around, and the state of no traffic is not included.

The remaining time of the traffic light is the remaining time corresponding to the state of the traffic light. For example, the status of the traffic light may be red light and the remaining time of the traffic light may be 10 seconds; the state of the traffic signal lamp can also be (straight, left turn, right turn and turning around) and the remaining time of the traffic signal lamp can be 10 seconds, and the remaining traffic time of the intersection for indicating traffic by the traffic signal lamp to go straight can be 10 seconds, and the left turn, the right turn and the turning around are forbidden. The remaining time of the traffic signal lamp can also be in one-to-one correspondence with each state of the traffic signal lamp, for example, the state of the traffic signal lamp can be (straight, left turn forbidden, right turn forbidden, turn around forbidden), the remaining time of the traffic light may be (10 seconds, NULL, infinity (+infinity)), the left-turn prohibition time is 10 seconds (namely, the intersection can turn left after 10 seconds) and the left-turn prohibition time is also 10 seconds (namely, the intersection can turn left after 10 seconds), the left-turn prohibition time is NULL, which indicates that the intersection can turn right at any time, and the left-turn prohibition time is infinity, which indicates that the intersection cannot turn around at any time.

The traffic signal lamp duration table (traffic road network signal lamp duration table) can store information of a plurality of traffic signal lamps, and specifically can include identifications of the plurality of traffic signal lamps, period information of the corresponding traffic signal lamps and state information of reference time. The reference time may be any time, and the plurality of traffic signals includes a first traffic signal. The period information of the traffic signal lamp can comprise the duration time of the traffic signal lamp in different states and the interval time of the traffic signal lamp in the same state.

For example, the state information of the reference time of the signal light C shown in fig. 1 stored in the traffic signal light duration table may be yellow 0, the reference time may be 2021, 9 months 12 pm, 20 minutes 00 seconds (14:20:00), and the period information of the signal light C may be red light duration: 120 seconds(s), yellow light duration: 5s, green light duration: 120s. The red light duration of 120 seconds may be understood as 120 seconds (i.e. the time of no traffic is 120 seconds) for each red light, the yellow light duration of 5 seconds may be understood as 5 seconds for each yellow light, and the green light duration of 120 seconds may be understood as 120 seconds for each green light. It should be appreciated that since the change state of a traffic light may be fixed each day, the reference time may also be any time of day (e.g., 24:00:00). The embodiment of the invention discloses a storage format of a traffic signal lamp duration table, and particularly relates to a table 1 below. The numbers in table 1 are numbers (i.e., identifications) of traffic lights, and one traffic light may have a unique number.

Numbering device

Duration of red light

Yellow light duration

Green light time

Absolute state at 24:00:00

…

24:02:00

…

00001

120s

5s

120s

Green 0

…

Yellow 0

…

00002

140s

6s

140s

Red 5

…

Red 125

…

00003

200s

6s

200s

Yellow 1

…

Red 115

…

TABLE 1

The absolute states at 24:00:00 of table 1 are the states of the reference time, the red light duration, the yellow light duration, and the green light duration are the durations (i.e. period information) of the traffic lights, and meanwhile, the color of each traffic light can be stably and alternately operated, and the duration can be fixed. For example, for the traffic light numbered 00001, the state is periodically changed by green light 120 seconds, yellow light 5 seconds, and red light 120 seconds. Meanwhile, at the reference time of 24:00:00, the state of the traffic signal with the number 00001 is green 0, which can indicate that the traffic signal just changes from a yellow light to a green light, the state of the traffic signal with the number 00002 is red 5, which can indicate that the red light of the traffic signal has started for 5 seconds, and accordingly, the absolute states of other traffic signals at 24:00:00 can be equally understood (for example, yellow 1 can represent that the yellow light has started for 1 second). Meanwhile, through the absolute state at the time of 24:00:00, the vehicle can also determine the absolute state of the traffic signal lamp at any moment, for example, the state of the traffic signal lamp with the number 00001 at the time of 24:02:00 (i.e. 00:02:00) can be determined to be yellow 0, the state of the traffic signal lamp with the number 00002 at the time of 24:02:00 (i.e. 00:02:00) can be red 125 and the like, the vehicle can store the state of each traffic signal lamp at any moment in the traffic signal lamp duration table, and can also store the state of only one reference moment, and the states of other any moments can be calculated through the state and period information of the reference moment.

It should be understood that red 5 may also represent a red light with a remaining time of 5 seconds, and green 0 may represent a green light with a remaining time of 0 seconds, which is not limited herein, and the rule of representation may be determined according to the actual situation.

The state information of the reference time of the signal lamp C shown in fig. 1 stored in the traffic signal lamp duration table may be (straight, left turn, right turn, no turning around), (10 seconds, NULL value (NULL), infinity), the reference time may be 20 minutes 12 seconds (14:20:12) at 12 pm at 9 months of 2021, and the period information of the signal lamp C may be (straight: 30 seconds, 90 seconds, left turn: 30 seconds, 90 seconds, right turn: NULL, turning around: infinity). The two values corresponding to the straight line and the left turn are 30 seconds and 90 seconds respectively, which can be understood that the duration of each straight line and the left turn of the intersection indicated by the signal lamp C is 30 seconds, then the intersection needs to wait 90 seconds to perform the next straight line and the left turn, the value corresponding to the right turn is NULL, which can be understood that the intersection can turn right at any time, and the value corresponding to the turning-around is infinite, which can be understood that the intersection cannot turn around at any time. The following table 2 is a storage format of another traffic signal duration table disclosed in the embodiment of the present invention.

TABLE 2

It should be understood that the above-described storage formats of the traffic signal duration tables of table 1 and table 2 are exemplary only and not limiting. It should also be understood that the traffic light duration table may be stored locally on the vehicle or on a server, and meanwhile, besides the form of a table, the traffic light duration table may be stored in other structured or unstructured data formats, and only needs to include the identification of the traffic light, the period information of the corresponding traffic light and the state information of the reference time. And, the traffic signal lamp duration table may further include the type of the traffic signal lamp (such as a horizontal bar lamp or a vertical bar lamp), the combination mode of the traffic signal lamp (such as a single lamp, two lamps, three lamps and even four lamps), the indication type of the traffic signal lamp (such as an arrow, a round head and the like), the number of the intersection corresponding to each traffic signal lamp, the passing rule of the corresponding intersection and the like.

It should be noted that, the traffic light duration meter can be collected and maintained through the high-definition map collection vehicle. The map acquisition vehicle can support the acquisition update frequency approaching to the level of days or hours, and a large number of intelligent vehicles running on roads can also execute a part of acquisition work, so that the traffic light duration table can be kept continuously updated, and the accuracy is higher.

The vehicle determines the state information of the first traffic signal lamp according to the traffic signal lamp duration table, and the state information may be: the vehicle may acquire the identifier of the first traffic signal lamp according to the high-precision map, then may acquire the period information of the first traffic signal lamp and the state information of the reference time from the traffic light duration table according to the identifier of the first traffic signal lamp, and then may determine the state information of the first traffic signal lamp (that is, the state information of the first traffic signal lamp at the current time) according to the period information of the first traffic signal lamp and the state information of the reference time.

For example, as shown in fig. 1, the car a can determine that the mark of the signal a is 00001 through the high-precision map, and then can find the period information of the signal a and the state information of the reference time from the traffic signal duration table through the mark 00001, wherein the period information in the table 1 is (straight: 30 seconds, 90 seconds, left-turn: 30 seconds, 90 seconds, right-turn: NULL, turning around: infinity), and the 24:00:00 calibration state is (straight, left-turn, right-turn, turning around forbidden), (10 seconds, NULL, infinity). Thereafter, the vehicle may determine the status information of signal lamp a at the current time. If the current time is 24:01:45, the vehicle can determine that the state information of the signal lamp A is (straight, left turn, right turn, turn around forbidden), (25 seconds, NULL, infinity).

Optionally, when the vehicle determines the state information of the first traffic signal according to the traffic signal duration table, it may first determine whether the traffic signal duration table contains the information of the first traffic signal, if not (i.e. it is determined that the traffic signal duration table does not include the information of the first traffic signal), and if it is detected that the first traffic signal is blocked, the vehicle may detect the state and the remaining time of the third traffic signal at the intersection in front. In the case where the state and the remaining time of the third traffic light are detected, the vehicle may determine the state information of the first traffic light according to the state and the remaining time of the third traffic light. The third traffic light may be any one or more lights of the intersection other than the first traffic light.

The vehicle determines the state information of the first traffic signal lamp according to the state and the remaining time of the third traffic signal lamp, and the state information may be: and the vehicle determines the state information of the first traffic signal lamp according to the traffic rule of the intersection in front and the state and the remaining time of the third traffic signal lamp. Specifically, since the traffic rules (including the traffic time and the traffic order) of each intersection may be fixed, the traffic rules of each intersection may be stored locally in advance for the vehicle, and each intersection may be numbered. The traffic rules may include a change rule of traffic lights at the intersection (that is, a change rule of states of the traffic lights may include a traffic time and a traffic sequence in each direction of the intersection) and period information (that is, information such as a traffic period) and may be understood as a change rule of the traffic lights at the intersection (such as a change of color of the traffic lights, a change of states of the traffic lights, etc.).

For example, referring to fig. 4, fig. 4 is a schematic view of a traffic scene of an intersection according to an embodiment of the present invention. For example, as shown in fig. 4, the traffic rule may be that when the signal lamp is a green lamp or a yellow lamp, the vehicle corresponding to the lane may pass through the intersection, and may turn left or go straight at the intersection, and at the same time, the crosswalk on the right of the vehicle is also in a synchronous state, and may pass. When the signal lamp A is a green lamp or a yellow lamp, the automobile A and the automobile B can pass through the intersection and can turn left or go straight at the intersection, and the state of the signal lamp (namely the pedestrian lamp A and the pedestrian lamp B) corresponding to the crosswalk A is the same as that of the signal lamp A; when the signal lamp C is a green lamp or a yellow lamp, the automobile C can pass through the intersection and can turn left or go straight at the intersection, and the state of the signal lamp (namely, the pedestrian lamp C and the pedestrian lamp D) corresponding to the pedestrian crosswalk C is the same as the state of the signal lamp C; accordingly, other traffic lights at the intersection are also the same rule. Meanwhile, the traffic sequence of the crossroad can be anticlockwise, and the traffic time of each traffic signal lamp can be 30 seconds (for example, the green light time can be 25 seconds each time, and the yellow light time can be 5 seconds). Assuming that the signal lamp B just turns green at the current time (e.g., 12:00:00), the state and the remaining time of the signal lamp B may be (straight, left, right, u-turn, 30 seconds, infinity, infinite), while the state and the remaining time of the signal lamp a may be (straight, left, right, u-turn, 30 seconds, infinity, infinite), the state and the remaining time of the signal lamp D may be (straight, left, right, u-turn, 60 seconds, infinity, infinite), and the state and the remaining time of the signal lamp C may be (straight, left, right, 90 seconds, infinity, infinite). Thus, at 12:00:30, the state and remaining time of signal light A can be changed (straight, left turn, right turn, turn around), 30 seconds, infinity, infinite, and car A and car B can pass.

In the case where the car a stores a traffic rule of a front intersection and detects that the signal lamp a is blocked, the car a may detect the states and remaining times of other traffic signal lamps (e.g., signal lamp C, signal lamp D, etc.) of the intersection so that the state information of the signal lamp a may be determined according to the states and remaining times of the other traffic signal lamps. Assuming that when the vehicle a detects that the state and the remaining time of the signal lamp D are (straight-going, left-turn, right-turn, u-turn, 25 seconds, infinity, infinite), the vehicle a can determine that the state and the remaining time of the signal lamp a are (straight-going, left-turn, infinity, infinite), (25 seconds, infinity, infinite) according to the traffic rule. Similarly, when the car a detects the state and the remaining time of the signal lamp D, or the signal lamp C, or other pedestrian lamps, the car a may also determine the state and the remaining time of the signal lamp a. When the car a detects that the state of the signal lamp C is (straight, left turn, right turn, u turn), 50 seconds, infinity, the car a can determine that the state and the remaining time of the signal lamp a are (straight, left turn, infinity), (20 seconds, infinity).

It can be seen that the state information of any traffic signal lamp can be calculated through the traffic rule of the intersection and the states and the remaining time of one or more other signal lamps. Therefore, under the condition that the vehicle cannot determine the state information of the first traffic light according to the traffic light duration table, the vehicle can determine the state information of the first traffic light by detecting the third traffic light of the intersection, so that the state information of the first traffic light can be further ensured to be accurately obtained, a driver can be further assisted to pass through the intersection efficiently and safely, the phenomenon of mistakenly running the red light is avoided, and the probability of traffic accidents at the intersection is reduced.

Meanwhile, it should be understood that at intersections where the traffic rules are complex, for a certain traffic signal, the status information of multiple traffic signals may be required to determine the status information of the traffic signal.

Alternatively, the vehicle may update the traffic light duration table during travel. In the process that the vehicle passes through the intersection of the second traffic light, the state information of the second traffic light is detected and acquired, and when the state information of the second traffic light is inconsistent with the state information of the second traffic light determined based on the traffic light duration table, the information of the second traffic light in the traffic light duration table can be updated based on the detected state information of the second traffic light. Specifically, if an image or video of a traffic signal lamp can be acquired through a camera of the vehicle (for example, within 50 meters from the first traffic signal lamp) during the running process of the vehicle, the vehicle can detect the traffic signal lamp. Under the condition that the vehicle can detect the traffic light, if the vehicle can determine the state information of the current time of the traffic light, the state information can be compared with the state information of the current time of the traffic light determined by a traffic light time length table, and if the state information of the current time of the traffic light determined by the traffic light time length table is the same as the state information of the traffic light detected in real time, the state information of the reference time in the traffic light time length table is correct (namely, no change occurs), and the data corresponding to the traffic light in the traffic light time length table can be not updated; if the state information of the current time of the traffic signal lamp determined by the traffic signal lamp time length table is different from the state information of the traffic signal lamp detected in real time, the reference time in the traffic signal lamp time length table is wrong (namely, the change occurs), the data corresponding to the traffic signal lamp in the traffic signal lamp time length table can be updated, for example, the current time is directly taken as the reference time, and the state information of the traffic signal lamp detected at the current time is determined as the corresponding calibration state.

Similarly, the vehicle may detect the first traffic signal in the event that an image or video of the first traffic signal may be acquired. Under the condition that the state of the first traffic light is detected to change (for example, the first traffic light is changed from red light to green light at the current moment), or under the condition that the state of the first traffic light and the remaining time are detected (for example, the state of the first traffic light at the current moment is (straight, left turn, right turn and turning around is forbidden), the corresponding remaining time is (10 seconds, NULL value (NULL) and infinity)), the vehicle can determine the state information of the first traffic light at the current moment, and can update the information of the first traffic light in the traffic light duration table to calibrate errors. Therefore, the vehicle can continuously detect the traffic signal lamp in the driving process, and if the transition moment (such as red to green or yellow to red) of the traffic signal lamp is detected before the vehicle passes through the intersection, or the state and the residual time of the traffic signal lamp are directly detected, the traffic lamp duration table can be updated according to the state information of the current moment, and the accuracy of the traffic signal lamp duration table can be ensured.

For example, as shown in fig. 1, if the automobile a detects that the traffic light a is changed from red light to green light when the automobile a is far from the intersection, the change time is 14:20:00, then the automobile a may update the traffic light duration table first, for example, the reference time of the traffic light a is updated to 14:20:00, the state corresponding to the reference time is green 0 (refer to table 2 above), and then when the automobile a approaches the intersection, the state information of the traffic light a at the current time may be determined according to the updated traffic light duration table.

303. And displaying the state information of the first traffic signal lamp through the vehicle-mounted display module.

Specifically, after the vehicle determines the status information of the first traffic light, the vehicle may display the status information of the first traffic light through the in-vehicle display module. The vehicle-mounted display module may be a vehicle-mounted display screen, a 2D projection module, a 3D projection module, or the like, which is not limited herein. For example, as shown in fig. 4, when the vehicle a approaches an intersection, state information indicating the current time of a traffic signal (i.e., signal a) that is passing through the vehicle a may be determined, but signal B, signal C, signal D, and crosswalk light may not be determined, and similarly, when the vehicle C approaches an intersection, only state information at the current time of signal C may be determined. Assuming that the state information of the signal lamp a determined by the automobile a is (straight, left turn, right turn, turn around forbidden), (10 seconds, NULL, infinity), the automobile a may display the state information through the on-vehicle display module, and may be specifically shown in fig. 5A. The user interface shown in fig. 5A may include real-time forward road information and state information of signal lamps of a forward intersection, such as a left turn and a right turn, for example, may be displayed as 10.00 seconds(s), and at the same time, since the intersection may turn right at any time, a specific time may not be displayed, and the intersection may not turn around, and thus a turn around state and a corresponding remaining time may not be displayed. Assuming that the state information of the signal lamp a determined by the car a is green 10, it may indicate that the remaining time of the green lamp of the signal lamp a is 10 seconds, the car a may display the state information through the on-vehicle display module, which may be specifically shown in fig. 5B. The user interface shown in fig. 5B may include real-time road information in front and real-time analog states of the signal lights of the front intersection, for example, the current state may be displayed as a green light, i.e., the rightmost light is displayed as a green light, and the left two lights are not displayed in any state of black, where the green light corresponds to 10.00 seconds, and the driver may be assisted in passing by directly simulating the states of the signal lights of the front intersection. It should be understood that the user interfaces shown in fig. 5A and 5B are merely exemplary and not limiting.

Alternatively, the vehicle may determine an average speed of itself in a first period of time (e.g., within the first five seconds of the current time), and then determine traffic indication information according to the average speed, the state information of the first traffic signal lamp, and a distance between itself and a lane stop line of the front intersection, and in the case where the traffic indication information is a prohibited traffic, may output warning information in a sound manner, may output warning information in an image manner, and may output warning information in a sound and image manner. It should be understood that, in the embodiment of the present invention, the manner in which the warning information is output by the vehicle is not limited.

The vehicle determines traffic indication information according to the average speed, the state information of the first traffic signal lamp and the distance between the vehicle and the lane stop line of the front intersection. The method specifically comprises the following steps: the vehicle can determine the remaining passing time according to the state information of the first traffic signal lamp, then the vehicle can determine the first time according to the average speed and the distance between the vehicle and the lane stop line of the front intersection (namely the remaining passing distance), the first time is the time required for the vehicle to pass through the intersection at the average speed, then the vehicle can compare the size between the first time and the remaining passing time, and the vehicle can determine the passing indication information as passing under the condition that the first time is smaller than the remaining passing time; in the case where the first time is greater than or equal to the remaining passage time, the vehicle may determine that the passage indication information is a no-passage.

For example, as shown in fig. 4, when the automobile a approaches an intersection, the state information of the traffic light a at the moment can be obtained according to the traffic light duration table, the remaining passing time of each direction (straight, left turn, right turn, head drop, etc.) can be known according to the state information of the traffic light a, meanwhile, the automobile a can determine the moving distance of the automobile a in the period before the current moment (such as the period before 5 seconds) by utilizing a laser radar, a high-precision map, etc., so that the average speed of the automobile a in the period before the current moment can be determined by combining a sliding window averaging method, etc., if the total moving distance in the period before 5 seconds is 15 meters, the average speed is 3 meters/second; the distance between the vehicle a and the lane stop line of the intersection in front of the vehicle a (for example, 12 meters) can be determined by means of a high-precision map, a traditional map, lane line detection and the like, and then the vehicle a can determine the time required for passing through the intersection according to the distance and the average speed, which can be 4 (12/3) seconds. And then, the automobile A can also determine the direction of the automobile required to move at the intersection according to a navigation system, lane line detection and other modes (for example, the automobile A can determine that the automobile is required to pass through the intersection in front of the automobile through the navigation system, or the automobile A can determine that the lane where the automobile is currently positioned is a straight lane and a right-turning lane through a high-definition map, so that the automobile can determine that the automobile can turn left or straight at the intersection). Then, the automobile a can judge whether itself can successfully pass through the intersection by combining the movement direction of the automobile a, the expected required passing time and the remaining passing time of all directions (straight, left turn, right turn, head drop and the like) of the intersection. When the automobile a determines that the automobile a needs to go straight at the intersection, and the state information of the signal lamp a is (straight, left turn, right turn, no turning around), (3 seconds, NULL, infinity), the automobile a can determine that the expected required passing time is 4 seconds greater than the remaining passing time of straight for 3 seconds, so the automobile a can determine that the passing indication information is no passing (i.e. the automobile a cannot pass through the intersection successfully), and accordingly a driver of the automobile a can be informed of the stopping of the automobile a by voice and other modes (such as a buzzing prompt), or the automobile a can utilize an auxiliary driving system and an electric control unit to control the automobile a to perform the stopping of the automobile a in advance, and the automobile a can be slowly stopped, so that the comfort level of passengers of the automobile a can be improved. If the straight-going remaining traffic time is 10 seconds, the car a can determine that the expected required traffic time is less than the straight-going remaining traffic time by 4 seconds and can determine that the traffic indication information is traffic (i.e. the car can successfully pass through the intersection), and at the moment, the car a can display the remaining time on a car machine system (i.e. a car-mounted display module) and prompt a driver of the car a to pass.

In addition, because whether the driver can successfully pass through the front intersection is relatively inaccurate according to the remaining passing time, for example, the driver can manually judge that the driver cannot pass through the front intersection, so that the vehicle is controlled to decelerate, the opportunity of passing through the intersection is missed, and the passing efficiency of the intersection is reduced; or the driver may manually judge that the traffic light passes under the condition that the traffic light cannot pass through the front intersection, thereby causing false red light running. Therefore, the vehicle can display the expected required passing time, communication indication information and the like on the vehicle-mounted screen, so that a driver can be assisted in judging whether the vehicle can successfully pass through the front intersection, the passing efficiency can be improved, and the accident occurrence probability can be reduced.

It should be understood that, because the condition of the vehicle is complex and the road condition changes rapidly during the driving process, the vehicle can determine the state information of the traffic signal lamp at the front intersection, the average speed of the vehicle, the distance between the vehicle and the lane stop line at the front intersection, and the like in real time, so that the user interface displayed on the vehicle-mounted display module can be updated in real time, and the traffic decision (i.e. determining the communication indication information) can be calculated in real time, so that more accurate information can be provided. Therefore, under the condition that a driver of the vehicle cannot observe the traffic signal lamp of the intersection, the state and the remaining time of the first traffic signal lamp can be known through the vehicle-mounted display module, so that the vehicle can efficiently and safely pass through the intersection, the phenomenon of mistakenly running the red light is avoided, and the probability of traffic accidents of the intersection can be further reduced.

Therefore, the embodiment of the invention can realize the auxiliary driving function of the intelligent recognition traffic signal lamp through the visual sensor (i.e. camera and the like) and the image processing capability (such as the automatic driving capability of image detection/recognition and the like) carried by the vehicle, can help a driver to accurately make a following decision under the condition that the traffic signal lamp is blocked and the like (such as the condition that a cart is blocked in front of the vehicle), and can ensure that the driver passes through an intersection efficiently and safely. Meanwhile, due to the popularization of intelligent automobiles, a large number of vehicles are provided with various sensors such as cameras and laser radars, and the auxiliary driving method provided by the embodiment of the invention can be executed without adding additional equipment for the vehicles, so that the cost can be reduced.

For example, referring to fig. 6, fig. 6 is a schematic flow chart of a signal lamp shielding recognition according to an embodiment of the invention. The process of identifying the blocking signal lamp shown in fig. 6 is as a trigger display condition: the distance between the vehicle and the intersection in front of the vehicle is detected to be smaller than a first threshold value, and the first traffic signal lamp is detected to be blocked. As shown in fig. 6, the flow may include the following steps. In step 601, the vehicle can detect that the vehicle approaches a traffic intersection during driving. Step 602, the vehicle may determine whether the vehicle approaches the intersection according to the detection result (such as the distance between the vehicle and the intersection ahead), and if it is determined that the vehicle does not approach the intersection, step 603 may be executed, that is, no response may be made, and the vehicle continues to pass, and if it is determined that the vehicle approaches the intersection, step 604 may be executed, that is, the front shielding condition of the vehicle may be detected. After that, the vehicle may perform step 605 to determine whether the front signal lamp is blocked according to the detection of the front blocking condition, and may perform step 603 to determine that the front signal lamp of the vehicle is not blocked, that is, may not respond and continue to pass, and may perform step 606 to determine that the front signal lamp of the vehicle is blocked, that is, the vehicle may query a traffic signal lamp duration table, and calculate the state and the remaining time of the signal lamp at the intersection in front of the current moment. Then, the vehicle may execute step 607, determine whether to obtain the current state and the remaining time of the front traffic light according to the query result, and if the vehicle does not obtain the current state and the remaining time of the traffic light at the front intersection (for example, the traffic light duration table does not include the information of the traffic light), the vehicle may execute step 608, that is, if tlr+ fails to detect, the vehicle may not make an auxiliary decision, and remind the driver to keep the safe distance. If the vehicle can obtain the state and the remaining time of the signal lamp at the front intersection at the current moment, the vehicle can execute step 609, namely that tlr+ detection is successful, the vehicle can make an auxiliary traffic decision, and can continuously compare the expected required traffic time with the remaining traffic time (or compare the current average speed with the remaining traffic time and the remaining distance), and can make a traffic decision through the comparison result, then the vehicle can execute step 610 to judge whether the continuous decision is passable or not, if the continuous decision is not passable, the vehicle can execute step 611, can buzzing to remind the driver to slow down and prevent the driver from passing; if the duration decision is that traffic is possible, the vehicle may execute step 612, which may alert the driver of the remaining time, prompting traffic. Meanwhile, step 613 may be executed during the running process of the vehicle, that is, the traffic light detection may be continuously performed during the running process, and then the error calibration of the information may be performed by comparing the traffic light duration table. For more detailed description of the above-mentioned blocking signal lamp identification, reference may be made to the related description of steps 301 to 303, which will not be described in detail herein.

It should be understood that the above-mentioned procedure of identifying the blocking signal lamp corresponding to fig. 6 is only exemplary and not limited thereto.

Based on the application scenario and the intelligent vehicle, please refer to fig. 7, fig. 7 is a schematic flow chart of another driving assistance method according to an embodiment of the present invention. As shown in fig. 7, the driving assistance method may include the following steps.

701. The distance between the vehicle and the intersection ahead is detected.

The vehicle may detect the distance between itself and the lane stop line as the distance between the vehicle and the intersection ahead. The vehicle can also acquire the position of the vehicle by the positioning system, and then determine the distance between the vehicle and the intersection in front according to the position of the vehicle and the high-precision map.

Step 701 is similar to step 301, and for more detailed description of step 701, reference is made to the description of step 301, which is not repeated here.

702. In the case where it is detected that the distance between the vehicle and the intersection ahead is smaller than the first threshold value, a first traffic signal lamp is detected.

The first traffic signal lamp is a traffic signal lamp corresponding to a front intersection, namely, a traffic signal lamp for indicating the automobile on the lane where the vehicle is currently running to pass. In the case that the distance between the vehicle and the intersection in front is detected to be smaller than the first threshold, the first traffic signal lamp is detected by the vehicle, and similar to the case that the distance between the vehicle and the intersection in front is detected to be smaller than the first threshold in step 302, the relevant description in step 302 may be referred to, and will not be repeated here.

703. And detecting the state and the remaining time of a second traffic signal lamp of the intersection under the condition that the first traffic signal lamp is detected to be blocked.

Specifically, when the vehicle detects that the first traffic light is blocked, it indicates that the driver on the vehicle and the camera of the vehicle cannot observe the traffic light of the intersection ahead, so that the vehicle can enter the tlr+ function, and can detect the second traffic light of the intersection, so as to determine the state and the remaining time of the second traffic light. The second traffic signal light may be any one or more signal lights of the intersection other than the first traffic signal light. The second traffic signal light may be a motor vehicle signal light at the intersection (e.g., a motor vehicle signal light for a vertical lane), a crosswalk signal light, etc. As shown in fig. 4, it is assumed that the signal lamp a is blocked (i.e., by the front automobile B) during the driving process of the automobile a, after that, the automobile a may detect other traffic signal lamps except the signal lamp a at the intersection, that is, may detect the signal lamp B, the signal lamp D, the signal lamp C, and other crosswalk lamps at the intersection, and in addition, the manner of detecting the signal lamp by the vehicle may be direct detection, that is, may directly detect the area where the signal lamp is located by the camera, or may be indirect detection, that is, may detect the signal lamp in the vertical lane or the front windshield of the vehicle on the opposite lane, or the like (e.g., the automobile a may obtain the state information of the signal lamp C by detecting the front windshield of the automobile C), and may obtain the state information of any one or more other signal lamps at the intersection (i.e., the state and the remaining time of the traffic signal lamp) by direct detection and indirect detection.

Meanwhile, the vehicle can be detected by utilizing the camera, so that the problems of rear-end collision and the like caused by the fact that a driver is distracted and observes a vertical lane can be avoided, and the camera can simultaneously detect signal lamps in multiple directions, including signal lamps which are not easy to find or are partially shielded, even signal lamps in the reflection of the front windshield of the vehicle when the vertical lane stops, and the detection accuracy can be improved.

704. And under the condition that the state and the residual time of the second traffic signal lamp are detected, determining the state information of the first traffic signal lamp according to the state and the residual time of the second traffic signal lamp.

The vehicle determines the state information of the first traffic signal lamp according to the state and the remaining time of the second traffic signal lamp, and the state information may be: and the vehicle determines the state information of the first traffic signal lamp according to the traffic rule of the intersection in front and the state and the remaining time of the second traffic signal lamp. The status information of the traffic light may include the status of the traffic light and the remaining time. The traffic light states may be straight/no straight, and left turn/no left turn, and right turn/no right turn, and u-turn/no u-turn. The vehicle determines that the state information of the first traffic light is similar to the state information of the first traffic light according to the state and the remaining time of the second traffic light, and the related description in step 302 may be referred to, which is not repeated herein.

705. And displaying the state information of the first traffic signal lamp through the vehicle-mounted display module.

Specifically, after the vehicle determines the status information of the first traffic light, the vehicle may display the status information of the first traffic light through the in-vehicle display module.

Alternatively, the vehicle may determine an average speed of itself in a first period of time (e.g., within the first five seconds of the current time), and then determine traffic indication information according to the average speed, the state information of the first traffic signal lamp, and a distance between itself and a lane stop line of the front intersection, and in the case where the traffic indication information is a prohibited traffic, may output warning information in a sound manner, may output warning information in an image manner, and may output warning information in a sound and image manner.

Step 705 is similar to step 303, and for more detailed description of step 705, reference may be made to the related description of step 303 described above, which is not repeated here.

Therefore, the embodiment of the invention can realize the auxiliary driving function of the intelligent recognition traffic signal lamp through the vision sensor (i.e. a camera and the like) and the image processing capability (such as the automatic driving capability of image detection/recognition and the like) carried by the vehicle, and can determine the state information of the traffic signal lamp corresponding to the lane by detecting other traffic signal lamps (such as the traffic signal lamp of a vertical lane) of the crossing under the condition that the traffic signal lamp in front of the vehicle is blocked and the like (such as the condition that the vehicle is blocked by a cart), thereby helping a driver to accurately make a following decision and ensuring that the driver passes through the intersection efficiently and safely.

For example, referring to fig. 8, fig. 8 is a schematic flow chart of another method for identifying a blocking signal according to an embodiment of the invention. As shown in fig. 8, the flow may include the following steps. In step 801, the vehicle may detect that the vehicle approaches a traffic intersection during driving. Step 802, the vehicle may determine whether the vehicle approaches the intersection according to the detection result (such as the distance between the vehicle and the intersection ahead), and if it is determined that the vehicle does not approach the intersection, step 803 may be executed, i.e. no response may be made, and the vehicle continues to pass, and if it is determined that the vehicle approaches the intersection, step 804 may be executed, i.e. the front shielding condition of the vehicle may be detected. Thereafter, the vehicle may perform step 805, determine whether the front signal is blocked according to the detection of the front blocking condition, and perform step 803, that is, may not respond to the determination that the front signal is not blocked, and continue to pass, and perform step 806, that is, the vehicle may continuously detect other signals (such as signals of a vertical lane) of the intersection except for the front signal, including other traffic lane signals and corresponding countdown information, pedestrian lane signals (i.e., crosswalk lights) and corresponding countdown information, and signals in reflection of a front windshield of the vehicle in other lanes. The vehicle can divide the detection result of the signal lamp into three different conditions, and then can respectively process the signal lamp according to the different conditions.

One case may be: the vehicle detects the countdown information of other signal lamps, and can be the countdown information of signal lamps such as signal lamps of other motor vehicles or pedestrian lanes. If the countdown information of other signal lamps is detected, the state information of the signal lamp corresponding to the lane can be determined according to the road rule. The vehicle may perform step 807, the vehicle may make an auxiliary traffic decision via tlr+, and may continually compare the expected required traffic time to the magnitude of the remaining traffic time (or compare the current average speed with the magnitude between the remaining traffic time and the remaining distance), from which a traffic decision may be made. After that, the vehicle may execute step 808, determine whether the continuous decision is passable, and if the continuous decision is not passable, the vehicle may execute step 809, may buzzing to remind the driver to slow down, and prevent the vehicle from passing through the intersection; if the continuation decision is that traffic is possible, the vehicle may execute step 810, which may alert the driver to the remaining time and prompt the driver to make traffic.

The second case may be: the vehicle detects that other signal lamps are in a green light state (for example, the reflection of the front windshield of the vehicle stopped by the vertical lane is detected to contain a traffic light green light state), but countdown information is not detected, at the moment, the green light represents that the vehicle starts running on the lane corresponding to the signal lamp, the vehicle can execute step 809, can remind a driver to slow down, meanwhile, the vehicle can also determine whether the lane can pass according to a passing rule, if the lane can not pass, the driver is notified to slow down through TLR+ to stop passing through an intersection, and if the lane can not pass, the driver can be reminded of slowing down.

The third case may be: the vehicle does not detect other signal lamps or detects a red light state and the like, and at this time, the vehicle cannot determine whether the own lane can pass through the passing rule of the intersection under the condition that the other signal lamps are not detected. Since the signal light of the other lane is red light, which does not represent that the signal light of the lane is green light, the lane may already be yellow light, or already be red light, so that the vehicle may execute step 811 if other traffic lights are detected as red lights, or no other signal light is detected, tlr+ may not make an auxiliary decision, may inform the driver to slow down, and keep a safe distance from the preceding vehicle. In addition, when detecting that other signal lamps are in a red light state, the vehicle can firstly determine whether the lane can pass according to a passing rule, if the lane can not pass, the vehicle can inform a driver to decelerate through TLR+ and stop passing through an intersection, if the lane can not pass, the vehicle can be reminded of slowing down and keeping a safe distance from a front vehicle until the traffic light can be observed, and if the lane can pass, the vehicle can not determine the residual passing time, the vehicle can be reminded of carefully driving. For more detailed description of the above-mentioned blocking signal identification, reference may be made to steps 301 to 303, and the related description of steps 701 to 705, which are not described in detail herein. It should be understood that the above-mentioned flow of identifying the blocking signal corresponding to fig. 8 is only illustrative and not limiting.

It should be understood that the relevant information (i.e., the same information or similar information) and the relevant description in the different embodiments described above may be referred to each other. Meanwhile, the embodiment corresponding to fig. 3 and the driving assistance method corresponding to fig. 7 may be used in combination, which is not limited in the embodiment of the present invention. For example, when the vehicle cannot determine the state information of the first traffic light according to the traffic light duration table, the vehicle may continue to determine the state information of the first traffic light by detecting other traffic lights at the intersection. For another example, when the vehicle cannot determine the state information of the first traffic signal lamp according to the other traffic signal lamps at the intersection, the vehicle may determine the state information of the first traffic signal lamp according to the traffic signal lamp duration table.

Referring to fig. 9, fig. 9 is a schematic structural diagram of a driving assisting device according to an embodiment of the invention. The driving support device may be a vehicle or a module (e.g., a chip) in the vehicle. As shown in fig. 9, the apparatus may include:

a first detection unit 901 for detecting a distance between the vehicle and an intersection ahead;

a first determining unit 902, configured to determine, according to a traffic signal duration table, state information of a first traffic signal when the trigger display condition is met based on the distance analysis, where the state information of the traffic signal includes a state and a remaining time of the traffic signal, where the first traffic signal is a traffic signal corresponding to the intersection;

A display unit 903, configured to display status information of the first traffic signal lamp.

In one embodiment, the first determining unit 902 is specifically configured to:

In one embodiment, the traffic light duration table includes identifications of a plurality of traffic lights, and period information of the corresponding traffic lights and status information of a reference time, where the reference time is any time, and the plurality of traffic lights includes the first traffic light.

In one embodiment, the first determining unit 902 determines the status information of the first traffic signal according to the traffic signal duration table includes:

In one embodiment, the apparatus may further include:

and the updating unit 904 is configured to detect and acquire the state information of the second traffic light in the process of passing through the intersection of the second traffic light, and update the information of the second traffic light in the traffic light duration table based on the detected and acquired state information of the second traffic light when the state information of the second traffic light is inconsistent with the state information of the second traffic light determined based on the traffic light duration table.

In one embodiment, the first detection unit 901 is specifically configured to:

detecting a distance between the vehicle and a lane stop line; or,

Acquiring the position of the vehicle through a positioning system;

In one embodiment, the traffic signal is in a straight/no straight, and left/no left, and right/no right, and u-turn/no u-turn state.

In one embodiment, the apparatus may further include:

a second determining unit 905 for determining an average speed of the vehicle for a first period of time;

a third determining unit 906 for determining traffic indication information according to the average speed, the state information of the first traffic signal lamp, and the distance;

an output unit 907 for outputting warning information in the form of sound and/or image in case the traffic indication information is a prohibited traffic.

In one embodiment, the third determining unit 906 is specifically configured to:

The more detailed descriptions of the first detecting unit 901, the first determining unit 902, the display unit 903, the updating unit 904, the second determining unit 905, the third determining unit 906, and the output unit 907 may be directly obtained by referring to the related descriptions in the method embodiment shown in fig. 3, which are not repeated herein.

Referring to fig. 10, fig. 10 is a schematic structural diagram of another driving assisting device according to an embodiment of the invention. The driving support device may be a vehicle or a module (e.g., a chip) in the vehicle. As shown in fig. 10, the apparatus may include:

a first detection unit 1001 for detecting a distance between the vehicle and an intersection ahead;

the second detection unit 1002 is configured to detect a first traffic signal lamp when the distance is detected to be less than a first threshold value, where the first traffic signal lamp is a traffic signal lamp corresponding to the intersection;

a third detection unit 1003 for detecting a state and a remaining time of a second traffic signal at the intersection in a case where the first traffic signal is detected to be blocked;

A first determining unit 1004, configured to determine, when the state and the remaining time of the second traffic light are detected, state information of the first traffic light according to the state and the remaining time of the second traffic light, where the state information of the traffic light includes the state and the remaining time of the traffic light;

a display unit 1005 for displaying status information of the first traffic signal lamp.

In one embodiment, the first determining unit 1004 is specifically configured to:

In one embodiment, the first detection unit 1001 is specifically configured to:

detecting a distance between the vehicle and a lane stop line; or,

acquiring the position of the vehicle through a positioning system;

In one embodiment, the apparatus further comprises:

a second determining unit 1006 for determining an average speed of the vehicle for a first period of time;

a third determining unit 1007 for determining traffic indication information according to the average speed, the state information of the first traffic signal lamp, and the distance;

and an output unit 1008 for outputting the warning information in a sound and/or image mode when the traffic indication information is the traffic prohibition.

In one embodiment, the third determining unit 1007 is specifically configured to:

The more detailed descriptions of the first detection unit 1001, the second detection unit 1002, the third detection unit 1003, the first determination unit 1004, the display unit 1005, the second determination unit 1006, the third determination unit 1007, and the output unit 1008 are directly obtained by referring to the related descriptions in the method embodiment shown in fig. 7, and are not repeated herein.

Referring to fig. 11, fig. 11 is a schematic structural diagram of another driving assisting device according to an embodiment of the invention. As shown in fig. 11, the apparatus may include at least one processor 1101, at least one memory 1102, at least one camera 1104. The device may further comprise at least one communication interface 1103, a high-definition map 1105 (which may be a functional module), and common components such as an antenna and an in-vehicle display module, which are not described in detail herein.

The processor 1101 may be a general purpose Central Processing Unit (CPU), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits for controlling the execution of the above program schemes. In the embodiment of the present invention, the processor may receive the data collected by the camera 1104, identify the image of the data, query the high-precision map 1105 for the current position and the surrounding traffic information, such as the current intersection traffic light number, the traffic light number of the last passing intersection, etc., and query the memory 1102 for the traffic light information stored in the system, such as the constructed traffic light duration data (i.e. the traffic light duration table), calculate the remaining traffic time according to the obtained data, and make a traffic decision, etc.

Communication interface 1103 may be used to communicate with other devices (e.g., other vehicles) or communication networks.

The Memory 1102 may be, but is not limited to, a read-Only Memory (ROM) or other type of static storage device that can store static information and instructions, a random access Memory (random access Memory, RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), a compact disc read-Only Memory (Compact Disc Read-Only Memory) or other optical disk storage, optical disk storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory may be stand alone and coupled to the processor via a bus. The memory may also be integrated with the processor. In an embodiment of the present invention, the memory 1102 may maintain a traffic road network signal duration table (i.e., the traffic signal duration table described above).

Camera 1104 may capture images or video. In the embodiment of the invention, the camera can be used for detecting intersection characteristic information such as signal lamps of traffic intersections (such as signal lamps in front, traffic signal lamps of vertical lanes, timing lamps, signal lamps in the light reflection of waiting vehicles and front windshield thereof, and the like), lane lines, stop lines, crosswalk lines, and the like.

The high-precision map 1105 can locate the current position and running direction of the vehicle, locate the intersection traffic light number before locating, and the like.

The memory 1102 is used for storing application program codes for executing the above schemes, and the processor 1101 controls the execution. The processor 1101 is configured to execute application code stored in the memory 1102.

When the apparatus shown in fig. 11 is a driving assistance device, the code stored in the memory 1102 may perform the driving assistance method provided in fig. 3 or 7 above. Further details regarding the processor 1101, the memory 1102, the camera 1104, the communication interface 1103, the high-precision map 1105 and the like may be directly obtained by directly referring to the relevant descriptions of the vehicle in the above method embodiments, which are not repeated herein.

The embodiment of the invention also discloses a computer readable storage medium, wherein the instructions are stored, and the instructions are executed to execute the method in the embodiment of the method.

The embodiment of the application also discloses a computer program product comprising instructions which, when executed, perform the method of the above method embodiment.

It should be noted that, the foregoing description describes the objects, technical solutions and advantageous effects of the present application in further detail, and it should be understood that the foregoing description is only a specific embodiment of the present application, and is not intended to limit the scope of the present application, and any modification, equivalent replacement, improvement, etc. made on the basis of the technical solution of the present application should be included in the scope of the present application.

Meanwhile, for the foregoing method embodiments, for simplicity of description, all of them are represented as a series of combinations of actions, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously according to the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application.

In the several embodiments provided by the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, such as the above-described division of units, merely a division of logic functions, and there may be additional manners of dividing in actual implementation, such as multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, or may be in electrical or other forms.

The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

Claims

1. A method of assisting driving, characterized by being applied to a vehicle including an in-vehicle display module, the method comprising:

detecting a distance between the vehicle and an intersection ahead;

under the condition that the trigger display condition is met based on the distance analysis, determining state information of a first traffic signal lamp according to a traffic signal lamp duration table, wherein the state information of the traffic signal lamp comprises the state and the residual time of the traffic signal lamp, and the first traffic signal lamp is a traffic signal lamp corresponding to the intersection;

2. The method of claim 1, wherein the determining the status information of the first traffic light according to the traffic light duration table if the trigger display condition is satisfied based on the distance analysis comprises:

detecting the first traffic signal lamp under the condition that the distance is detected to be smaller than a first threshold value;

3. The method of claim 1 or 2, wherein the traffic signal duration table includes identifications of a plurality of traffic signals, and period information of the corresponding traffic signals and status information of reference time, the reference time being any time, the plurality of traffic signals including the first traffic signal.

4. The method of claim 3, wherein determining the status information of the first traffic light based on the traffic light duration table comprises:

acquiring the identification of the first traffic signal lamp according to a high-precision map;

5. The method according to any one of claims 1-4, further comprising:

and in the process of passing through a second traffic signal lamp intersection, detecting and acquiring the state information of the second traffic signal lamp, and updating the information of the second traffic signal lamp in the traffic signal lamp duration table based on the state information of the second traffic signal lamp acquired by detection under the condition that the state information of the second traffic signal lamp is inconsistent with the state information of the second traffic signal lamp determined based on the traffic signal lamp duration table.

6. The method of claim 1, wherein determining the status information of the first traffic light based on the traffic light duration table comprises:

7. The method according to any one of claims 1-6, further comprising:

determining an average speed of the vehicle for a first period of time;

and outputting warning information in a sound and/or image mode under the condition that the traffic indication information is traffic forbidden.

8. A method of assisting driving, characterized by being applied to a vehicle including an in-vehicle display module, the method comprising:

detecting a distance between the vehicle and an intersection ahead;

Under the condition that the state and the residual time of the second traffic signal lamp are detected, determining the state information of the first traffic signal lamp according to the state and the residual time of the second traffic signal lamp, wherein the state information of the traffic signal lamp comprises the state and the residual time of the traffic signal lamp;

9. The method of claim 8, wherein the determining the status information of the first traffic signal based on the status of the second traffic signal and the remaining time comprises:

10. A driving assistance apparatus, characterized in that the apparatus comprises:

a first detection unit configured to detect a distance between the vehicle and an intersection ahead;

the first determining unit is used for determining state information of a first traffic signal lamp according to a traffic signal lamp duration table under the condition that the trigger display condition is met based on the distance analysis, wherein the state information of the traffic signal lamp comprises the state and the residual time of the traffic signal lamp, and the first traffic signal lamp is the traffic signal lamp corresponding to the intersection;

11. The apparatus according to claim 10, wherein the first determining unit is specifically configured to:

12. The apparatus of claim 10 or 11, wherein the traffic signal duration table includes identifications of a plurality of traffic signals, and period information of the corresponding traffic signals and status information of a reference time, the reference time being any time, the plurality of traffic signals including the first traffic signal.

13. The apparatus of claim 12, wherein the first determining unit determining the status information of the first traffic signal based on the traffic signal duration table comprises:

14. The apparatus according to any one of claims 10-13, wherein the apparatus further comprises:

15. The apparatus according to claim 10, wherein the first determining unit is specifically configured to:

16. The apparatus according to any one of claims 10-15, wherein the apparatus further comprises:

a second determining unit configured to determine an average speed of the vehicle in a first period of time;

a third determining unit, configured to determine traffic indication information according to the average speed, the state information of the first traffic signal lamp, and the distance;

and the output unit is used for outputting the warning information in a sound and/or image mode under the condition that the traffic indication information is the traffic forbidden.

17. A driving assistance apparatus, characterized in that the apparatus comprises:

a first determining unit, configured to determine, when the state and the remaining time of the second traffic signal lamp are detected, state information of the first traffic signal lamp according to the state and the remaining time of the second traffic signal lamp, where the state information of the traffic signal lamp includes the state and the remaining time of the traffic signal lamp;

18. The apparatus according to claim 17, wherein the first determining unit is specifically configured to:

19. The vehicle is characterized by comprising a processor, a memory, a camera and a vehicle-mounted display module, wherein the vehicle-mounted display module is used for displaying content; the camera is used for collecting images; the memory is for storing a computer program, and the processor is for executing the computer program stored in the memory, so that the vehicle performs the method according to any one of claims 1-9.

20. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program or computer instructions, which, when executed, implement the method of any of claims 1-9.

21. A chip system for application to a vehicle, the chip system comprising one or more processors for invoking computer instructions to cause the vehicle to perform the method of any of claims 1-9.

22. A computer program product, characterized in that the computer program product comprises computer program code which, when run, implements the method according to any of claims 1-9.