CN118323147A

CN118323147A - Driving assistance method, apparatus, device, storage medium, and program product

Info

Publication number: CN118323147A
Application number: CN202410625857.6A
Authority: CN
Inventors: 刘杰山; 祝亮; 陆一华; 贺维鲁
Original assignee: Avatr Technology Chongqing Co Ltd
Current assignee: Avatr Technology Chongqing Co Ltd
Priority date: 2024-05-20
Filing date: 2024-05-20
Publication date: 2024-07-12

Abstract

The invention relates to the technical field of vehicle driving, and discloses a driving assistance method, a device, equipment, a storage medium and a program product, wherein the method comprises the following steps: three-dimensional scanning is carried out on a target running area where the vehicle is located, and a three-dimensional topographic map of the target running area is constructed; carrying out terrain feature recognition on the target driving area according to the three-dimensional terrain map to obtain a sand smoothness degree and/or a driving dangerous area; and carrying out route planning according to the sand smoothness degree and/or the running dangerous area to obtain a driving auxiliary route of the vehicle. According to the driving assistance method provided by the invention, the target driving area where the vehicle is located is subjected to three-dimensional scanning, so that the sand smoothness degree and the driving dangerous area can be accurately identified, and the route planning is performed, so that the situations of complex terrain, limited visual field and high driving difficulty faced by a driver in off-road sand washing activities are avoided, an optimal driving assistance route is provided for the driver, the complex and changeable driving environment is dealt with, and the driving safety and reliability are improved.

Description

Driving assistance method, apparatus, device, storage medium, and program product

Technical Field

The present invention relates to the field of vehicle driving technologies, and in particular, to a driving assistance method, apparatus, device, storage medium, and program product.

Background

In off-road sand washing activities, drivers often face problems of complex terrain, limited field of view, and great driving difficulty.

Disclosure of Invention

In view of the above problems, the present invention provides a driving assistance method, apparatus, device, storage medium, and program product, which can solve the technical problems of complex terrain, limited field of view, and high driving difficulty faced by the driver in the off-road sand washing activity in the prior art.

According to an aspect of an embodiment of the present invention, there is provided a driving assistance method including the steps of:

three-dimensional scanning is carried out on a target running area where a vehicle is located, and a three-dimensional topographic map of the target running area is constructed;

Carrying out terrain feature recognition on the target driving area according to the three-dimensional terrain map to obtain a sand smoothness degree and/or a driving dangerous area;

and carrying out route planning according to the sand smoothness degree and/or the running dangerous area to obtain a driving auxiliary route of the vehicle.

In an optional manner, after the step of obtaining the driving assistance route of the vehicle, the method further includes:

acquiring motion state data of the vehicle in a target driving area through a preset vehicle sensor;

judging whether the motion state data reach a preset threshold value or not;

And if the motion state data reach the preset threshold value, adjusting the vehicle parameters of the vehicle according to a preset safety strategy, and outputting alarm information.

In an optional manner, the preset vehicle sensor includes a G value sensor and/or a pitch angle sensor, the motion state data includes acceleration data and/or vehicle posture information, and the step of collecting, by the preset vehicle sensor, the motion state data of the vehicle in the target driving area includes:

detecting the speed of the vehicle through the G value sensor to obtain acceleration data of the vehicle in all directions;

and/or performing angle detection on the vehicle through the pitch angle sensor to obtain vehicle attitude information of the vehicle based on a horizontal plane;

correspondingly, the preset threshold includes an acceleration threshold and/or an elevation change rate, and the step of adjusting the vehicle parameters of the vehicle according to a preset safety strategy if the motion state data reaches the preset threshold includes:

if the acceleration data reach the acceleration threshold value, reducing the power output parameters of the vehicle according to a preset safety strategy;

and/or if the vehicle attitude information reaches the elevation angle change rate, adjusting the suspension hardness parameter of the vehicle according to a preset safety strategy.

In an optional manner, the step of performing three-dimensional scanning on a target running area where the vehicle is located and constructing a three-dimensional topographic map of the target running area includes:

transmitting laser pulses to a target running area where a vehicle is located through a laser radar, and receiving pulse signals reflected by the target running area based on the laser pulses;

analyzing the pulse signal to obtain point cloud data corresponding to the target driving area;

And carrying out three-dimensional reconstruction on the point cloud data to obtain a three-dimensional topographic map of the target driving area.

In an optional manner, the step of performing three-dimensional reconstruction on the point cloud data to obtain a three-dimensional topographic map of the target driving area includes:

Filtering the point cloud data to obtain filtered point cloud data;

converting the filtered point cloud data from a local coordinate system of the laser radar to a global coordinate system to obtain global point cloud data;

Performing compression optimization on the global point cloud data to obtain target point cloud data;

And carrying out three-dimensional reconstruction according to the target point cloud data to obtain a three-dimensional topographic map of the target running area.

In an optional manner, the step of identifying the terrain features of the target driving area according to the three-dimensional terrain map to obtain the sand smoothness degree and/or the driving danger area includes:

Performing terrain recognition on the target driving area according to the three-dimensional terrain map to obtain terrain characteristic data of the target driving area, wherein the terrain characteristic data comprises at least one of a sand dune position, a sand dune height and a sand dune gradient;

Determining the sand smoothness degree of each area in the target driving area according to the topographic feature data;

Acquiring ground clearance data of the vehicle in a gentle sand area of the target running area;

and determining a running danger area of the target running area based on the sand leveling degree and the ground clearance data.

According to another aspect of an embodiment of the present invention, the present invention also proposes a driving assistance device, the device including:

The three-dimensional scanning module is used for carrying out three-dimensional scanning on a target running area where the vehicle is located and constructing a three-dimensional topographic map of the target running area;

The terrain identification module is used for carrying out terrain feature identification on the target driving area according to the three-dimensional terrain map to obtain a sand smoothness degree and/or a driving danger area;

And the auxiliary route module is used for carrying out route planning according to the sand smoothness degree and/or the running dangerous area to obtain a driving auxiliary route of the vehicle.

According to another aspect of the embodiment of the present invention, the present invention also proposes a driving assistance apparatus including: the device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete communication with each other through the communication bus;

the memory is configured to store at least one executable instruction that causes the processor to perform the operations of the driving assistance method as described above.

According to a further aspect of embodiments of the present invention, there is provided a computer readable storage medium having stored therein at least one executable instruction that, when run on a driving assistance apparatus/device, causes the driving assistance apparatus/device to perform the operations of the driving assistance method as described above.

According to a further aspect of embodiments of the present invention, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the steps of the driving assistance method as described above.

The method comprises the steps of constructing a three-dimensional topographic map of a target driving area where a vehicle is located by carrying out three-dimensional scanning on the target driving area; then carrying out terrain feature recognition on the target driving area according to the three-dimensional terrain map to obtain a sand smoothness degree and/or a driving dangerous area; and finally, carrying out route planning according to the sand smoothness degree and/or the running dangerous area to obtain a driving auxiliary route of the vehicle. According to the invention, the three-dimensional scanning is carried out on the target driving area where the vehicle is located, so that the sand smoothness degree and the driving dangerous area can be accurately identified, and the route planning is carried out, so that the situations of complex terrain, limited visual field and high driving difficulty faced by a driver in off-road sand washing activities are avoided, an optimal driving auxiliary route is provided for the driver, the complex and changeable driving environment is dealt with, and the driving safety and reliability are improved.

The foregoing description is only an overview of the technical solutions of the embodiments of the present invention, and may be implemented according to the content of the specification, so that the technical means of the embodiments of the present invention can be more clearly understood, and the following specific embodiments of the present invention are given for clarity and understanding.

Drawings

The drawings are only for purposes of illustrating embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

fig. 1 shows a schematic flow chart of a first embodiment of a driving assistance method provided by the invention;

Fig. 2 is a schematic flow chart of a second embodiment of the driving assistance method provided by the invention;

fig. 3 is a schematic flow chart of a third embodiment of the driving assistance method provided by the invention;

fig. 4 shows a block diagram of a first embodiment of the driving assistance apparatus provided by the invention;

fig. 5 shows a schematic structural view of an embodiment of the driving assistance apparatus of the invention.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein.

In the existing off-road sand washing activities, drivers often face the problems of complex terrain, limited visual field and high driving difficulty. Therefore, the application provides an intelligent driving assistance method to improve the safety and driving experience of sand washing activities. Through active identification and route recommendation before sand washing, dynamic monitoring and assistance in sand washing and summary analysis after sand washing, comprehensive intelligent assistance of the off-road vehicle in sand washing activities is realized.

An embodiment of the present invention provides a driving assistance method, referring to fig. 1, fig. 1 shows a schematic flow chart of a first embodiment of the driving assistance method provided by the present invention. The method is performed by a driving assistance device.

As shown in fig. 1, in the present embodiment, the driving assistance method includes the steps of:

step S10: and carrying out three-dimensional scanning on a target running area where the vehicle is located, and constructing a three-dimensional topographic map of the target running area.

It should be noted that, the execution body of the method of the present embodiment may be an electronic device having three-dimensional scanning, terrain recognition, and route planning functions, for example, a vehicle-mounted computer, a vehicle-mounted server, or other electronic devices capable of implementing the same or similar functions, for example, a driving assistance device for executing the driving assistance method of the present application, which is not limited in this embodiment. Here, the present embodiment and the following embodiments will be specifically described with the above-described driving assistance apparatus (simply referred to as assistance apparatus).

In one embodiment, the target travel area is a predetermined travel range or target area of the vehicle. Such as a sand washing area in off-road sand washing activities, or a rough road in the field, to which the present embodiment is not limited. For ease of understanding, the following embodiments are described in terms of a sand washing region of a wild sand washing activity, but are not limited to this scheme.

In one embodiment, the three-dimensional terrain map is a perspective view showing elevation information of the surface of the target travel area and the terrain features. Compared with a traditional two-dimensional map, the three-dimensional topographic map can more vividly show the fluctuation change and topographic features of the ground, so that a driver can more easily understand the geographic environment and the topographic structure.

By way of example, the topographical features of a three-dimensional topographical map, such as dunes, slopes, pits, etc., may be presented in a stereoscopic manner, and a driver may view geographic information from different angles by rotating, zooming and tilting the map, thereby more intuitively knowing the elevation, slope, and topography variations of the surface.

In one embodiment, three-dimensional scanning is a process of scanning and acquiring three-dimensional information of topography, relief, etc. of the earth's surface using modern high-tech equipment and technology.

By way of example, three-dimensional scanning may be performed using, for example, a lidar, stereo camera, drone, or other remote sensing device, and a three-dimensional topography with high accuracy may be generated.

Step S20: and carrying out terrain feature recognition on the target driving area according to the three-dimensional terrain map to obtain the sand smoothness degree and/or the driving dangerous area.

In one embodiment, the sand level is the level or grade of the sand surface during off-road sand washing activities.

Illustratively, the greater the degree of sand flattening, the flatter the sand surface; conversely, a smaller degree of sand grading indicates a steeper or uneven sand surface. While steeper or rugged ground surfaces may present challenges to the driving of the vehicle.

In one embodiment, the driving hazard zone is a region within the target driving zone where there is a degree of risk or risk factor that may pose a potential threat or injury to the vehicle driving.

For normal roads, these risk factors include conditions such as road surface damage, water accumulation, ice formation, etc.; for off-road sand washing areas, these risk factors include factors such as sand steepness, quicksand, etc.; or other risk factors, which the present embodiment is not limited to.

In one embodiment, the topographical feature identification is through observation and analysis of the topography, terrain, etc. features to identify and describe topographical features and geographic features of the surface.

By way of example, in off-road sand washing activities, the terrain feature identification may be performed in terms of dune steepness, regular shape, dune height and length, respectively, as the present embodiment is not limited in this regard.

Step S30: and carrying out route planning according to the sand smoothness degree and/or the running dangerous area to obtain a driving auxiliary route of the vehicle.

In one embodiment, the driving assistance route is a navigation advice route provided during driving by an assistance device mounted on the vehicle. The driving auxiliary route can combine the information of the current position, the destination, road factors and the like of the vehicle, and intelligent, safe and convenient driving route selection is provided for a driver.

For example, the recommendation of the driving assistance route may be displayed to the driver through a man-machine interaction interface, including information such as a start point, an end point, a route point, and predicted driving time and difficulty.

For example, the assistance device may also visually display three-dimensional topography, sand smoothness, driving danger areas and driving assistance routes for the driver to reference.

For example, the data may be presented in the form of a digital map, virtual reality or augmented reality, etc., so that the driver can more intuitively understand the topography of the sand washing area.

In one embodiment, the auxiliary device may also provide personalized route recommendations based on the driving habits and sand washing experience of the driver.

For example, for an experienced driver, the auxiliary device may recommend a more challenging route; while for novice drivers, the auxiliary device may recommend a smoother and safer route.

In one embodiment, the auxiliary device may also record the sand washing experience of the driver, such as the driver's success or failure in traversing a particular sand hill, and may make a professional inquiry when the vehicle first turns on this mode, including the number of sand washing, the location of the sand washing, etc.

These sand washing experience data can then also be used by the auxiliary device to build a model of the driving habits and sand washing ability of the driver. The model may help assist the device in understanding the driver's preferences, skills, and risk bearing capabilities.

In one embodiment, based on the above model, the auxiliary device may provide personalized route recommendations for the driver, and may correct the user model based on body sensing data (acceleration, pitch angle) during the sand wash.

In one embodiment, the auxiliary device may also adjust route recommendations in real time based on environmental factors such as weather, sand moisture, and sand dune stability.

For example, in the case of a high sand humidity, the auxiliary equipment may recommend avoiding those areas that are prone to vehicle trapping.

In one embodiment, after the sand washing activity is finished, a summary analysis of the whole sand washing process can be performed. The auxiliary device evaluates the safety and efficiency of the sand washing activity by collecting and analyzing data during the sand washing process, including the running track, speed, acceleration, attitude change of the vehicle, operation of the driver, and the like.

Illustratively, after sand washing is finished, analysis is performed on the basis of a route by combining a sand dune terrain 3D model, and speed change, acceleration and posture change in the route are reflected.

Based on the results of the summary analysis, the auxiliary device may provide feedback and advice to the driver, helping to improve driving skills and sand washing strategies.

For example, based on the 3D map model, the auxiliary device may indicate in which areas the driving speed is too fast or too slow, which areas require more attention to adjustment of the vehicle pose, etc.

In one embodiment, the auxiliary device may also store and share data and experience during the sand washing process for reference and learning by other drivers. By continuously accumulating and summarizing sand washing experience, the performance of the auxiliary equipment is continuously optimized and improved, and the driver can conveniently perform the activities next time.

The auxiliary equipment can perform three-dimensional scanning on the sand-flushing area of the wild sand-flushing activity where the vehicle is located, and construct a three-dimensional topographic map so as to more vividly show the fluctuation and topographic features of the ground, so that a driver can more easily understand the geographic environment and the topographic structure. And finally, carrying out route planning according to the sand smoothness and/or the running dangerous area, and combining the current position, the destination, road factors and other information of the vehicle to obtain a driving auxiliary route of the vehicle, so as to provide intelligent, safe and convenient driving route selection for a driver. Because the three-dimensional scanning is carried out on the target driving area where the vehicle is located, the sand smoothness degree and the driving danger area can be accurately identified, and the route planning is carried out, the situations of complex terrain, limited visual field and high driving difficulty faced by a driver in off-road sand washing activities are avoided, an optimal driving auxiliary route is provided for the driver, the complex and changeable driving environment is dealt with, and the driving safety and reliability are improved.

Referring to fig. 2, fig. 2 is a schematic flow chart of a second embodiment of the driving assistance method provided by the invention. The method is performed by a driving assistance device. As shown in fig. 2, based on the first embodiment, in this embodiment, after the step S30, the method further includes:

step S41: and acquiring the motion state data of the vehicle in the target driving area through a preset vehicle sensor.

In one embodiment, the preset vehicle sensor is a device for sensing the surrounding environment of the vehicle, and is capable of detecting various running states, positions, speeds, and other information of the vehicle.

Exemplary vehicle sensors include, but are not limited to, the following: the vehicle speed sensor, temperature sensor, fuel sensor, oxygen sensor, knock sensor, steering angle sensor, air pressure sensor, and the like, which are not limited in this embodiment.

In one embodiment, the movement state data mainly includes position information, speed information, acceleration information, travel time, travel mileage, and the like of the vehicle.

For example, the location information may include longitude, latitude, altitude, etc., the speed information may reflect real-time speed of the vehicle, the acceleration information may reflect sudden-increase, sudden-decrease, sudden-turn, etc. states of the vehicle, and the travel time and travel mileage may reflect the use condition and travel distance of the vehicle.

By monitoring the position and speed information of the vehicle in real time, the running track and running state of the vehicle can be known, so that the problem can be found and solved in time; by analyzing the acceleration information of the vehicle, the running stability and safety of the vehicle can be evaluated; by counting the running time and the running mileage of the vehicle, reasonable maintenance and maintenance plans can be formulated, and the service life of the vehicle can be prolonged.

Step S42: and judging whether the motion state data reaches a preset threshold value or not.

In one embodiment, the preset threshold is a threshold for determining whether the motion state data is normal, for example, whether the position information corresponds to a position offset, whether the speed information corresponds to a runaway, etc., which is not limited in this embodiment.

Step S43: and if the motion state data reach the preset threshold value, adjusting the vehicle parameters of the vehicle according to a preset safety strategy, and outputting alarm information.

In one embodiment, the preset safety strategy is a control strategy set for safety consideration during off-road sand washing of the vehicle, aiming at reducing the occurrence of driving accidents, protecting the safety of the driver and reducing the potential safety risk as much as possible.

Exemplary, such as Automatic Emergency Braking (AEB), blind Spot Monitoring (BSM), speed limiting and limiting, driving behavior monitoring, vehicle stability control, etc., to which the present embodiment is not limited.

In one embodiment, the vehicle parameters are various parameters related to vehicle drivability and status during vehicle driving. Vehicle parameters may affect the driving experience, safety of the vehicle.

Exemplary vehicle parameters include: dynamic parameters such as maximum vehicle speed, acceleration time; fuel economy parameters such as hundred kilometers fuel consumption; steering stability parameters such as steering radius, lateral acceleration, etc.; the vehicle suspension parameters, such as the type of suspension, the suspension stiffness, etc., are not limited in this embodiment.

In one embodiment, the auxiliary device may collect movement state data of the vehicle in the target driving area through a preset vehicle sensor, including position information, speed information, acceleration information, driving time, driving mileage and the like of the vehicle. Then judging whether the motion state data reaches a preset threshold value, for example, whether the position corresponding to the position information is offset, whether the speed information is out of control or not, and the like. And if the motion state data reach a preset threshold value, adjusting vehicle parameters of the vehicle according to a preset safety strategy, and outputting alarm information. The occurrence of driving accidents is reduced through the preset safety strategy, the safety of a driver is protected, and the potential safety risk is reduced as much as possible.

Based on the foregoing embodiment, the preset vehicle sensor includes a G value sensor and/or a pitch angle sensor, and the motion state data includes acceleration data and/or vehicle posture information, which includes, in step S41: detecting the speed of the vehicle through the G value sensor to obtain acceleration data of the vehicle in all directions; and/or performing angle detection on the vehicle through the pitch angle sensor to obtain vehicle attitude information of the vehicle based on a horizontal plane;

Correspondingly, the preset threshold includes an acceleration threshold and/or an elevation angle change rate, and the step S43 includes: if the acceleration data reach the acceleration threshold value, reducing the power output parameters of the vehicle according to a preset safety strategy; and/or if the vehicle attitude information reaches the elevation angle change rate, adjusting the suspension hardness parameter of the vehicle according to a preset safety strategy.

In one embodiment, the G-value sensor is a sensor capable of sensing and measuring acceleration of the vehicle. In a vehicle, a G value sensor is mainly used to detect acceleration and change of the vehicle, thereby judging a running state of the vehicle.

For example, during emergency braking or rough road driving in a sand-washed area, the G-value sensor can sense changes in vehicle steering and longitudinal acceleration and transmit these information to the auxiliary equipment of the vehicle in order to make corresponding adjustments.

In one embodiment, the pitch angle sensor is used to measure the pitch angle of the vehicle relative to the Y-axis, i.e. the angle at which the vehicle rotates about the Y-axis. This angle reflects the relative positional relationship of the front and rear portions of the vehicle, and characterizes the stability of the vehicle.

Illustratively, the pitch angle sensor is typically mounted on the chassis or suspension system of the vehicle, and the suspension system of the vehicle is adjusted by measuring the pitch angle of the vehicle body so that the vehicle maintains a smooth running state.

In one embodiment, the acceleration threshold is a safe or operational limit for vehicle acceleration. The acceleration threshold may be used to determine whether the vehicle is in a normal or safe operating state.

For example, when the vehicle accelerates, if the acceleration exceeds a set threshold, the auxiliary device may take corresponding safety measures, such as limiting the acceleration or issuing an alarm, to ensure the safety and stability of the vehicle.

In one embodiment, the elevation angle change rate refers to an angular velocity of a vehicle rotating about its transverse axis (i.e., an axis perpendicular to the ground) for describing a change in the attitude of the vehicle during traveling due to road surface unevenness, acceleration, deceleration, or cornering.

For example, if the elevation angle change rate is too large, the vehicle may be out of control or rollover, resulting in a safety accident.

In one embodiment, the power output parameter refers to the power and torque output by the engine of the vehicle, and is used to describe the power performance of the vehicle.

Horsepower is, for example, one of the important indicators used to evaluate the power performance of an automobile, as the power that a vehicle engine can produce per unit of time. The greater the horsepower, the more power that represents the output of the vehicle engine, and the greater the acceleration capability of the vehicle.

In one embodiment, the suspension stiffness parameter is the stiffness of the vehicle suspension system, affecting the handling, stability and comfort of the vehicle.

By way of example, suspension systems are typically composed of springs, shock absorbers, and the like, where the stiffness of the springs is a major factor affecting the stiffness of the suspension. The greater the spring rate, the stiffer the suspension performance of the vehicle, which is suitable for high speed driving and sporty driving, because a stiffer suspension system may provide better handling and stability.

In one embodiment, in the off-road sand washing process, the embodiment monitors the lateral and longitudinal acceleration changes of the vehicle in real time through the G value sensor, and acquires the attitude information of the vehicle through the pitch angle sensor.

When the auxiliary equipment detects acceleration change or posture change which possibly causes out of control, the auxiliary equipment can be rapidly involved, and the vehicle state is stabilized by adjusting parameters such as power output, suspension hardness, vehicle body posture and the like, so that the rolling risk is reduced. The specific implementation mode is as follows:

(1) And (5) data collection. Acceleration of the vehicle in various directions is measured by the G-value sensor data. During sand washout off-road, these data can reflect vehicle dynamics such as acceleration, deceleration, cornering, etc. Measuring the angle of the vehicle relative to the horizontal by elevation sensor data is critical to determining the attitude of the vehicle on the dune and whether rollover or sideslip is likely to occur.

(2) And (5) data processing and analysis. One or more acceleration thresholds are set (which may be set in connection with the real vehicle state). When the acceleration detected by the G-value sensor exceeds these thresholds, the auxiliary device may determine that the vehicle is experiencing severe acceleration or deceleration, which may result in a decrease in the grip of the tire, increasing the risk of runaway.

By analyzing the rate of change of the elevation sensor data, the stability of the vehicle attitude can be judged. If the rate of elevation change is too great, this may mean that the vehicle is tilting rapidly, and rollover or runaway may occur.

And combining the data of the G value sensor and the elevation angle sensor to carry out comprehensive judgment. For example, when the acceleration exceeds a threshold and the rate of change of elevation is also large, the auxiliary device may determine that the vehicle is in a high risk of loss of control state.

(3) Early warning and response. When the auxiliary equipment detects a possible out-of-control risk, an early warning prompt such as an audible alarm, a warning message on a display screen and the like can be immediately sent to the driver.

Besides the early warning prompt, the auxiliary equipment can also automatically adjust vehicle parameters according to a preset strategy, such as reducing the speed of a vehicle, adjusting a suspension system and the like, so as to reduce the risk of out of control.

Meanwhile, the auxiliary equipment can continuously scan the surrounding environment and update the topographic information in real time. According to the latest terrain data, dynamically adjusting the route planning, avoiding the potential dangerous area and ensuring the safe and stable running of the vehicle.

For example, the auxiliary device may also provide driving advice and guidance to the driver based on the data monitored in real time. For example, when a steep dune is encountered, the system prompts the driver to adjust the speed of the vehicle, select the appropriate gear and braking timing to ensure a smooth jump over the dune.

The auxiliary equipment of the embodiment can collect the movement state data of the vehicle in the target driving area through the preset vehicle sensor, wherein the movement state data comprise the position information, the speed information, the acceleration information, the driving time, the driving mileage and the like of the vehicle. Then judging whether the motion state data reaches a preset threshold value, for example, whether the position corresponding to the position information is offset, whether the speed information is out of control or not, and the like. And if the motion state data reach a preset threshold value, adjusting vehicle parameters of the vehicle according to a preset safety strategy, and outputting alarm information. The occurrence of driving accidents is reduced through the preset safety strategy, the safety of a driver is protected, and the potential safety risk is reduced as much as possible. According to the embodiment, the lateral acceleration change and the longitudinal acceleration change of the vehicle can be monitored in real time through the G value sensing technology, and the dynamic characteristics of the vehicle under different terrains and driving states are reflected. The pitch angle control realizes accurate regulation and control on the stability of the vehicle by monitoring the posture change of the vehicle. By combining G value sensing with pitch angle control, the auxiliary device can evaluate the steady state of the vehicle in real time and automatically adjust parameters such as power output, suspension hardness, body posture and the like when necessary to maintain stable running of the vehicle.

Referring to fig. 3, fig. 3 is a schematic flow chart of a third embodiment of the driving assistance method provided by the invention.

Based on the above embodiments, in this embodiment, the step S10 includes:

step S11: and transmitting laser pulses to a target running area where the vehicle is located through a laser radar, and receiving pulse signals reflected by the target running area based on the laser pulses.

In one embodiment, the lidar is a radar system that detects a characteristic amount of a position, a speed, or the like of a target with a laser beam emitted.

For example, in topographic mapping, lidar is constructed by emitting laser pulses (a beam of light pulses) that strike different locations on the ground and reflect back. The receiver accurately measures the propagation time of these light pulses from emission to reflection back. Since the speed of light is known, the distance of the laser pulse from the lidar to the target point can be calculated by measuring the time difference.

Step S12: and analyzing the pulse signal to obtain point cloud data corresponding to the target driving area.

Step S13: and carrying out three-dimensional reconstruction on the point cloud data to obtain a three-dimensional topographic map of the target driving area.

In one embodiment, the point cloud data is a set of vectors in a three-dimensional coordinate system.

For example, the laser radar continuously scans the target driving area, and data of all target points on the target driving area can be obtained. These point data are called point clouds and contain a large amount of three-dimensional coordinate information. By processing and analyzing these point cloud data, an accurate three-dimensional topography can be generated.

Based on the foregoing embodiment, the step S13 includes: filtering the point cloud data to obtain filtered point cloud data; converting the filtered point cloud data from a local coordinate system of the laser radar to a global coordinate system to obtain global point cloud data; performing compression optimization on the global point cloud data to obtain target point cloud data; and carrying out three-dimensional reconstruction according to the target point cloud data to obtain a three-dimensional topographic map of the target running area.

In one embodiment, the global point cloud data is data obtained by converting three-dimensional coordinate data of a target travel area scanned by a laser radar from a local coordinate system (Local Coordinate System) centered on the laser radar to a global coordinate system (Global Coordinate System) referenced to the entire scene or world.

In one embodiment, in a lidar scanning application, since the lidar is mounted on a vehicle, the point cloud data it scans is initially based on the local coordinate system of the lidar itself. However, in order to fuse these data with other sensor data (e.g., GPS, IMU, etc.), or to perform higher level navigation, localization, mapping, the point cloud data may be converted from a local coordinate system to a global coordinate system.

This process involves coordinate transformation and sensor calibration. Through coordinate transformation, the coordinates of the point scanned by the laser radar in the local coordinate system can be converted into the coordinates in the global coordinate system.

In one embodiment, the auxiliary device may utilize a lidar to perform terrain scanning and three-dimensional reconstruction before the sand washing activity begins to obtain detailed terrain information for the sand washing area. And the built-in algorithm is used for intelligently analyzing the topographic features to identify the position, height, gradient and potential dangerous areas of the sand dunes.

For example, lidar determines the distance between the target travel area and the sensor by emitting a laser pulse and measuring its return time.

During scanning, the lidar emits high-speed rotating laser beams that are reflected back after encountering the terrain surface and captured by the receiver. By analyzing the time difference between the emission and the reception of the laser pulses, distance information of different topography points can be determined.

And (3) scanning by using a laser radar to obtain a large amount of point cloud data, and performing three-dimensional reconstruction based on the point cloud data. The processing steps include data filtering (removing noise and extraneous information), coordinate conversion (converting the point cloud data from the local coordinate system to the global coordinate system of the lidar), and data compression (reducing the amount of data to increase processing speed), from which a three-dimensional topography is constructed.

Based on the foregoing embodiment, the step S20 includes: performing terrain recognition on the target driving area according to the three-dimensional terrain map to obtain terrain characteristic data of the target driving area, wherein the terrain characteristic data comprises at least one of a sand dune position, a sand dune height and a sand dune gradient; determining the sand smoothness degree of each area in the target driving area according to the topographic feature data; acquiring ground clearance data of the vehicle in a gentle sand area of the target running area; and determining a running danger area of the target running area based on the sand leveling degree and the ground clearance data.

In one embodiment, the topographical data is data describing the topography of the ground and its unique signs and markers.

By way of example, the terrain feature data may include a plurality of terrain features such as elevation, dune location, dune height, dune gradient, direction, elevation, and temperature.

In one embodiment, the lidar is used as a high precision measurement tool to enable three-dimensional scanning and reconstruction of the surrounding environment. During sand washing activities, the laser radar can accurately identify the position, height, gradient and potential dangerous areas of the sand dune. Through built-in terrain recognition algorithm, auxiliary equipment can intelligently analyze the terrain characteristics, and accurate route recommendation and navigation information are provided for a driver. Meanwhile, the laser radar can also monitor the relation between the vehicle and the surrounding environment in real time, and provide data support for dynamically adjusting the driving strategy.

In one embodiment, the ground clearance data is the distance of the ground from the lowest point of a rigid object at the bottom of the vehicle (e.g., an engine sump, tank, or suspension arm) and is the most direct reference data for measuring the performance of an automobile across a bumpy road surface.

For example, the ground clearance criteria may vary for different types of vehicles. For example, off-road vehicles may have relatively high ground clearance to cope with complex terrain and road conditions; whereas the ground clearance of sports cars and cars is relatively low, focusing on stability and aerodynamic performance.

Illustratively, the ground clearance is related to the vehicle load, the heavier the load, the smaller the ground clearance.

In one embodiment, the auxiliary device may recommend a safe and efficient travel path and recommend to the driver, taking into account the sand-washing safety, efficiency and driving experience.

By way of example, the identification of topographical features may be integrated from the hills steepness, regular shape, hills height and length, and weather conditions, respectively, to make route recommendations.

Exemplary, specific sand washing difficulty recommending and judging modes are as follows:

(1) The steeper the dune, the greater the difficulty rating.

(2) Whether a sand dune shape has a clear, smooth contour, a regular-shaped sand dune generally has a clear, smooth contour, such as a conical sand dune with a sharp top and a flat bottom; the parabolic dunes then have a specific arc-shaped profile. While irregularly shaped dunes may exhibit broken, uneven appearance, blurred or irregular contours, regular dunes are recommended during route recommendation.

(3) The greater the dune height, the greater the difficulty rating.

(4) The longer the sand dune is from the low point to the high point, the greater the difficulty level is.

(5) According to the humidity of the current weather and the weather condition in the near seven days, the humidity of the sand is estimated, meanwhile, a driver can be prompted to select a gentle sand area to test the change of the ground clearance data before sand washing, so that the stability of the sand is obtained, a fixed value can be calibrated according to the actual weight of a vehicle, an up-down floating range is set, and when the range is higher or lower than the fixed value, the off-road sand washing activity is directly prompted to be not suggested.

Based on the above embodiments, the auxiliary device may perform real-time analysis and processing by an intelligent algorithm based on data of G-value sensing, pitch angle control, and lidar terrain identification. The driving state of the vehicle can be estimated, the potential risk can be predicted, and the driving strategy can be automatically adjusted to cope with complex and changeable sand washing environments. The vehicle state is intelligently analyzed and adjusted by monitoring the vehicle dynamics and the surrounding environment in real time so as to ensure the safety and the high efficiency of the sand washing process.

In the embodiment, before the sand flushing activity starts, the auxiliary equipment can perform terrain scanning and three-dimensional reconstruction by using the laser radar to acquire detailed terrain information of the sand flushing area. And the built-in algorithm is used for intelligently analyzing the topographic features to identify the position, height, gradient and potential dangerous areas of the sand dunes. The vehicle state is intelligently analyzed and adjusted by monitoring the vehicle dynamics and the surrounding environment in real time so as to ensure the safety and the high efficiency of the sand washing process.

Referring to fig. 4, fig. 4 shows a block diagram of a first embodiment of the driving assistance apparatus provided by the invention. As shown in fig. 4, the apparatus includes: a three-dimensional scanning module 41, a terrain recognition module 42 and a terrain recognition module 43.

The three-dimensional scanning module 41 is used for carrying out three-dimensional scanning on a target running area where the vehicle is located, and constructing a three-dimensional topographic map of the target running area;

the terrain recognition module 42 is configured to perform terrain feature recognition on the target driving area according to the three-dimensional terrain map, so as to obtain a sand smoothness degree and/or a driving danger area;

and the auxiliary route module 43 is used for carrying out route planning according to the sand smoothness degree and/or the running danger area to obtain a driving auxiliary route of the vehicle.

In an alternative manner, the driving assistance device further includes a sensing control module 44 for acquiring, by a preset vehicle sensor, movement state data of the vehicle in a target driving area; judging whether the motion state data reach a preset threshold value or not; and if the motion state data reach the preset threshold value, adjusting the vehicle parameters of the vehicle according to a preset safety strategy, and outputting alarm information.

In an alternative manner, the preset vehicle sensor includes a G value sensor and/or a pitch angle sensor, the motion state data includes acceleration data and/or vehicle posture information, and the sensing control module 44 is further configured to perform speed detection on the vehicle through the G value sensor to obtain acceleration data of the vehicle in all directions; and/or performing angle detection on the vehicle through the pitch angle sensor to obtain vehicle attitude information of the vehicle based on a horizontal plane;

Correspondingly, the sensing control module 44 is further configured to reduce the power output parameter of the vehicle according to a preset safety strategy if the acceleration data reaches the acceleration threshold; and/or if the vehicle attitude information reaches the elevation angle change rate, adjusting the suspension hardness parameter of the vehicle according to a preset safety strategy.

In an alternative manner, the three-dimensional scanning module 41 is further configured to transmit a laser pulse to a target driving area where the vehicle is located by using a laser radar, and receive a pulse signal reflected by the target driving area based on the laser pulse; analyzing the pulse signal to obtain point cloud data corresponding to the target driving area; and carrying out three-dimensional reconstruction on the point cloud data to obtain a three-dimensional topographic map of the target driving area.

In an optional manner, the three-dimensional scanning module 41 is further configured to filter the point cloud data to obtain filtered point cloud data; converting the filtered point cloud data from a local coordinate system of the laser radar to a global coordinate system to obtain global point cloud data; performing compression optimization on the global point cloud data to obtain target point cloud data; and carrying out three-dimensional reconstruction according to the target point cloud data to obtain a three-dimensional topographic map of the target running area.

In an optional manner, the terrain identification module 42 is further configured to perform terrain identification on the target driving area according to the three-dimensional terrain map, so as to obtain terrain feature data of the target driving area, where the terrain feature data includes at least one of a sand dune position, a sand dune height, and a sand dune gradient; determining the sand smoothness degree of each area in the target driving area according to the topographic feature data; acquiring ground clearance data of the vehicle in a gentle sand area of the target running area; and determining a running danger area of the target running area based on the sand leveling degree and the ground clearance data.

In the embodiment, a three-dimensional topographic map of a target running area is constructed by carrying out three-dimensional scanning on the target running area where a vehicle is located; then carrying out terrain feature recognition on the target driving area according to the three-dimensional terrain map to obtain a sand smoothness degree and/or a driving dangerous area; and finally, carrying out route planning according to the sand smoothness degree and/or the running dangerous area to obtain a driving auxiliary route of the vehicle. According to the invention, the three-dimensional scanning is carried out on the target driving area where the vehicle is located, so that the sand smoothness degree and the driving dangerous area can be accurately identified, and the route planning is carried out, so that the situations of complex terrain, limited visual field and high driving difficulty faced by a driver in off-road sand washing activities are avoided, an optimal driving auxiliary route is provided for the driver, the complex and changeable driving environment is dealt with, and the driving safety and reliability are improved.

Fig. 5 shows a schematic structural view of an embodiment of the driving assistance apparatus of the present invention, and the embodiment of the present invention is not limited to the specific implementation of the driving assistance apparatus.

As shown in fig. 5, the driving assistance apparatus may include: a processor 502, a communication interface (Communications Interface) 504, a memory 506, and a communication bus 508.

Wherein: processor 502, communication interface 504, and memory 506 communicate with each other via communication bus 508. A communication interface 504 for communicating with network elements of other devices, such as clients or other servers. The processor 502 is configured to execute the program 510, and may specifically perform the relevant steps in the driving assistance method embodiment described above.

In particular, program 510 may include program code comprising computer-executable instructions.

The processor 502 may be a central processing unit CPU, or an Application-specific integrated Circuit ASIC (Application SPECIFIC INTEGRATED Circuit), or one or more integrated circuits configured to implement embodiments of the present invention. The one or more processors comprised by the driving assistance device may be the same type of processor, such as one or more CPUs; but may also be different types of processors such as one or more CPUs and one or more ASICs.

A memory 506 for storing a program 510. Memory 506 may comprise high-speed RAM memory or may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

The program 510 may be specifically invoked by the processor 502 to cause the remote interaction device to perform the relevant steps described above for the driving assistance method embodiment.

An embodiment of the present invention provides a computer-readable storage medium storing at least one executable instruction that, when executed on a driving assistance apparatus/device, causes the driving assistance apparatus/device to perform the driving assistance method in any of the above-described method embodiments.

The executable instructions may in particular be used to cause a driving assistance apparatus/device to perform the relevant steps described above for the driving assistance method embodiments.

Embodiments of the present invention provide a computer readable storage medium, the computer program product comprising a computer program which, when executed by a processor, implements the steps of the driving assistance method as described above.

The algorithms or displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. In addition, embodiments of the present invention are not directed to any particular programming language.

In the description provided herein, numerous specific details are set forth. It will be appreciated, however, that embodiments of the invention may be practiced without such specific details. Similarly, in the above description of exemplary embodiments of the invention, various features of embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. Wherein the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Except that at least some of such features and/or processes or elements are mutually exclusive.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names. The steps in the above embodiments should not be construed as limiting the order of execution unless specifically stated.

Claims

1. A driving assistance method, characterized in that the method comprises:

2. The method according to claim 1, wherein after the step of obtaining a driving assistance route of the vehicle, route planning is performed according to the sand smoothness degree and/or the running hazard area, further comprising:

judging whether the motion state data reach a preset threshold value or not;

3. The method of claim 2, wherein the predetermined vehicle sensor includes a G-value sensor and/or a pitch angle sensor, the movement state data includes acceleration data and/or vehicle posture information, and the step of collecting movement state data of the vehicle in a target running area by the predetermined vehicle sensor includes:

4. A method according to any one of claims 1 to 3, wherein the step of three-dimensionally scanning a target travel area in which the vehicle is located and constructing a three-dimensional topographical map of the target travel area comprises:

5. The method of claim 4, wherein the step of three-dimensionally reconstructing the point cloud data to obtain a three-dimensional topographical map of the target travel area comprises:

Filtering the point cloud data to obtain filtered point cloud data;

6. The method of claim 4, wherein the step of performing terrain feature recognition on the target driving area according to the three-dimensional terrain map to obtain a sand smoothness degree and/or a driving danger area comprises:

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

8. A driving assistance apparatus, characterized by comprising: the device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete communication with each other through the communication bus;

The memory is configured to store at least one executable instruction that causes the processor to perform the operations of the driving assistance method according to any one of claims 1 to 6.

9. A computer readable storage medium, characterized in that the storage medium has stored therein at least one executable instruction, which when run on a driving assistance device/arrangement, causes the driving assistance device/arrangement to perform the operations of the driving assistance method as claimed in any one of claims 1-6.

10. A computer program product, characterized in that the computer program product comprises a computer program which, when executed by a processor, implements the steps of the driving assistance method as claimed in any one of claims 1 to 6.