WO2018210050A1 - 车辆驾驶辅助方法、装置、系统、终端设备及存储介质 - Google Patents

车辆驾驶辅助方法、装置、系统、终端设备及存储介质 Download PDF

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Publication number
WO2018210050A1
WO2018210050A1 PCT/CN2018/079666 CN2018079666W WO2018210050A1 WO 2018210050 A1 WO2018210050 A1 WO 2018210050A1 CN 2018079666 W CN2018079666 W CN 2018079666W WO 2018210050 A1 WO2018210050 A1 WO 2018210050A1
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WIPO (PCT)
Prior art keywords
vehicle
traffic light
road
road condition
driving
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PCT/CN2018/079666
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English (en)
French (fr)
Inventor
于欣
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中兴通讯股份有限公司
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Publication of WO2018210050A1 publication Critical patent/WO2018210050A1/zh

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
    • G08G1/096827—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed onboard
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle

Definitions

  • the present disclosure relates to the field of vehicle driving technologies, and in particular, to a vehicle driving assistance method, apparatus, system, terminal device, and storage medium.
  • Embodiments of the present disclosure provide a vehicle driving assistance method, apparatus, system, terminal device, and storage medium.
  • An embodiment of the present disclosure provides a driving assistance method for a vehicle, including:
  • the road condition information of the intersection includes road condition information of the road connected to the front intersection;
  • the step of acquiring road condition information of the intersection ahead of the vehicle and planning the driving route of the vehicle according to the road condition information includes:
  • the driving route of the vehicle is planned.
  • the step of determining the road condition result of the road connected to the front intersection according to the road condition information sent by the other vehicles includes:
  • the road condition of the road is a congestion road condition, and the road condition result of each road connected to the front intersection is determined.
  • the vehicle driving assistance method further includes:
  • the traveling information of the vehicle is acquired based on the On-Board Diagnostic (OBD) interface, the road condition information of the road section where the vehicle is currently located is acquired according to the driving information, and the road condition information is broadcast to the periphery of the vehicle.
  • OBD On-Board Diagnostic
  • the step of acquiring the traffic light information corresponding to the driving route among the traffic lights disposed at the front intersection according to the driving route includes:
  • the traffic light information is output.
  • the step of acquiring the traffic light information sent by the traffic light according to the request includes:
  • the step of acquiring the driving state of the vehicle and outputting the driving recommendation according to the traffic light information and the driving state includes:
  • the traffic light information includes a traffic light color corresponding to the driving route and The remaining time of the color
  • the step of selecting a manner in which the suggested vehicle passes the front intersection according to the traffic light information, the traveling speed of the vehicle, and the distance between the vehicle and the front intersection stop line includes:
  • the embodiment of the present disclosure further provides a driving assistance device for a vehicle, including:
  • a planning program module configured to acquire road condition information of a road ahead of the vehicle, and plan a driving route of the vehicle according to the road condition information; wherein the road condition information of the front intersection includes road condition information of the road connected to the front intersection;
  • Obtaining a program module configured to acquire traffic light information corresponding to the driving route among the traffic lights disposed at the front intersection according to the driving route;
  • the output program module is configured to acquire a driving state of the vehicle, and output a driving recommendation according to the traffic light information and the driving state.
  • An embodiment of the present disclosure further provides a terminal device, including: a memory, a processor, and a computer program stored on the memory and operable on the processor, where the processor implements the following steps when executing the computer program :
  • the road condition information of the front intersection includes road condition information of the road connected to the front intersection;
  • the embodiment of the present disclosure further provides a computer readable storage medium on which a vehicle driving assistance program is stored, and when the vehicle driving assistance program is executed by the processor, the following steps are implemented:
  • the road condition information of the intersection includes road condition information of the road connected to the front intersection;
  • Embodiments of the present disclosure also provide a vehicle driving assistance system including a traffic light device configured to broadcast traffic light information and the above-described vehicle driving assistance device.
  • the embodiment of the present disclosure obtains the road condition information of the road ahead of the vehicle, and plans the driving route of the vehicle according to the road condition information; wherein the road condition information of the front intersection includes road condition information of the road connected to the front intersection; according to the driving a route, obtaining traffic light information corresponding to the driving route among the traffic lights disposed at the front intersection; acquiring a driving state of the vehicle, and outputting driving suggestions according to the traffic light information and the driving state, thereby preventing the driver from being unaware When driving in front of the road, the vehicle is caught in a congested road situation. It also provides drivers with efficient and safe driving advice through the intersection, avoiding a lot of time for drivers and passengers to get into congested road conditions.
  • FIG. 1 is a schematic diagram of a scenario of a first embodiment of a driving assistance method for a vehicle according to the present disclosure
  • FIG. 2 is a schematic flow chart of a first embodiment of a driving assistance method for a vehicle according to the present disclosure
  • step S10 is a schematic diagram of a sub-flow of step S10 in the first embodiment of the vehicle driving assistance method according to the present disclosure
  • step S20 is a schematic diagram of a sub-flow of step S20 in the first embodiment of the vehicle driving assistance method according to the present disclosure
  • FIG. 5 is a schematic diagram of a coding mode of traffic light information in the first embodiment of the vehicle driving assistance method of the present disclosure
  • step S30 is a schematic diagram of a sub-flow of step S30 in the first embodiment of the vehicle driving assistance method according to the present disclosure
  • step S12 is a schematic diagram of a sub-flow of step S12 in the second embodiment of the vehicle driving assistance method according to the present disclosure
  • FIG. 8 is a schematic diagram of a coding mode scenario of road condition information in a second embodiment of the vehicle driving assistance method according to the present disclosure.
  • FIG. 9 is a structural block diagram of a first embodiment of a vehicle driving assistance device according to the present disclosure.
  • FIG. 10 is a structural block diagram of an embodiment of a vehicle driving assistance device planning program module of the present disclosure
  • FIG. 11 is a structural block diagram of an embodiment of a vehicle driving assistance device acquisition program module according to the present disclosure.
  • FIG. 12 is a structural block diagram of an embodiment of a vehicle driving assistance device output program module according to the present disclosure.
  • FIG. 13 is a schematic structural diagram of a terminal in a hardware operating environment according to an embodiment of the present disclosure
  • FIG. 14 is a structural block diagram of an embodiment of a vehicle driving assistance system of the present disclosure.
  • 15 is a schematic diagram of a system architecture of a vehicle driving assistance system of the present disclosure.
  • a driving assistance method for a vehicle is provided.
  • the method includes:
  • Step S10 acquiring road condition information of the intersection ahead of the vehicle, and selecting a driving route of the vehicle according to the road condition information; wherein the road condition information of the front intersection includes road condition information of the road connected to the front intersection;
  • the solution of the embodiment of the present disclosure is to solve the problem that the vehicle is in a congested road condition when the road is facing the intersection, and the method of the embodiment of the present disclosure is to help the vehicle avoid the congested road during the driving process, and can efficiently and safely drive.
  • the vehicle driving assistance method at the intersection so in the process of acquiring the road condition information, the acquisition is mainly performed for the road to be in a clear state or a congested state.
  • the front intersection refers to the next intersection that the vehicle will face on the road.
  • the front intersection can be regarded as the intersection before the driving direction; on a winding road, the front intersection It can be after multiple turns and not at the moment the vehicle is driving ahead, but it is the next intersection that will be faced later.
  • the road condition information of the road connected to the front intersection includes road condition information of the entire section of the road from the front intersection to other intersections, or road condition information within the preset distance value of the road intersection from the road, and the preset distance value may be selected by the user according to his own driving habits. , can also default to the factory preset distance value.
  • the road condition information of the road connected to the front intersection includes the road condition information of the entire section of the road from the front intersection to the other intersections, which can avoid the problem that the congestion occurs outside the preset distance range, and can be able to avoid the congestion of all the roads at the intersection. Provide an unobstructed path for the vehicle.
  • the step S10 is opened (ie, the triggering step S10) can be selected by manually opening and automatically opening, wherein the automatic opening can locate the distance M1 between the vehicle and the front intersection by using the GPS as the opening condition.
  • the distance can be adjusted by the user or the default distance, so that the route of the suggested driver form can be planned in advance, so that the driver has enough time to change lanes, and the actual driving situation of the driver is updated after each distance. Update the planning of the vehicle's driving route.
  • Step S20 Acquire, according to the driving route, the traffic light information of the corresponding driving route in the traffic light set at the front intersection;
  • the vehicle After the driver receives the driving route reminded by the driving assistance device of the vehicle, the vehicle is driven according to the driving route. At this time, after determining the driving route, the traffic light information at the intersection ahead of the driving route can be obtained in advance to help the driver to better handle the front intersection. In this case, prepare the driver for the vehicle to drive past the road ahead.
  • step S20 in this embodiment includes:
  • Step S21 issuing a request for acquiring traffic light information corresponding to the driving route to the traffic light disposed at the front intersection;
  • the traffic lights at the front intersection include traffic light information indicating the left, right, and right traffic vehicles.
  • the driving route and the request for the traffic light information of the driving route are sent to the traffic light (that is, set in front of the traffic light).
  • Traffic light at the intersection the traffic light will respond according to the request of the traffic light information. For example, the vehicle needs to travel to the left at the front intersection. Therefore, the traffic light set at the front intersection is sent a request for obtaining a traffic light to the left driving route. The traffic light will be based on the traffic light information. The request responds.
  • the traffic light is binary and hexadecimal coded after the traffic light is sent, and the coding mode is represented by four hexadecimal digits as an example, for example, the fourth digit represents a traffic light.
  • Color and direction, after conversion to four-digit binary the upper two represent the direction, the lower two represent the color, for example: the high two 00 represents the north-south direction, 01 represents the east-west direction, 10 represents the northwest to the southeast, and 11 represents the northeast pair.
  • Step S22 acquiring traffic light information sent by the traffic light according to the request
  • step S23 the traffic light information is output.
  • the encoded traffic light information is decoded and output to the driver.
  • the output method includes but is not limited to voice broadcast, image prompt, vibration, light flashing, analog projection, etc., wherein the voice broadcast does not transfer the driver's line of sight, and the interference to the driver's driving is small, so the voice broadcast mode is preferred. Remind.
  • the traffic light information is obtained in a targeted manner.
  • the traffic light information can be obtained in time to prevent the driver from suddenly changing from the green light because the information of the traffic light is not understood.
  • the front vehicle brakes and hits the front vehicle, causing a rear-end collision.
  • Step S30 acquiring a driving state of the vehicle, and outputting a driving recommendation according to the traffic light information and the driving state;
  • step S30 in this embodiment includes:
  • Step S31 acquiring a traveling speed of the vehicle and a distance between the vehicle and the front intersection parking line;
  • the vehicle driving assistance device measures the traveling speed of the vehicle during the running of the vehicle, measures the distance between the vehicle and the front intersection parking line by requesting and acquiring the traffic light information from the traffic light, or directly determines the traveling speed of the vehicle through the GPS positioning system. And the distance to the intersection ahead.
  • travel information such as the traveling speed, the number of brakes, and the traveling direction of the vehicle are acquired through the OBD interface in the vehicle.
  • Step S32 according to the traffic light information, the traveling speed of the vehicle, and the distance between the vehicle and the front intersection parking line, select a manner in which the suggested vehicle passes the front intersection; wherein the traffic light information includes the traffic light color of the corresponding driving route and the remaining time of the color. ;
  • step S33 the manner in which the suggested vehicle passes the front intersection is output.
  • the step S30 can be selected by manually opening and automatically opening, wherein the automatic opening can be used to locate the distance M2 between the vehicle and the front intersection by using the GPS as an opening condition, and the distance can be adjusted by the user or can be adopted.
  • the driver when the last few seconds of the green light in the daily intersection traffic light, the driver often accelerates to grab the intersection and the traffic accident occurs. Therefore, on the basis of obtaining the traffic light information, the driving state of the vehicle is further obtained. According to the traffic light information and driving status, a series of calculations are carried out to find out whether the driver can drive at the original speed, accelerate the driving through the front intersection or can not slow down through the front intersection, and avoid the driver's mistakes due to experience judgment. The situation that led to the accident improves the efficiency and safety of driving the vehicle through the intersection.
  • step S10 in this embodiment includes:
  • Step S11 acquiring road condition information of other vehicles located on the road connected to the intersection ahead of the vehicle;
  • data transmission is performed by means of wireless broadcasting, including but not limited to using WI-FI mode, and the WI-FI MAC address is represented by twelve hexadecimal digits, which is performed before transmission.
  • the encoding operation performs a decoding operation after acquisition.
  • Vehicles traveling on each road in the city share the road condition information of the road where the vehicle is located by the vehicle driving assistance device of the embodiment of the present disclosure, that is, the road condition information is uploaded to the server for acquisition by other terminals; the vehicle driving assistance device is selected in front of the server.
  • Road junctions are connected to the road to obtain information on the road conditions of other vehicles on the road connected to the intersection.
  • the vehicle itself cannot know the road condition information.
  • the vehicle needs to judge whether the driving condition of the vehicle meets the traffic conditions of the traffic to determine the road condition information of the road on which the vehicle is located.
  • the traffic condition of the traffic is the situation that the vehicle will travel on the road in the state of congestion.
  • the vehicle may consider that the road on which the vehicle is located belongs to a congested road condition, and the reported road condition information is the congestion road condition information, and the traffic condition reported by the vehicle if the driving condition of the vehicle does not satisfy the driving condition.
  • the information is information about the accessibility.
  • Step S12 determining, according to road condition information of other vehicles, a road condition result of the road connected to the front intersection;
  • step S13 the driving route of the vehicle is planned according to the road condition result.
  • a relatively unobstructed road is planned as a driving route to the driver to avoid the trouble of driving the vehicle into a congested road condition. For example, if the road to the north of the road ahead is in a congested state, and the road to the west is in a clear state, the driver is reminded to drive west at the front intersection in advance to avoid the trouble of the vehicle getting into congestion.
  • the road in the unblocked state is planned as the driving route of the vehicle to be promptly reminded to the driver, and the driver can drive the vehicle according to the reminded driving route, so that the vehicle reaches the destination.
  • the experience of the traffic jam section is minimized, so that the driver can drive the vehicle into the congested road without knowing the road condition of the front intersection, and the embodiment of the present disclosure can save the driver and the passengers from wasting ten dollars due to traffic jam. Valuable time in minutes or even hours.
  • the reminding manner may be one or more of a voice broadcast, an image prompt, a vibration, a light flashing, an analog projection, etc., wherein the voice broadcast does not shift the driver's line of sight, and the interference to the driver's driving is small. Therefore, it is preferable to perform a reminder by means of voice broadcast.
  • the driver can input the destination before driving, and the embodiment of the present disclosure pre-plans the shortest route to the destination for the vehicle, and the driver follows the pre-planned route.
  • the road ahead should be driven to the north at the intersection ahead of the planned route.
  • the road condition information of the obtained intersection that the road to the north is in a congested state, and the road to the west is in a clear state, and the warning is given in advance.
  • the driver travels west at the front intersection and re-plans the shortest route to the destination based on the road that the driver actually travels, that is, the road ahead to the west.
  • the vehicle driving assistance method further includes: acquiring driving information of the vehicle based on the OBD interface, acquiring road condition information of the road section where the vehicle is currently located according to the driving information, and broadcasting the road condition information to the periphery of the vehicle.
  • the OBD monitors the running status of the vehicle engine, the exhaust gas treatment system, the braking system, and the tire pressure system at any time.
  • the OBD interface stores the driving information in the memory, and identifies and acquires the road condition information of the current road section of the vehicle according to the driving information.
  • the brakes of the vehicle are very frequent (such as the number of brakes per unit time is greater than the preset number, the vehicle brakes are determined frequently), the engine speed fluctuates greatly (the engine speed unit time is greater than the preset speed value), and the current vehicle segment is determined.
  • the congestion that is, the road condition information qualitative vehicle is currently in a road section, wherein the road condition information includes at least the location of the road where the vehicle is currently located and the congestion of the road section.
  • the vehicle broadcasts the road condition information generated by itself to the vehicle periphery in real time or timing, thereby realizing the sharing of road condition information between multiple vehicles, which is beneficial to the vehicle to know the congestion situation of the front intersection based on the road condition information, and is more advantageous for accurately outputting the driving advice.
  • step S12 includes:
  • Step S121 determining whether the road condition information reported by other vehicles located at the road connected to the front intersection is congestion road condition information
  • the traffic information and traffic conditions reported by the vehicle are sent by binary and hexadecimal code.
  • the coding mode is represented by four hexadecimal digits, and the fourth digit represents the intersection direction and road condition.
  • the upper two represent the direction and the lower two represent the road condition.
  • the lower two 00 means the road is smooth, 01 means the road is normal, 10 means the congestion, It is recommended to bypass;
  • 0010 represents the congestion of the south side of the traffic light, which is converted to hexadecimal.
  • Step S122 If the number of vehicles on the same road and reporting the traffic condition information reaches the first preset number, determine that the road condition information of the road is a congestion road condition, and further determine a road condition result of each road connected to the front intersection.
  • the vehicles of different roads can be classified according to the direction in the reported road condition information, and the number of vehicles reporting the road condition information on each road of the traffic light is obtained. If the number of vehicles on the same road and reporting the traffic condition information reaches the first preset number, it may be determined that the road condition information of the road is a congestion road condition, and then the road condition result of each connected road with the front intersection is determined.
  • the first preset number is the minimum number of congested vehicles when congestion occurs, which may be preset at the time of shipment, or may be set by the driver himself. For example, the driver thinks that there are more than 30 on the same road. When a car reports traffic jam information at the same time to confirm that the road is in a congested state, the first preset number is 30.
  • the congestion road conditions may be divided into different congestion levels and corresponding to different first preset numbers, and the more serious the congestion level, the more the first preset number to be reported by the number of congestion road condition information.
  • the road condition information sent by the other vehicles in step S121 and the traffic light in step S21 are in the same coding mode, so that the five-digit hexadecimal method can be used for coding on the above four-digit hexadecimal basis.
  • the fifth-digit number is used to distinguish the road condition information sent by the vehicle from the traffic light information sent by the traffic light.
  • the coding method of the four digits is the same as the corresponding coding method, and will not be described here.
  • the vehicle driving assistance device takes precedence in decoding. The fifth digit is decoded, and then the decoding operation is performed according to different data signals.
  • step S22 includes:
  • Step S221 acquiring traffic light information sent by the traffic light according to the request
  • the traffic light After receiving the request for the traffic light information of the corresponding driving route, the traffic light knows the driving route of the vehicle, and then finds the traffic light information corresponding to the driving route according to the driving route, and codes the traffic light information in the above manner.
  • the manner of sending may be that the traffic light correspondingly writes the traffic light information to the corresponding field of the hot spot MAC address in the case that the current environment has a hot spot, or the traffic light sends the traffic light information to the driving assistance device of the vehicle through the wireless network, and the driving assistance device of the vehicle according to the manner of sending the traffic light Corresponding to the field corresponding to the extracted hotspot MAC address, or obtaining red and green information from the wireless network.
  • step S222 the traffic light information is decoded, and the current traffic light color of the corresponding driving route and the remaining time of the current traffic light color in the traffic light of the front intersection are obtained.
  • the encoded traffic light information is decoded to obtain the traffic light color in the traffic light information and the remaining time of the current traffic light color to directly call the traffic light color and the remaining time of the current traffic light color in a subsequent step.
  • the traffic light can transmit the traffic light information corresponding to the driving route of the vehicle to the driving assistance device of the vehicle in a plurality of manners, and the vehicle driving assistance device obtains the diversity of the traffic light information, thereby ensuring the reliability of acquiring the red street light information.
  • step S32 includes:
  • Step S321 according to the traveling speed of the vehicle and the distance between the vehicle and the front intersection parking line, the time required for the vehicle to drive past the front intersection parking line is obtained;
  • step S322 according to the current traffic light color of the front intersection in the traffic light information, the remaining time of the current traffic light color, and the time required for the vehicle to pass the front intersection parking line, the manner in which the suggested vehicle passes the front intersection is selected.
  • T ⁇ t green choose the way that the driver is recommended to keep the original speed through the front intersection; when T>t green , select the driver to accelerate through the front intersection or decelerate to stop. Mode, and then judge whether the user acceleration can pass according to the actual driving situation of the current user and the real-time traffic light information, for example, when the current speed of the vehicle is less than 50% of the current road speed limit value, and Tt green ⁇ 1S, the driver is prompted to accelerate. Drive through the front intersection. The driver actually conducts a certain distance and then conducts further evaluation, and continues to select the driving advice to the driver according to the above rules.
  • the maximum speed that can be achieved when judging whether it can accelerate through the intersection should be no higher than the speed limit value of the current driving road. If the speed passing through the intersection needs to be greater than the speed limit value of the current driving road, the parking is selected. Suggestions for slowing down.
  • the traffic light information, the traveling speed of the vehicle, and the distance between the vehicle and the front intersection stop line are specifically disclosed, and a manner of suggesting the vehicle passing through the front intersection is selected, by comparing the time when the vehicle reaches the front intersection stop line and The time of the traffic light serves as the basis for suggesting that the vehicle pass the front intersection, ensuring the reliability and reliability of the proposal, and avoiding the traffic accident caused by the driver's judgment due to personal experience.
  • the present disclosure also provides an embodiment of a vehicle driving assistance device.
  • the vehicle driving assistance device 100 includes a planning program module 10, an acquisition program module 20, and an output program module 30, wherein:
  • the planning program module 10 is configured to acquire road condition information of the intersection ahead of the vehicle, and plan a driving route of the vehicle according to the road condition information; wherein the road condition information of the front intersection includes road condition information of the road connected to the front intersection;
  • the solution of the embodiment of the present disclosure is a driving assistance method for helping a vehicle to avoid congested roads during driving, and can efficiently and safely cross the intersection. Therefore, in the process of acquiring road condition information, the road is mainly in a smooth state or a congested state. Get it.
  • the front intersection refers to the next intersection that the vehicle will face on the road.
  • the front intersection can be regarded as the intersection before the direction of travel; on a winding road, the front intersection can be repeated several times. Turning and not at the moment the vehicle is driving ahead, but it is the next intersection that will be faced later.
  • the road condition information of the road connected to the front intersection includes road condition information of the entire section of the road from the front intersection to other intersections, or road condition information within the preset distance value of the road intersection from the road, and the preset distance value may be selected by the user according to his own driving habits. , can also default to the factory preset distance value.
  • the road condition information of the road connected to the front intersection includes the road condition information of the entire section of the road from the front intersection to the other intersections, which can avoid the problem that the congestion occurs outside the preset distance range, and can be able to avoid the congestion of all the roads at the intersection. Provide an unobstructed path for the vehicle.
  • the planning program module 10 in this embodiment includes a first acquiring subroutine module 11, a determining subroutine module 12, and a planning subroutine module 13, wherein:
  • the first acquisition subroutine module 11 acquires road condition information of other vehicles located on the road connected to the intersection ahead of the vehicle;
  • data transmission is performed by means of wireless broadcasting, including but not limited to using WI-FI mode, and the WI-FI MAC address is represented by twelve hexadecimal digits, which is performed before transmission.
  • the encoding operation performs a decoding operation after acquisition.
  • Vehicles traveling on each road in the city share the road condition information of the road where the vehicle is located by the vehicle driving assistance device of the embodiment of the present disclosure, that is, the road condition information is uploaded to the server for acquisition by other terminals; the vehicle driving assistance device is selected in front of the server.
  • Road junctions are connected to the road to obtain information on the road conditions of other vehicles on the road connected to the intersection.
  • the vehicle itself cannot know the road condition information.
  • the vehicle needs to judge whether the driving condition of the vehicle meets the traffic conditions of the traffic to determine the road condition information of the road on which the vehicle is located.
  • the traffic condition of the traffic is the situation that the vehicle will travel on the road in the state of congestion.
  • the vehicle may consider that the road on which the vehicle is located belongs to a congested road condition, and the reported road condition information is the congestion road condition information, and the traffic condition reported by the vehicle if the driving condition of the vehicle does not satisfy the driving condition.
  • the information is information about the accessibility.
  • the determining subroutine module 12 determines the road condition result of the road connected to the front intersection according to the road condition information of the other vehicles;
  • the planning subroutine module 13 plans the driving route of the vehicle based on the road condition result.
  • a relatively unobstructed road is planned as a driving route to the driver to avoid the trouble of driving the vehicle into a congested road condition. For example, if the road to the north of the front intersection is in a congested state, and the road to the west is in a smooth state, the driver is reminded to drive west at the front intersection to avoid the trouble of the vehicle getting into congestion.
  • the road in the unblocked state is planned as the driving route of the vehicle to be promptly reminded to the driver, and the driver can drive the vehicle according to the reminded driving route, so that the vehicle reaches the destination.
  • the experience of the traffic jam section is minimized, so that the driver can drive the vehicle into the congested road without knowing the road condition of the front intersection, and the embodiment of the present disclosure can save the driver and the passengers from wasting ten dollars due to traffic jam. Valuable time in minutes or even hours.
  • the reminding manner may be one or more of a voice broadcast, an image prompt, a vibration, a light flashing, an analog projection, etc., wherein the voice broadcast does not shift the driver's line of sight, and the interference to the driver's driving is small. Therefore, it is preferable to perform a reminder by means of voice broadcast.
  • the driver can input the destination before driving, and the embodiment of the present disclosure pre-plans the shortest route to the destination for the vehicle, and the driver follows the pre-planned route.
  • the road ahead should be driven to the north at the intersection ahead of the planned route.
  • the road condition information of the obtained intersection that the road to the north is in a congested state, and the road to the west is in a clear state, and the warning is given in advance.
  • the driver travels west at the front intersection and re-plans the shortest route to the destination based on the road that the driver actually travels, that is, the road ahead to the west.
  • the opening planning program module 10 can be selected by manually opening and automatically opening, wherein the automatic opening can locate the distance M1 between the vehicle and the front intersection by using the GPS as an opening condition, and the distance can be adjusted by the user.
  • the default distance can be used to plan the route in the suggested driver form in advance, so that the driver has enough time to change lanes, and update the driver's actual driving situation after each distance, and then update the planning of the vehicle driving route.
  • the acquiring program module 20 is configured to acquire traffic light information of a corresponding driving route in the traffic lights disposed at the front intersection according to the driving route;
  • the vehicle After the driver receives the driving route reminded by the driving assistance device of the vehicle, the vehicle is driven according to the driving route. At this time, after determining the driving route, the traffic light information at the intersection ahead of the driving route can be obtained in advance to help the driver to better handle the front intersection. In this case, prepare the driver for the vehicle to drive past the road ahead.
  • the acquisition program module 20 includes a request subroutine module 21, a second acquisition subroutine module 22, and a first output subroutine module 23, wherein:
  • the request subroutine module 21 issues a request for acquiring traffic light information corresponding to the driving route to the traffic light disposed at the front intersection;
  • the traffic lights at the front intersection include traffic light information indicating the left, right, and right traffic vehicles.
  • the driving route and the request for the traffic light information of the driving route are sent to the traffic light (that is, set in front of the traffic light).
  • Traffic light at the intersection the traffic light will respond according to the request of the traffic light information. For example, the vehicle needs to travel to the left at the front intersection. Therefore, the traffic light set at the front intersection is sent a request for obtaining a traffic light to the left driving route. The traffic light will be based on the traffic light information. The request responds.
  • the traffic light is binary and hexadecimal coded after the traffic light is sent, and the coding mode is represented by four hexadecimal digits as an example, for example, the fourth digit represents a traffic light.
  • Color and direction, after conversion to four-digit binary the high two represent the direction, the lower two represent the color, for example: the high two 00 represents the north-south direction, 01 represents the east-west direction, 10 represents the northwest to the southeast, and 11 represents the northeast to the southwest.
  • the second obtaining subroutine module 22 acquires the traffic light information sent by the traffic light according to the request;
  • the first output subroutine module 23 outputs traffic light information.
  • the encoded traffic light information is decoded and output to the driver.
  • the output method includes but is not limited to voice broadcast, image prompt, vibration, light flashing, analog projection, etc., wherein the voice broadcast does not transfer the driver's line of sight, and the interference to the driver's driving is small, so the voice broadcast mode is preferred. Remind.
  • the traffic light information is obtained in a targeted manner.
  • the traffic light information can be obtained in time to prevent the driver from suddenly changing from the green light because the information of the traffic light is not understood.
  • the front vehicle brakes and hits the front vehicle, causing a rear-end collision.
  • the output program module 30 is configured to acquire the driving state of the vehicle and output driving advice based on the traffic light information and the driving state.
  • the output program module 30 includes a third acquisition subroutine module 31, a selection subroutine module 32, and a second output subroutine module 33, wherein:
  • the third acquisition subroutine module 31 acquires the traveling speed of the vehicle and the distance between the vehicle and the front intersection parking line;
  • the vehicle driving assistance device measures the traveling speed of the vehicle during the running of the vehicle, measures the distance between the vehicle and the front intersection parking line by requesting and acquiring the traffic light information from the traffic light, or directly determines the traveling speed of the vehicle through the GPS positioning system. And the distance to the intersection ahead.
  • the traveling speed, the number of brakes, and the traveling direction of the vehicle are all acquired through the OBD interface in the vehicle.
  • the selection subroutine module 32 selects a manner in which the suggested vehicle passes the front intersection according to the traffic light information, the traveling speed of the vehicle, and the distance between the vehicle and the front intersection parking line; wherein the traffic light information includes the traffic light color of the corresponding driving route and the color the remaining time;
  • the second output subroutine module 33 outputs a way to suggest that the vehicle pass the front intersection.
  • the open output program module 30 can be selected by manually opening and automatically opening, wherein the automatic opening can locate the distance M2 between the vehicle and the front intersection by using the GPS as an opening condition, and the distance can be adjusted by the user.
  • the default distance can be used, but M2 ⁇ M1 should be met. Only when the driving route is determined first, it is possible to avoid entering the congested road after passing the intersection.
  • the driver when the last few seconds of the green light in the daily intersection traffic light, the driver often accelerates to grab the intersection and the traffic accident occurs. Therefore, on the basis of obtaining the traffic light information, the driving state of the vehicle is further obtained. According to the traffic light information and driving status, a series of calculations are carried out to find out whether the driver can drive at the original speed, accelerate the driving through the front intersection or can not slow down through the front intersection, and avoid the driver's mistakes due to experience judgment. The situation that led to the accident improves the efficiency and safety of driving the vehicle through the intersection.
  • the determination subroutine module 12 includes a first determination subroutine unit 121 and a first determination subroutine unit 122, wherein:
  • the first determining subroutine unit 121 determines whether the road condition information reported by other vehicles located at the road connected to the front intersection is congestion road condition information;
  • the traffic information and traffic conditions reported by the vehicle are sent by binary and hexadecimal code.
  • the coding mode is represented by four hexadecimal digits, and the fourth digit represents the intersection direction and road condition.
  • the upper two represent the direction and the lower two represent the road condition.
  • the lower two 00 means the road is smooth, 01 means the road is normal, 10 means the congestion, It is recommended to bypass;
  • 0010 represents the congestion of the south side of the traffic light, which is converted to hexadecimal.
  • the first determining subroutine unit 122 determines that the road condition information of the road is a congestion road condition, and further determines a road condition result of each road connected to the front intersection.
  • the vehicles of different roads can be classified according to the direction in the reported road condition information, and the number of vehicles reporting the road condition information on each road of the traffic light is obtained. If the number of vehicles on the same road and reporting the traffic condition information reaches the first preset number, it may be determined that the road condition information of the road is a congestion road condition, and then the road condition result of each connected road with the front intersection is determined.
  • the first preset number is the minimum number of congested vehicles when congestion occurs, which may be preset at the time of shipment, or may be set by the driver himself. For example, the driver thinks that there are more than 30 on the same road. When a car reports traffic jam information at the same time to confirm that the road is in a congested state, the first preset number is 30.
  • the congestion road conditions may be divided into different congestion levels and corresponding to different first preset numbers, and the more serious the congestion level, the more the first preset number to be reported by the number of congestion road condition information.
  • the road condition information sent by other vehicles in the first judgment subroutine unit 121 and the traffic light in the request subroutine module adopt the same coding manner, so that five digits can be adopted on the basis of the above four digits and hexadecimal numbers.
  • the hexadecimal method is used to encode the road condition information sent by the vehicle and the traffic light information sent by the traffic light by the fifth digit.
  • the encoding method of the four digits is the same as the corresponding encoding method, and will not be described here.
  • the driving assistance device preferentially decodes the fifth digit when decoding, and then performs decoding operation according to different data signals.
  • the vehicle driving assistance device further includes: a broadcast program module configured to acquire driving information of the vehicle based on the OBD interface, acquire road condition information of the road section where the vehicle is currently located according to the driving information, and broadcast the road condition information to the periphery of the vehicle.
  • a broadcast program module configured to acquire driving information of the vehicle based on the OBD interface, acquire road condition information of the road section where the vehicle is currently located according to the driving information, and broadcast the road condition information to the periphery of the vehicle.
  • the OBD monitors the running status of the vehicle engine, the exhaust gas treatment system, the braking system, and the tire pressure system at any time.
  • the OBD interface stores the driving information in the memory, and identifies and acquires the road condition information of the current road section of the vehicle according to the driving information.
  • the brakes of the vehicle are very frequent (such as the number of brakes per unit time is greater than the preset number, the vehicle brakes are determined frequently), the engine speed fluctuates greatly (the engine speed unit time is greater than the preset speed value), and the current vehicle segment is determined.
  • the congestion that is, the road condition information qualitative vehicle is currently in a road section, wherein the road condition information includes at least the location of the road where the vehicle is currently located and the congestion of the road section.
  • the vehicle broadcasts the road condition information generated by itself to the vehicle periphery in real time or timing, thereby realizing the sharing of road condition information between multiple vehicles, which is beneficial to the vehicle to know the congestion situation of the front intersection based on the road condition information, and is more advantageous for accurately outputting the driving advice.
  • the congestion road conditions can be divided into different congestion levels and corresponding to the detected different number of congestion road condition information, the more serious the congestion level, the more the second preset number to be reached by the number of detected traffic road information.
  • the second acquisition subroutine module 22 includes the second acquisition subroutine unit 221 and the decoding subroutine unit 222. ,among them:
  • the obtaining subroutine unit 221 obtains the traffic light information sent by the traffic light according to the request;
  • the traffic light After receiving the request for the traffic light information of the corresponding driving route, the traffic light knows the driving route of the vehicle, and then finds the traffic light information corresponding to the driving route according to the driving route, and sends the above-mentioned mode encoding of the traffic light information.
  • the manner of sending may be that the traffic light correspondingly writes the traffic light information to the corresponding field of the hot spot MAC address in the case that the current environment has a hot spot, or the traffic light sends the traffic light information to the driving assistance device of the vehicle through the wireless network, and the driving assistance device of the vehicle according to the manner of sending the traffic light Corresponding to the field corresponding to the extracted hotspot MAC address, or obtaining red and green information from the wireless network.
  • the decoding subroutine unit 222 decodes the traffic light information to obtain the current traffic light color of the corresponding driving route and the remaining time of the current traffic light color in the traffic light of the front intersection.
  • the encoded traffic light information is decoded to obtain the traffic light color in the traffic light information and the remaining time of the current traffic light color to directly call the traffic light color and the remaining time of the current traffic light color in a subsequent step.
  • the traffic light can transmit the traffic light information corresponding to the driving route of the vehicle to the driving assistance device of the vehicle in a plurality of manners, and the vehicle driving assistance device obtains the diversity of the traffic light information, thereby ensuring the reliability of acquiring the red street light information.
  • the selection subroutine module 32 includes a calculation subroutine unit 321 and a selection subroutine unit 322, wherein:
  • the calculation subroutine unit 321 obtains the time required for the vehicle to drive past the front intersection stop line according to the traveling speed of the vehicle and the distance between the vehicle and the front intersection stop line;
  • the selection subroutine unit 322 selects the manner in which the suggested vehicle passes the front intersection based on the current traffic light color of the front intersection in the traffic light information, the remaining time of the current traffic light color, and the time required for the vehicle to pass the front intersection parking line.
  • T ⁇ t green choose the way that the driver is recommended to keep the original speed through the front intersection; when T>t green , select the driver to accelerate through the front intersection or decelerate to stop. Mode, and then judge whether the user acceleration can pass according to the actual driving situation of the current user and the real-time traffic light information, for example, when the current speed of the vehicle is less than 50% of the current road speed limit value, and Tt green ⁇ 1S, the driver is prompted to accelerate. Drive through the front intersection. The driver actually conducts a certain distance and then conducts further evaluation, and continues to select the driving advice to the driver according to the above rules.
  • the maximum speed that can be achieved when judging whether it can accelerate through the intersection should be no higher than the speed limit value of the current driving road. If the speed passing through the intersection needs to be greater than the speed limit value of the current driving road, the parking is selected. Suggestions for slowing down.
  • the traffic light information, the traveling speed of the vehicle, and the distance between the vehicle and the front intersection stop line are specifically disclosed, and a manner of suggesting the vehicle passing through the front intersection is selected, by comparing the time when the vehicle reaches the front intersection stop line and The time of the traffic light serves as the basis for suggesting that the vehicle pass the front intersection, ensuring the reliability and reliability of the proposal, and avoiding the traffic accident caused by the driver's judgment due to personal experience.
  • FIG. 13 is a schematic structural diagram of a terminal in a hardware operating environment according to an embodiment of the present disclosure.
  • the terminal ie, the terminal device of the embodiment of the present disclosure may be a PC, or may be a smart phone, a tablet computer, an e-book reader, a motion picture expert (Group 3) player, and a Motion Picture Experts Group Audio Layer III (MP3) player.
  • the motion picture expert compresses a portable audio terminal device such as a MP4 (Moving Picture Experts Group Audio Layer IV) player or a portable computer having a display function.
  • the terminal may include a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002.
  • the communication bus 1002 is configured to implement connection communication between these components.
  • the user interface 1003 can include a display, an input unit such as a keyboard, and the optional user interface 1003 can also include a standard wired interface, a wireless interface.
  • the network interface 1004 can optionally include a standard wired interface, a wireless interface (such as a WI-FI interface).
  • the memory 1005 may be a high speed RAM memory or a non-volatile memory such as a disk memory.
  • the memory 1005 can also optionally be a storage device independent of the aforementioned processor 1001.
  • the terminal may further include a camera, a radio frequency (RF) circuit, a sensor, an audio circuit, a WiFi module, and the like.
  • sensors such as light sensors, motion sensors, and other sensors.
  • the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor may adjust the brightness of the display according to the brightness of the ambient light, and the proximity sensor may turn off the display and/or when the mobile terminal moves to the ear.
  • the gravity acceleration sensor can detect the magnitude of acceleration in each direction (usually three axes), and can detect the magnitude and direction of gravity when stationary, and can be configured to identify the posture of the mobile terminal (such as horizontal and vertical screen switching).
  • the mobile terminal can also be equipped with gyroscopes, barometers, hygrometers, thermometers, infrared sensors and other sensors, This will not be repeated here.
  • terminal structure shown in FIG. 1 does not constitute a limitation to the terminal, and may include more or less components than those illustrated, or a combination of certain components, or different component arrangements.
  • a memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a vehicle driving assistance program (ie, the computer program described in the embodiment).
  • the network interface 1004 is mainly configured to connect to the background server to perform data communication with the background server;
  • the user interface 1003 is mainly configured to connect to the client (user end) to perform data communication with the client; and the processor
  • the 1001 can be configured to invoke the vehicle driving assistance program stored in the memory 1005 and perform the following operations:
  • the road condition information of the intersection includes road condition information of the road connected to the front intersection;
  • the processor 1001 may be configured to call the vehicle driving assistance program stored in the memory 1005 and execute the steps of the embodiments of the above-described vehicle driving assistance method, which are not described herein.
  • the embodiment of the present disclosure further provides a computer readable storage medium on which a vehicle driving assistance program is stored, and when the vehicle driving assistance program is executed by the processor, the following steps are implemented:
  • the road condition information of the front intersection includes road condition information of the road connected to the front intersection;
  • the vehicle driving assistance system includes a traffic light device 200 configured to broadcast traffic light information and a vehicle driving assistance device 100.
  • the vehicle driving assistance device 100 includes:
  • a planning program module configured to acquire road condition information of a road ahead of the vehicle, and plan a driving route of the vehicle according to the road condition information; wherein the road condition information of the front intersection includes road condition information of the road connected to the front intersection;
  • Obtaining a program module configured to acquire traffic light information corresponding to the driving route among the traffic lights disposed at the front intersection according to the driving route;
  • the output program module is configured to acquire a driving state of the vehicle, and output a driving recommendation according to the traffic light information and the driving state.
  • the traffic light side (ie, the traffic light device) includes: a traffic light information acquisition module, a traffic light information coding module, and a traffic light information transmission module;
  • the information acquisition module obtains the traffic light information from the traffic light display controller end, encodes it through the coding module, and adds the traffic light information to the MAC address of the WIFI module for broadcast transmission through the MAC address update module.
  • the terminal side includes: an information processing module and a function implementation module; wherein the information processing module includes an information transmission module, a driving information acquisition module, a congestion determination module, a data encoding and decoding module.
  • the function realization module includes a congestion status traffic light prompt module, a congestion situation path planning module, and an optimal transit route planning module.
  • the technical solution of the embodiments of the present disclosure may be embodied in the form of a software product in essence or in the form of a software product stored in a storage medium (such as ROM/RAM, magnetic
  • a terminal device which may be a cell phone, a computer, a server, an air handling device, or a network device, etc.
  • the solution of the embodiment of the present disclosure acquires road condition information of the intersection ahead of the vehicle, and plans a driving route of the vehicle according to the road condition information; wherein the road condition information of the front intersection includes road condition information of the road connected to the front intersection; The driving route is obtained, and the traffic light information corresponding to the driving route among the traffic lights disposed at the front intersection is obtained; the driving state of the vehicle is acquired, and the driving recommendation is output according to the traffic light information and the driving state, thereby avoiding the driver being Driving the vehicle into a congested road situation without knowing the road conditions at the intersection, and providing the driver with an efficient and safe driving route through the intersection, avoiding a lot of time for the driver and passengers to get into the congested road.

Abstract

一种车辆驾驶辅助方法、装置、系统、终端设备及计算机可读存储介质，该方法包括：获取车辆前方路口的路况信息，并根据路况信息规划车辆的行车路线；其中，前方路口的路况信息包括与前方路口相连道路的路况信息（S10）；根据行车路线，获取设置于前方路口的红绿灯中对应行车路线的红绿灯信息（S20）；获取车辆的行驶状态，并根据红绿灯信息和行驶状态输出行车建议（S30）。

Description

车辆驾驶辅助方法、装置、系统、终端设备及存储介质
相关申请的交叉引用
本申请基于申请号为201710354680.0、申请日为2017年05月18日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本公开涉及车辆驾驶技术领域，尤其涉及一种车辆驾驶辅助方法、装置、系统、终端设备及存储介质。
背景技术
随着科技的快速发展和经济的不断进步，我国汽车保有量持续上涨，汽车的推广普及在方便居民出行的同时，也带来了交通拥堵、路口交通事故频发的问题。
相关技术中，车辆行驶在十字路口时，无法判断出十字路口中哪个方向的路况较优，在司机根据经验进行判断的情况下容易出现失误，而造成将车辆陷入拥堵路况的困境。
发明内容
本公开实施例提供一种车辆驾驶辅助方法、装置、系统、终端设备及存储介质。
本公开实施例提供一种车辆驾驶辅助方法，包括：
获取车辆前方路口的路况信息，并根据所述路况信息规划车辆的行车路线；其中，所述前方路口的路况信息包括与所述前方路口相连道路的路况信息；
根据所述行车路线，获取设置于所述前方路口的红绿灯中对应所述行车路线的红绿灯信息；
获取车辆的行驶状态，并根据所述红绿灯信息和所述行驶状态输出行车建议。
上述方案中，所述获取车辆前方路口的路况信息，并根据所述路况信息规划车辆的行车路线的步骤包括：
获取位于车辆前方路口相连道路上的其他车辆发出的路况信息；
根据其他车辆发出的路况信息，确定出与所述前方路口相连道路的路况结果；
根据所述路况结果，规划车辆的行车路线。
上述方案中，所述根据其他车辆发出的路况信息，确定出与所述前方路口相连道路的路况结果的步骤包括：
判断位于所述前方路口相连道路的其他车辆上报的路况信息是否为拥堵路况信息；
若位于同一道路且上报拥堵路况信息的车辆数量达到预设数量，则确定该道路的路况结果为拥堵路况，并确定出与所述前方路口相连各个道路的路况结果。
上述方案中，所述车辆驾驶辅助方法还包括：
基于车载诊断系统(OBD，On-Board Diagnostic)接口获取车辆的行驶信息，根据行驶信息获取车辆当前所处路段拥堵情况的路况信息，并将路况信息向车辆周边广播。
上述方案中，所述根据所述行车路线，获取设置于所述前方路口的红绿灯中对应所述行车路线的红绿灯信息的步骤包括：
向设置于所述前方路口的红绿灯发出获取对应所述行车路线的红绿灯信息的请求；
获取所述红绿灯根据所述请求发出的红绿灯信息；
输出所述红绿灯信息。
上述方案中，所述获取所述红绿灯根据所述请求发出的红绿灯信息的步骤包括：
获取所述红绿灯根据所述请求发出的红绿灯信息；
对所述红绿灯信息进行解码，得到所述前方路口的红绿灯中对应所述行车路线的当前红绿灯颜色和当前红绿灯颜色的剩余时间。
上述方案中，所述获取车辆的行驶状态，并根据所述红绿灯信息和所述行驶状态输出行车建议的步骤包括：
获取车辆的行驶速度和车辆与所述前方路口停车线之间的距离；
根据所述红绿灯信息、车辆的行驶速度以及车辆与所述前方路口停车线之间的距离，选择出建议车辆通过前方路口的方式；其中，所述红绿灯信息包括对应所述行车路线的红绿灯颜色和该颜色的剩余时间；
输出所述建议车辆通过前方路口的方式。
上述方案中，所述根据所述红绿灯信息、车辆的行驶速度以及车辆与所述前方路口停车线之间的距离，选择出建议车辆通过前方路口的方式的步骤包括：
根据车辆的行驶速度和车辆与所述前方路口停车线之间的距离，得出车辆驶过所述前方路口停车线所需的时间；
根据所述红绿灯信息中所述前方路口的当前红绿灯颜色、当前红绿灯颜色的剩余时间和车辆驶过所述前方路口停车线所需的时间，选择出建议车辆通过前方路口的方式。
本公开实施例还提供一种车辆驾驶辅助装置，包括：
规划程序模块，配置为获取车辆前方路口的路况信息，并根据所述路况信息规划车辆的行车路线；其中，所述前方路口的路况信息包括与所述前方路口相连道路的路况信息；
获取程序模块，配置为根据所述行车路线，获取设置于所述前方路口的红绿灯中对应所述行车路线的红绿灯信息；
输出程序模块，配置为获取车辆的行驶状态，并根据所述红绿灯信息和所述行驶状态输出行车建议。
本公开实施例还提供一种终端设备，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现以下步骤：
获取车辆前方路口的路况信息，并根据所述路况信息规划车辆的行车路线；其中，所述前方路口的路况信息包括与所述前方路口相连道路的路 况信息；
根据所述行车路线，获取设置于所述前方路口的红绿灯中对应所述行车路线的红绿灯信息；
获取车辆的行驶状态，并根据所述红绿灯信息和所述行驶状态输出行车建议。
本公开实施例还提供一种计算机可读存储介质，所述计算机可读存储介质上存储有车辆驾驶辅助程序，所述车辆驾驶辅助程序被处理器执行时实现如下步骤：
获取车辆前方路口的路况信息，并根据所述路况信息规划车辆的行车路线；其中，所述前方路口的路况信息包括与所述前方路口相连道路的路况信息；
根据所述行车路线，获取设置于所述前方路口的红绿灯中对应所述行车路线的红绿灯信息；
获取车辆的行驶状态，并根据所述红绿灯信息和所述行驶状态输出行车建议。
本公开实施例还提供一种车辆驾驶辅助系统，包括配置为广播红绿灯信息的红绿灯装置和上述的车辆驾驶辅助装置。
本公开实施例通过获取车辆前方路口的路况信息，并根据所述路况信息规划车辆的行车路线；其中，所述前方路口的路况信息包括与所述前方路口相连道路的路况信息；根据所述行车路线，获取设置于所述前方路口的红绿灯中对应所述行车路线的红绿灯信息；获取车辆的行驶状态，并根据所述红绿灯信息和所述行驶状态输出行车建议，从而避免了驾驶员在不了解前方路口的路况时驾驶车辆陷入拥堵路况的困境，另外还为驾驶员提供了高效、安全驶过路口的行车建议，避免了驾驶员和乘客陷入拥堵路况浪费大量的时间。
附图说明
图1为本公开车辆驾驶辅助方法第一实施例的场景示意图；
图2为本公开车辆驾驶辅助方法第一实施例的流程示意图；
图3为本公开车辆驾驶辅助方法第一实施例中步骤S10的子流程示意图；
图4为本公开车辆驾驶辅助方法第一实施例中步骤S20的子流程示意图；
图5为本公开车辆驾驶辅助方法第一实施例中红绿灯信息的编码方式场景示意图；
图6为本公开车辆驾驶辅助方法第一实施例中步骤S30的子流程示意图；
图7为本公开车辆驾驶辅助方法第二实施例中步骤S12的子流程示意图；
图8为本公开车辆驾驶辅助方法第二实施例中路况信息的编码方式场景示意图；
图9为本公开车辆驾驶辅助装置第一实施例的结构框图；
图10为本公开车辆驾驶辅助装置规划程序模块一实施例的结构框图；
图11为本公开车辆驾驶辅助装置获取程序模块一实施例的结构框图；
图12为本公开车辆驾驶辅助装置输出程序模块一实施例的结构框图；
图13是本公开实施例方案涉及的硬件运行环境的终端结构示意图；
图14为本公开车辆驾驶辅助系统一实施例的结构框图；
图15为本公开车辆驾驶辅助系统的系统架构示意图。
本公开目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
应当理解，此处所描述的具体实施例仅仅用以解释本公开，并不用于限定本公开。
为了更好理解本公开，在此提供一种车辆驾驶辅助方法，请参阅图1和图2，在车辆驾驶辅助方法第一实施例中，该方法包括：
步骤S10，获取车辆前方路口的路况信息，并根据路况信息选择出车辆的行车路线；其中，前方路口的路况信息包括与前方路口相连道路的路况信息；
本公开实施例的方案旨在解决车辆在面临路口时不清楚各道路路况而陷入拥堵路况的问题，本公开实施例的方法是一种帮助车辆行驶过程中避免拥堵道路，并能高效、安全驶过路口的车辆驾驶辅助方法，因此在获取路况信息的过程中主要针对道路是处于畅通状态或者拥堵状态进行获取。
在步骤S10中，前方路口指的是车辆行驶在道路上所会面临的下一个路口，例如：在一条直行大道上，前方路口可以认为是行驶方向前的路口；在一条曲折的路上，前方路口可以是经过多次转弯且并不在此时车辆行驶前方，但却是之后面临的下一个路口。前方路口相连道路的路况信息包括道路从前方路口至其他路口整段的路况信息，或者道路上距离前方路口预设距离值内的路况信息，该预设距离值可由用户根据自己的驾驶习惯自行选取，也可以默认为出厂设置的预设距离值。其中前方路口相连道路的路况信息包括道路从前方路口至其他路口整段的路况信息为最优方案，能够避免拥堵出现在预设距离范围外的问题，在路口各道路不是全部拥堵的前提下能够为车辆持续提供通畅的道路。
获取车辆前方的路况信息的方式很多，可以通过实时与交通台进行沟通获取城市中堵车的路段来确认前方路口相连道路的路况信息、通过GPS定位软件查看由卫星拍摄的实景图片来查看前方路口相连道路的路况信息等等方式来获取车辆前方路口的路况信息。
在一实施例中，开启步骤S10(即触发执行步骤S10)可以通过手动开启和自动开启的方式进行选择，其中，自动开启可通过GPS定位出车辆与前方路口之间的距离M1来作为开启条件，该距离可由用户自行调整也可以采用默认距离，从而提前规划出建议驾驶员形式的路线，让驾驶员有足够的时间变道，并在每前进一段距离后更新驾驶员的实际行驶情况，进而更新对车辆行车路线的规划。
步骤S20，根据行车路线，获取设置于前方路口的红绿灯中对应行车路 线的红绿灯信息；
在驾驶者接收到车辆驾驶辅助装置提醒的行车路线后，按照行车路线驾驶车辆，此时在确定行车路线后，可以提前获取行车路线前方路口的红绿灯信息从而帮助驾驶员更好地处理前方路口的情况，为驾驶员控制车辆驶过前方路口做好准备。
具体地，请结合参阅图4，本实施例中步骤S20包括：
步骤S21，向设置于前方路口的红绿灯发出获取对应行车路线的红绿灯信息的请求；
前方路口的红绿灯包括分别对左行、直行和右行的车辆进行指示的红绿灯信息，在确定了行车路线后，将行车路线和该行车路线红绿灯信息的请求一并发送给红绿灯(即设置于前方路口的红绿灯装置)，红绿灯会根据红绿灯信息的请求进行响应，例如：车辆在前方路口需要向左行驶，因此向设置于前方路口的红绿灯发出获取向左行驶路线的红绿灯请求，红绿灯会根据红绿灯信息的请求进行响应。
本实施例中，请结合参阅图5，红绿灯对红绿灯信息进行二进制和十六进制编码后发出，编码方式采用四位十六进制数字进行表示为例进行说明，如第四位数字代表红绿灯颜色及方向，转换成四位二进制后，高两位代表方向，低两位代表颜色，例如：高两位00代表南北方向，01代表东西，方向，10代表西北对东南方向，11代表东北对西南方向；低两位00代表绿灯，01代表黄灯，10代表红灯；则0010代表南北方向红灯，转换成十六进制即为2；后三位代表红绿灯剩余时间，例如：001A，则最高位0代表绿灯，后三位01A转换成十进制即为16+10＝26秒；综上规则，如当前编码为201A，即当前红绿灯信息为南北方向红灯，剩余26秒。
步骤S22，获取红绿灯根据请求发出的红绿灯信息；
步骤S23，输出红绿灯信息。
对经过编码的红绿灯信息进行解码后，输出给驾驶员。输出的方式包括但不限于语音播报、图像提示、震动、灯光闪烁、模拟投影等方式，其中因语音播报不会转移驾驶员的视线，对驾驶员驾驶的干扰较小，因此优选语音播报的方式进行提醒。
根据预先规划好的行车道路来有针对性地获取红绿灯信息，在车辆前 方存在大型车辆阻挡驾驶员看到红绿灯的情况下能够及时得到红绿灯信息，避免驾驶员因不了解红绿灯信息在突然由绿灯换到红灯时前方车辆刹车而撞上前方车辆造成追尾的情况。
步骤S30，获取车辆的行驶状态，并根据红绿灯信息和行驶状态输出行车建议；
具体地，请结合参阅图6，本实施例中步骤S30包括：
步骤S31，获取车辆的行驶速度和车辆与前方路口停车线之间的距离；
车辆驾驶辅助装置在车辆行驶过程中测得车辆的行驶速度，通过向红绿灯请求并获取红绿灯信息的时间差测得车辆与前方路口停车线之间的距离，或者直接通过GPS定位系统判定车辆的行驶速度和与前方路口的距离。本实施例中，车辆的行驶速度、刹车次数和行驶方向等行驶信息都是通过车辆内的OBD接口获取到的。
步骤S32，根据红绿灯信息、车辆的行驶速度以及车辆与前方路口停车线之间的距离，选择出建议车辆通过前方路口的方式；其中，红绿灯信息包括对应行车路线的红绿灯颜色和该颜色的剩余时间；
步骤S33，输出建议车辆通过前方路口的方式。
进一步地，开启步骤S30可以通过手动开启和自动开启的方式进行选择，其中，自动开启可通过GPS定位出车辆与前方路口之间的距离M2来作为开启条件，该距离可由用户自行调整也可以采用默认距离，但应当满足M2<M1，只有先确定了行车路线，才能够避免通过路口后进入拥堵道路。
本公开实施例中针对日常路口红绿灯中绿灯剩余最后几秒时，经常出现驾驶员加速抢过路口而发生交通事故的问题，因此，在获取到红绿灯信息的基础上，进一步获得车辆的行驶状态，并根据红绿灯信息和行驶状态进行一系列的计算，得出是否能够原速行驶、加速行驶通过前方路口或不能通过前方路口应当减速停车的建议给驾驶员，避免了驾驶员凭借经验判断而出现失误导致事故的情况，提高了驾驶车辆驶过路口的效率和安全性。
可选地，请结合参阅图3，本实施例中步骤S10包括：
步骤S11，获取位于车辆前方路口相连道路上的其他车辆的路况信息；
在本实施例中，数据传输都是通过无线广播的形式进行，其中包括但 不限于利用WI-FI方式进行，WI-FI MAC地址由十二位十六进制的数字表示，在发送之前进行编码操作，在获取之后进行解码操作。城市中各道路上行驶的车辆都会通过本公开实施例车辆驾驶辅助装置共享自身车辆所处道路的路况信息，即将路况信息上传至服务器供其他终端获取；车辆驾驶辅助装置通过在服务器中选取位于前方路口相连道路，即可获取到前方路口相连道路上的其他车辆的路况信息。
车辆自身是无法得知路况信息的，车辆需要判断自身的行车状况是否符合拥堵行车条件才能够判断自身所处的道路的路况信息，拥堵行车条件是车辆在拥堵状态的道路上行驶会出现的情形，包括但不限于车辆在单位时间内的行驶速度小于预设速度、车辆在单位时间内刹车的次数多于预设刹车次数、车辆在道路上停留时间过长等情况，当行车状况满足了拥堵行车条件中的一种或多种时，车辆会认为自身所处的道路是属于拥堵路况的情况从而上报的路况信息为拥堵路况信息，若车辆的行车状况未满足行车条件则该车辆上报的路况信息为畅通路况信息。
步骤S12，根据其他车辆的路况信息，确定出与前方路口相连道路的路况结果；
步骤S13，根据路况结果，规划车辆的行车路线。
根据前方路口各个相连道路的路况结果，规划出相对通畅的道路作为行车路线提醒给驾驶者，以避免驾驶车辆陷入拥堵路况的困境。例如，前方路口往北方向的道路处于拥堵状态，而往西方向的道路处于畅通状态，则提前提醒驾驶员在前方路口向西行驶，从而避免车辆陷入拥堵的困境。
在了解与前方路口相连的各道路的路况信息后，规划出处于畅通状态的道路作为车辆的行车路线提前提醒给驾驶员，驾驶员可根据提醒的行车路线行驶车辆，使得车辆达到目的地的过程中尽量少的经历堵车路段，避免了驾驶员在不清楚前方路口的路况的情况下将车辆驶入到拥堵的道路上去，利用本公开实施例能够节省驾驶员和乘客因堵车而浪费的数十分钟甚至数小时的宝贵时间。其中，提醒的方式可以为语音播报、图像提示、震动、灯光闪烁、模拟投影等方式中的一种或多种，其中因语音播报不会转移驾驶员的视线，对驾驶员驾驶的干扰较小，因此优选语音播报的方式进行提醒。
另外，驾驶员在行驶之前可以输入目的地，本公开实施例预先为车辆规划出到达目的地路程最短的路线，驾驶员按照预先规划的路线行驶。假设按预先规划的路线在前方路口时应当向北行驶，但是从获取的前方路口的路况信息中能够了解到往北的道路处于拥堵的状况，而往西方向的道路处于畅通状态，则提前提醒驾驶员在前方路口向西行驶，并根据驾驶员实际行驶的道路即前方路口往西的道路重新规划出到达目的地路程最短的路线。
此外，车辆驾驶辅助方法还包括：基于OBD接口获取车辆的行驶信息，根据行驶信息获取车辆当前所处路段拥堵情况的路况信息，并将路况信息向车辆周边广播。
OBD随时监控车辆发动机的运行状况、尾气处理系统、刹车系统、胎压系统的行驶信息，同时OBD接口会将行驶信息存入存储器，并根据行驶信息识别并获取车辆当前所处路段的路况信息，比如车辆刹车很频繁(如单位时间内刹车次数大于预设次数，判定车辆刹车频繁)、发动机转速波动较大(发动机转速单元时间内转速变化量大于预设转速值)，判定车辆当前所处路段的为拥堵，即路况信息定性车辆当前所处路段为拥堵，其中路况信息至少包括车辆当前所处路段位置和所处路段拥堵情况。车辆实时或定时向车辆周边广播自身生成的路况信息，从而实现多车辆之间路况信息的共享，有利于车辆基于路况信息来知晓前方路口的拥堵情况，更有利于准确地输出行车建议。
进一步地，请结合参阅图7，基于本公开车辆驾驶辅助方法的第一实施例，在本公开车辆驾驶辅助方法第二实施例中，步骤S12包括：
步骤S121，判断位于前方路口相连道路的其他车辆上报的路况信息是否为拥堵路况信息；
请结合参阅图8，车辆上报的拥堵路况信息和畅通路况信息均是通过二进制及十六进制编码后发出的，编码方式采用四位十六进制数字表示，第四位代表路口方向及路况信息，转换成四位二进制后，高两位代表方向，低两位代表路况。如高两位00代表红路灯南侧，01代表红绿灯北侧，10代红绿灯西侧，11代表东红绿彩的东侧；低两位00代表路况畅通，01代 表路况正常，10代表拥堵，建议绕行；则0010代表红绿灯南侧路段拥堵，转换成十六进制即为2。
因此在对其他车辆上报的路况信息进行解码后，即可判断出该车辆上报的路况信息是否为拥堵路况信息。
步骤S122，若位于同一道路且上报拥堵路况信息的车辆数量达到第一预设数量，则确定该道路的路况信息为拥堵路况，进而确定出与前方路口相连各个道路的路况结果。
对前方路口相连道路上的所有其他车辆发出的路况信息进行一一判定之后，根据上报的路况信息中的方向可以将不同道路的车辆进行分类，得出红绿灯各道路上报路况信息的车辆的数量，若出现位于同一道路上且上报拥堵路况信息的车辆的数量达到第一预设数量，则可确定该道路的路况信息为拥堵路况，进而确定出与前方路口各个相连道路的路况结果。该第一预设数量是出现拥堵情况时，拥堵车辆的最低数量，可以是出厂时预先设定的，也可以是由驾驶员自己设定数值，例如：驾驶员认为在同一道路上有超过30辆汽车同时上报拥堵路况信息才能够确认该道路处于拥堵状态，则第一预设数量为30。
另外，还可以将拥堵路况分不同的拥堵级别并且对应不同的第一预设数量，拥堵级别越严重，上报拥堵路况信息的数量所要达到的第一预设数量就越多。
在一实施例中，步骤S121中其他车辆发出的路况信息和步骤S21中红绿灯采用相同的编码方式，因此可以在上述四位十六进制的基础上采用五位十六进制的方法进行编码，通过第五位数字来对车辆发出的路况信息和红绿灯发出的红绿灯信息进行区分，之后四位的编码方式与上述对应的编码方法相同，在此不再赘述，车辆驾驶辅助装置在解码时优先解码第五位数字，之后再根据不同的数据信号对应进行解码操作。
进一步地，基于本公开车辆驾驶辅助方法的上述实施例，在本公开车辆驾驶辅助方法的第四实施例中，步骤S22包括：
步骤S221，获取红绿灯根据请求发出的红绿灯信息；
红绿灯在接收到对应行车路线的红绿灯信息的请求后，得知车辆的行 车路线，然后根据行车路线找到自身对应该行车路线的红绿灯信息，对红绿灯信息进行上述方式的编码后发出。发出的方式可以是红绿灯在当前环境有热点的情况下将红绿灯信息对应写入热点MAC地址对应字段，或红绿灯通过无线网络将红绿灯信息发给车辆驾驶辅助装置，车辆驾驶辅助装置根据红绿灯的发出方式对应有提取热点MAC地址对应字段，或从无线网络中获取红绿等信息。
步骤S222，对红绿灯信息进行解码，得到前方路口的红绿灯中对应行车路线的当前红绿灯颜色和当前红绿灯颜色的剩余时间。
将经编码的红绿灯信息进行解码，从而得到红绿灯信息中的红绿灯颜色和当前红绿灯颜色的剩余时间以便在之后的步骤中直接调用红绿灯颜色和当前红绿灯颜色的剩余时间。
本实施例中，红绿灯能够通过多种方式将对应车辆行驶路线的红绿灯信息发送给车辆驾驶辅助装置，对应车辆驾驶辅助装置获取红绿灯信息的多样性，进而保证了获取红路灯信息的可靠性。
进一步地，基于本公开车辆驾驶辅助方法的上述实施例，在本公开车辆驾驶辅助方法的第五实施例中，步骤S32包括：
步骤S321，根据车辆的行驶速度和车辆与前方路口停车线之间的距离，得出车辆驶过前方路口停车线所需的时间；
步骤S322，根据红绿灯信息中前方路口的当前红绿灯颜色、当前红绿灯颜色的剩余时间和车辆驶过前方路口停车线所需的时间，选择出建议车辆通过前方路口的方式。
假设前方路口的红绿灯信息为红灯，剩余时间为t 红，根据当前距离前方路口停车线的距离及当前行驶速度计算出当前速度到达前方路口的时间，如车辆的行驶速度设为v，车辆与前方路口停车线之间的距离设为M，则到达前方路口的时间T＝M/v+k，其中k为补偿值。再判断到达前方路口的时间T是否大于t 红，在T>t 红时，选择建议驾驶员保持原速度通过前方路口的方式；在T<t 红时，选择建议驾驶员减速停车等待的方式。当前方路口的红绿灯信息为绿灯时，则在T<t 绿时，选择建议驾驶员保持原速度通过前方路口的方式；在T>t 绿时，选择建议驾驶员加速通过前方路口或减速停车 的方式，并且在随后会根据当前用户实际行驶情况及实时红绿灯信息判断用户加速是否可以通过，例如：在车辆当前速度小于当前道路限速值的50％，且T-t 绿<1S时，提示驾驶员加速行驶通过前方路口。驾驶员实际行驶一定距离后进行进一步评估，并按上述规则继续选择出给驾驶员的行车建议。需要注意的是，在判断是否能够加速穿过路口时所能达到的最大速度应当不高于当前行驶道路的限速值，若通过路口的速度需大于当前行驶道路的限速值则选择需要停车减速的建议。
本实施例中，具体公开了红绿灯信息、车辆的行驶速度以及车辆与前方路口停车线之间的距离，选择出建议车辆通过前方路口的一种方式，通过比较车辆达到前方路口停车线的时间和红绿灯的时间来作为建议车辆通过前方路口的依据，保证了建议的可靠性和切实性，避免了驾驶员因个人经验判断出错而导致的交通事故。
本公开还提供一种车辆驾驶辅助装置的实施例。
参照图9，在车辆驾驶辅助装置的第一实施例中，车辆驾驶辅助装置100包括规划程序模块10、获取程序模块20和输出程序模块30，其中：
规划程序模块10，配置为获取车辆前方路口的路况信息，并根据路况信息规划车辆的行车路线；其中，前方路口的路况信息包括与前方路口相连道路的路况信息；
本公开实施例的方案是一种帮助车辆行驶过程中避免拥堵道路，并能高效、安全驶过路口的车辆驾驶辅助方法，因此在获取路况信息的过程中主要针对道路是处于畅通状态或者拥堵状态进行获取。
前方路口指的是车辆行驶在道路上所会面临的下一个路口，例如：在一条直行大道上，前方路口可以认为是行驶方向前的路口；在一条曲折的路上，前方路口可以是经过多次转弯且并不在此时车辆行驶前方，但却是之后面临的下一个路口。前方路口相连道路的路况信息包括道路从前方路口至其他路口整段的路况信息，或者道路上距离前方路口预设距离值内的路况信息，该预设距离值可由用户根据自己的驾驶习惯自行选取，也可以默认为出厂设置的预设距离值。其中前方路口相连道路的路况信息包括道路从前方路口至其他路口整段的路况信息为最优方案，能够避免拥堵出现 在预设距离范围外的问题，在路口各道路不是全部拥堵的前提下能够为车辆持续提供通畅的道路。
获取车辆前方的路况信息的方式很多，可以通过实时与交通台进行沟通获取城市中堵车的路段来确认前方路口相连道路的路况信息、通过GPS定位软件查看由卫星拍摄的实景图片来查看前方路口相连道路的路况信息等等方式来获取车辆前方路口的路况信息。
在一实施例中，请结合参阅图10，本实施例中规划程序模块10包括第一获取子程序模块11、确定子程序模块12和规划子程序模块13，其中：
第一获取子程序模块11获取位于车辆前方路口相连道路上的其他车辆的路况信息；
在本实施例中，数据传输都是通过无线广播的形式进行，其中包括但不限于利用WI-FI方式进行，WI-FI MAC地址由十二位十六进制的数字表示，在发送之前进行编码操作，在获取之后进行解码操作。城市中各道路上行驶的车辆都会通过本公开实施例车辆驾驶辅助装置共享自身车辆所处道路的路况信息，即将路况信息上传至服务器供其他终端获取；车辆驾驶辅助装置通过在服务器中选取位于前方路口相连道路，即可获取到前方路口相连道路上的其他车辆的路况信息。
车辆自身是无法得知路况信息的，车辆需要判断自身的行车状况是否符合拥堵行车条件才能够判断自身所处的道路的路况信息，拥堵行车条件是车辆在拥堵状态的道路上行驶会出现的情形，包括但不限于车辆在单位时间内的行驶速度小于预设速度、车辆在单位时间内刹车的次数多于预设刹车次数、车辆在道路上停留时间过长等情况，当行车状况满足了拥堵行车条件中的一种或多种时，车辆会认为自身所处的道路是属于拥堵路况的情况从而上报的路况信息为拥堵路况信息，若车辆的行车状况未满足行车条件则该车辆上报的路况信息为畅通路况信息。
确定子程序模块12根据其他车辆的路况信息，确定出与前方路口相连道路的路况结果；
规划子程序模块13根据路况结果，规划车辆的行车路线。
根据前方路口各个相连道路的路况结果，规划出相对通畅的道路作为行车路线提醒给驾驶者，以避免驾驶车辆陷入拥堵路况的困境。例如，前 方路口往北方向的道路处于拥堵状态，而往西方向的道路处于畅通状态，则提前提醒驾驶员在前方路口向西行驶，从而避免车辆陷入拥堵的困境。
在了解与前方路口相连的各道路的路况信息后，规划出处于畅通状态的道路作为车辆的行车路线提前提醒给驾驶员，驾驶员可根据提醒的行车路线行驶车辆，使得车辆达到目的地的过程中尽量少的经历堵车路段，避免了驾驶员在不清楚前方路口的路况的情况下将车辆驶入到拥堵的道路上去，利用本公开实施例能够节省驾驶员和乘客因堵车而浪费的数十分钟甚至数小时的宝贵时间。其中，提醒的方式可以为语音播报、图像提示、震动、灯光闪烁、模拟投影等方式中的一种或多种，其中因语音播报不会转移驾驶员的视线，对驾驶员驾驶的干扰较小，因此优选语音播报的方式进行提醒。
另外，驾驶员在行驶之前可以输入目的地，本公开实施例预先为车辆规划出到达目的地路程最短的路线，驾驶员按照预先规划的路线行驶。假设按预先规划的路线在前方路口时应当向北行驶，但是从获取的前方路口的路况信息中能够了解到往北的道路处于拥堵的状况，而往西方向的道路处于畅通状态，则提前提醒驾驶员在前方路口向西行驶，并根据驾驶员实际行驶的道路即前方路口往西的道路重新规划出到达目的地路程最短的路线。
进一步地，开启规划程序模块10可以通过手动开启和自动开启的方式进行选择，其中，自动开启可通过GPS定位出车辆与前方路口之间的距离M1来作为开启条件，该距离可由用户自行调整也可以采用默认距离，从而提前规划出建议驾驶员形式的路线，让驾驶员有足够的时间变道，并在每前进一段距离后更新驾驶员的实际行驶情况，进而更新对车辆行车路线的规划。
获取程序模块20，配置为根据行车路线，获取设置于前方路口的红绿灯中对应行车路线的红绿灯信息；
在驾驶者接收到车辆驾驶辅助装置提醒的行车路线后，按照行车路线驾驶车辆，此时在确定行车路线后，可以提前获取行车路线前方路口的红绿灯信息从而帮助驾驶员更好地处理前方路口的情况，为驾驶员控制车辆驶过前方路口做好准备。
具体地，请结合参阅图11，本实施例中获取程序模块20包括请求子程序模块21、第二获取子程序模块22和第一输出子程序模块23，其中：
请求子程序模块21向设置于前方路口的红绿灯发出获取对应行车路线的红绿灯信息的请求；
前方路口的红绿灯包括分别对左行、直行和右行的车辆进行指示的红绿灯信息，在确定了行车路线后，将行车路线和该行车路线红绿灯信息的请求一并发送给红绿灯(即设置于前方路口的红绿灯装置)，红绿灯会根据红绿灯信息的请求进行响应，例如：车辆在前方路口需要向左行驶，因此向设置于前方路口的红绿灯发出获取向左行驶路线的红绿灯请求，红绿灯会根据红绿灯信息的请求进行响应。
本实施例中，请结合参阅图5，红绿灯对红绿灯信息进行二进制和十六进制编码后发出，编码方式采用四位十六进制数字进行表示为例进行说明，如第四位数字代表红绿灯颜色及方向，转换成四位二进制后，高两位代表方向，低两位代表颜色，例如：高两位00代表南北方向，01代表东西方向，10代表西北对东南方向，11代表东北对西南方向；低两位00代表绿灯，01代表黄灯，10代表红灯；则0010代表南北方向红灯，转换成十六进制即为2；后三位代表红绿灯剩余时间，例如：001A，则最高位0代表绿灯，后三位01A转换成十进制即为16+10＝26秒；综上规则，如当前编码为201A，即当前红绿灯信息为南北方向红灯，剩余26秒。
第二获取子程序模块22获取红绿灯根据请求发出的红绿灯信息；
第一输出子程序模块23输出红绿灯信息。
对经过编码的红绿灯信息进行解码后，输出给驾驶员。输出的方式包括但不限于语音播报、图像提示、震动、灯光闪烁、模拟投影等方式，其中因语音播报不会转移驾驶员的视线，对驾驶员驾驶的干扰较小，因此优选语音播报的方式进行提醒。
根据预先规划好的行车道路来有针对性地获取红绿灯信息，在车辆前方存在大型车辆阻挡驾驶员看到红绿灯的情况下能够及时得到红绿灯信息，避免驾驶员因不了解红绿灯信息在突然由绿灯换到红灯时前方车辆刹车而撞上前方车辆造成追尾的情况。
输出程序模块30，配置为获取车辆的行驶状态，并根据红绿灯信息和 行驶状态输出行车建议。
具体地，请结合参阅图12，本实施例中输出程序模块30包括第三获取子程序模块31、选择子程序模块32和第二输出子程序模块33，其中：
第三获取子程序模块31获取车辆的行驶速度和车辆与前方路口停车线之间的距离；
车辆驾驶辅助装置在车辆行驶过程中测得车辆的行驶速度，通过向红绿灯请求并获取红绿灯信息的时间差测得车辆与前方路口停车线之间的距离，或者直接通过GPS定位系统判定车辆的行驶速度和与前方路口的距离。本实施例中，车辆的行驶速度、刹车次数和行驶方向都是通过车辆内的OBD接口获取到的。
选择子程序模块32根据红绿灯信息、车辆的行驶速度以及车辆与前方路口停车线之间的距离，选择出建议车辆通过前方路口的方式；其中，红绿灯信息包括对应行车路线的红绿灯颜色和该颜色的剩余时间；
第二输出子程序模块33输出建议车辆通过前方路口的方式。
进一步地，开启输出程序模块30可以通过手动开启和自动开启的方式进行选择，其中，自动开启可通过GPS定位出车辆与前方路口之间的距离M2来作为开启条件，该距离可由用户自行调整也可以采用默认距离，但应当满足M2<M1，只有先确定了行车路线，才能够避免通过路口后进入拥堵道路。
本公开实施例中针对日常路口红绿灯中绿灯剩余最后几秒时，经常出现驾驶员加速抢过路口而发生交通事故的问题，因此，在获取到红绿灯信息的基础上，进一步获得车辆的行驶状态，并根据红绿灯信息和行驶状态进行一系列的计算，得出是否能够原速行驶、加速行驶通过前方路口或不能通过前方路口应当减速停车的建议给驾驶员，避免了驾驶员凭借经验判断而出现失误导致事故的情况，提高了驾驶车辆驶过路口的效率和安全性。
基于本公开车辆驾驶辅助装置的第一实施例，在本公开车辆驾驶辅助装置第二实施例中，确定子程序模块12包括第一判断子程序单元121、第一确定子程序单元122，其中：
第一判断子程序单元121判断位于前方路口相连道路的其他车辆上报 的路况信息是否为拥堵路况信息；
请结合参阅图8，车辆上报的拥堵路况信息和畅通路况信息均是通过二进制及十六进制编码后发出的，编码方式采用四位十六进制数字表示，第四位代表路口方向及路况信息，转换成四位二进制后，高两位代表方向，低两位代表路况。如高两位00代表红路灯南侧，01代表红绿灯北侧，10代红绿灯西侧，11代表东红绿彩的东侧；低两位00代表路况畅通，01代表路况正常，10代表拥堵，建议绕行；则0010代表红绿灯南侧路段拥堵，转换成十六进制即为2。
因此在对其他车辆上报的路况信息进行解码后，即可判断出该车辆上报的路况信息是否为拥堵路况信息。
若位于同一道路且上报拥堵路况信息的车辆数量达到第一预设数量，则第一确定子程序单元122确定该道路的路况信息为拥堵路况，进而确定出与前方路口相连各个道路的路况结果。
对前方路口相连道路上的所有其他车辆发出的路况信息进行一一判定之后，根据上报的路况信息中的方向可以将不同道路的车辆进行分类，得出红绿灯各道路上报路况信息的车辆的数量，若出现位于同一道路上且上报拥堵路况信息的车辆的数量达到第一预设数量，则可确定该道路的路况信息为拥堵路况，进而确定出与前方路口各个相连道路的路况结果。该第一预设数量是出现拥堵情况时，拥堵车辆的最低数量，可以是出厂时预先设定的，也可以是由驾驶员自己设定数值，例如：驾驶员认为在同一道路上有超过30辆汽车同时上报拥堵路况信息才能够确认该道路处于拥堵状态，则第一预设数量为30。
另外，还可以将拥堵路况分不同的拥堵级别并且对应不同的第一预设数量，拥堵级别越严重，上报拥堵路况信息的数量所要达到的第一预设数量就越多。
在一实施例中，第一判断子程序单元121中其他车辆发出的路况信息和请求子程序模块中红绿灯采用相同的编码方式，因此可以在上述四位十六进制的基础上采用五位十六进制的方法进行编码，通过第五位数字来对车辆发出的路况信息和红绿灯发出的红绿灯信息进行区分，之后四位的编码方式与上述对应的编码方法相同，在此不再赘述，车辆驾驶辅助装置在 解码时优先解码第五位数字，之后再根据不同的数据信号对应进行解码操作。
此外，车辆驾驶辅助装置还包括：广播程序模块，配置为基于OBD接口获取车辆的行驶信息，根据行驶信息获取车辆当前所处路段拥堵情况的路况信息，并将路况信息向车辆周边广播。
OBD随时监控车辆发动机的运行状况、尾气处理系统、刹车系统、胎压系统的行驶信息，同时OBD接口会将行驶信息存入存储器，并根据行驶信息识别并获取车辆当前所处路段的路况信息，比如车辆刹车很频繁(如单位时间内刹车次数大于预设次数，判定车辆刹车频繁)、发动机转速波动较大(发动机转速单元时间内转速变化量大于预设转速值)，判定车辆当前所处路段的为拥堵，即路况信息定性车辆当前所处路段为拥堵，其中路况信息至少包括车辆当前所处路段位置和所处路段拥堵情况。车辆实时或定时向车辆周边广播自身生成的路况信息，从而实现多车辆之间路况信息的共享，有利于车辆基于路况信息来知晓前方路口的拥堵情况，更有利于准确地输出行车建议。
另外，还可以将拥堵路况分不同的拥堵级别并且对应检测到的不同数量的拥堵路况信息，拥堵级别越严重，检测到的拥堵路况信息数量所要达到的第二预设数量就越多。
进一步地，基于本公开车辆驾驶辅助装置的上述实施例，在本公开车辆驾驶辅助装置的第四实施例中，第二获取子程序模块22包括第二获取子程序单元221和解码子程序单元222，其中：
获取子程序单元221获取红绿灯根据请求发出的红绿灯信息；
红绿灯在接收到对应行车路线的红绿灯信息的请求后，得知车辆的行车路线，然后根据行车路线找到自身对应该行车路线的红绿灯信息，对红绿灯信息进行上述方式的编码后发出。发出的方式可以是红绿灯在当前环境有热点的情况下将红绿灯信息对应写入热点MAC地址对应字段，或红绿灯通过无线网络将红绿灯信息发给车辆驾驶辅助装置，车辆驾驶辅助装置根据红绿灯的发出方式对应有提取热点MAC地址对应字段，或从无线网络 中获取红绿等信息。
解码子程序单元222对红绿灯信息进行解码，得到前方路口的红绿灯中对应行车路线的当前红绿灯颜色和当前红绿灯颜色的剩余时间。
将经编码的红绿灯信息进行解码，从而得到红绿灯信息中的红绿灯颜色和当前红绿灯颜色的剩余时间以便在之后的步骤中直接调用红绿灯颜色和当前红绿灯颜色的剩余时间。
本实施例中，红绿灯能够通过多种方式将对应车辆行驶路线的红绿灯信息发送给车辆驾驶辅助装置，对应车辆驾驶辅助装置获取红绿灯信息的多样性，进而保证了获取红路灯信息的可靠性。
进一步地，基于本公开车辆驾驶辅助装置的上述实施例，在本公开车辆驾驶辅助装置的第五实施例中，选择子程序模块32包括计算子程序单元321和选择子程序单元322，其中：
计算子程序单元321根据车辆的行驶速度和车辆与前方路口停车线之间的距离，得出车辆驶过前方路口停车线所需的时间；
选择子程序单元322根据红绿灯信息中前方路口的当前红绿灯颜色、当前红绿灯颜色的剩余时间和车辆驶过前方路口停车线所需的时间，选择出建议车辆通过前方路口的方式。
假设前方路口的红绿灯信息为红灯，剩余时间为t 红，根据当前距离前方路口停车线的距离及当前行驶速度计算出当前速度到达前方路口的时间，如车辆的行驶速度设为v，车辆与前方路口停车线之间的距离设为M，则到达前方路口的时间T＝M/v+k，其中k为补偿值。再判断到达前方路口的时间T是否大于t 红，在T>t 红时，选择建议驾驶员保持原速度通过前方路口的方式；在T<t 红时，选择建议驾驶员减速停车等待的方式。当前方路口的红绿灯信息为绿灯时，则在T<t 绿时，选择建议驾驶员保持原速度通过前方路口的方式；在T>t 绿时，选择建议驾驶员加速通过前方路口或减速停车的方式，并且在随后会根据当前用户实际行驶情况及实时红绿灯信息判断用户加速是否可以通过，例如：在车辆当前速度小于当前道路限速值的50％，且T-t 绿<1S时，提示驾驶员加速行驶通过前方路口。驾驶员实际行驶一定距离后进行进一步评估，并按上述规则继续选择出给驾驶员的行车建 议。需要注意的是，在判断是否能够加速穿过路口时所能达到的最大速度应当不高于当前行驶道路的限速值，若通过路口的速度需大于当前行驶道路的限速值则选择需要停车减速的建议。
本实施例中，具体公开了红绿灯信息、车辆的行驶速度以及车辆与前方路口停车线之间的距离，选择出建议车辆通过前方路口的一种方式，通过比较车辆达到前方路口停车线的时间和红绿灯的时间来作为建议车辆通过前方路口的依据，保证了建议的可靠性和切实性，避免了驾驶员因个人经验判断出错而导致的交通事故。
如图13所示，图13是本公开实施例方案涉及的硬件运行环境的终端结构示意图。
本公开实施例终端(即终端设备)可以是PC，也可以是智能手机、平板电脑、电子书阅读器、动态影像专家压缩标准音频层面3(MP3，Moving Picture Experts Group Audio Layer III)播放器、动态影像专家压缩标准音频层面4(,MP4，Moving Picture Experts Group Audio Layer IV)播放器、便携计算机等具有显示功能的可移动式终端设备。
如图13所示，该终端可以包括：处理器1001，例如CPU，网络接口1004，用户接口1003，存储器1005，通信总线1002。其中，通信总线1002配置为实现这些组件之间的连接通信。用户接口1003可以包括显示屏(Display)、输入单元比如键盘(Keyboard)，可选用户接口1003还可以包括标准的有线接口、无线接口。网络接口1004可选的可以包括标准的有线接口、无线接口(如WI-FI接口)。存储器1005可以是高速RAM存储器，也可以是稳定的存储器(non-volatile memory)，例如磁盘存储器。存储器1005可选的还可以是独立于前述处理器1001的存储装置。
可选地，终端还可以包括摄像头、射频(RF，Radio Frequency)电路，传感器、音频电路、WiFi模块等等。其中，传感器比如光传感器、运动传感器以及其他传感器。具体地，光传感器可包括环境光传感器及接近传感器，其中，环境光传感器可根据环境光线的明暗来调节显示屏的亮度，接近传感器可在移动终端移动到耳边时，关闭显示屏和/或背光。作为运动传 感器的一种，重力加速度传感器可检测各个方向上(一般为三轴)加速度的大小，静止时可检测出重力的大小及方向，可配置为识别移动终端姿态的应用(比如横竖屏切换、相关游戏、磁力计姿态校准)、振动识别相关功能(比如计步器、敲击)等；当然，移动终端还可配置陀螺仪、气压计、湿度计、温度计、红外线传感器等其他传感器，在此不再赘述。
本领域技术人员可以理解，图1中示出的终端结构并不构成对终端的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。
如图13所示，作为一种计算机存储介质的存储器1005中可以包括操作系统、网络通信模块、用户接口模块以及车辆驾驶辅助程序(即实施例中所述的计算机程序)。
在图13所示的终端中，网络接口1004主要配置为连接后台服务器，与后台服务器进行数据通信；用户接口1003主要配置为连接客户端(用户端)，与客户端进行数据通信；而处理器1001可以配置为调用存储器1005中存储的车辆驾驶辅助程序，并执行以下操作：
获取车辆前方路口的路况信息，并根据所述路况信息规划车辆的行车路线；其中，所述前方路口的路况信息包括与所述前方路口相连道路的路况信息；
根据所述行车路线，获取设置于所述前方路口的红绿灯中对应所述行车路线的红绿灯信息；
获取车辆的行驶状态，并根据所述红绿灯信息和所述行驶状态输出行车建议。
此外，处理器1001可以配置为调用存储器1005中存储的车辆驾驶辅助程序，并执行上述车辆驾驶辅助方法各实施例的步骤，在此不作累述。
本公开实施例还提供一种计算机可读存储介质，所述计算机可读存储介质上存储有车辆驾驶辅助程序，所述车辆驾驶辅助程序被处理器执行时实现如下步骤：
获取车辆前方路口的路况信息，并根据所述路况信息规划车辆的行车路线；其中，所述前方路口的路况信息包括与所述前方路口相连道路的路 况信息；
根据所述行车路线，获取设置于所述前方路口的红绿灯中对应所述行车路线的红绿灯信息；
获取车辆的行驶状态，并根据所述红绿灯信息和所述行驶状态输出行车建议。
此外，车辆驾驶辅助程序被处理器执行时还实现上述车辆驾驶辅助方法各实施例的步骤，在此不作累述。
本公开实施例还提供一种车辆驾驶辅助系统，参照图14，车辆驾驶辅助系统包括配置为广播红绿灯信息的红绿灯装置200和车辆驾驶辅助装置100，车辆驾驶辅助装置100包括：
规划程序模块，配置为获取车辆前方路口的路况信息，并根据所述路况信息规划车辆的行车路线；其中，所述前方路口的路况信息包括与所述前方路口相连道路的路况信息；
获取程序模块，配置为根据所述行车路线，获取设置于所述前方路口的红绿灯中对应所述行车路线的红绿灯信息；
输出程序模块，配置为获取车辆的行驶状态，并根据所述红绿灯信息和所述行驶状态输出行车建议。
此外，参照图15，红绿灯侧(即红绿灯装置)包括：红绿灯信息获取模块、红绿灯信息编码模块，红绿灯信息传输模块；
其中信息获取模块从红绿灯显示控制器端获取红绿灯信息，通过编码模块进行编码，通过MAC地址更新模块将红绿灯信息添加到WIFI模块MAC地址中进行广播传输。
终端侧(终端侧包括车辆驾驶辅助装置)包括：信息处理模块及功能实现模块；其中信息处理模块包括信息传输模，行车信息获取模块，拥堵判定模块，数据编码及解码模块。功能实现模块包括，拥堵情况红绿灯提示模块，拥堵情况路径规划模块，最优通过路口规划模块。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可 以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本公开实施例的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，空气处理设备，或者网络设备等)执行本公开各个实施例的方法。
以上仅为本公开的实施例，并非因此限制本公开的专利范围，凡是利用本公开说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本公开的专利保护范围内。
工业实用性
本公开实施例的方案，获取车辆前方路口的路况信息，并根据所述路况信息规划车辆的行车路线；其中，所述前方路口的路况信息包括与所述前方路口相连道路的路况信息；根据所述行车路线，获取设置于所述前方路口的红绿灯中对应所述行车路线的红绿灯信息；获取车辆的行驶状态，并根据所述红绿灯信息和所述行驶状态输出行车建议，从而避免了驾驶员在不了解前方路口的路况时驾驶车辆陷入拥堵路况的困境，另外还为驾驶员提供了高效、安全驶过路口的行车建议，避免了驾驶员和乘客陷入拥堵路况浪费大量的时间。

Claims (17)

  1. 一种车辆驾驶辅助方法，所述车辆驾驶辅助方法包括：
    获取车辆前方路口的路况信息，并根据所述路况信息规划车辆的行车路线；其中，所述前方路口的路况信息包括与所述前方路口相连道路的路况信息；
    根据所述行车路线，获取设置于所述前方路口的红绿灯中对应所述行车路线的红绿灯信息；
    获取车辆的行驶状态，并根据所述红绿灯信息和所述行驶状态输出行车建议。
  2. 根据权利要求1所述的车辆驾驶辅助方法，其中，所述获取车辆前方路口的路况信息，并根据所述路况信息规划车辆的行车路线的步骤包括：
    获取位于车辆前方路口相连道路上的其他车辆发出的路况信息；
    根据其他车辆发出的路况信息，确定出与所述前方路口相连道路的路况结果；
    根据所述路况结果，规划车辆的行车路线。
  3. 根据权利要求2所述的车辆驾驶辅助方法，其中，所述根据其他车辆发出的路况信息，确定出与所述前方路口相连道路的路况结果的步骤包括：
    判断位于所述前方路口相连道路的其他车辆上报的路况信息是否为拥堵路况信息；
    若位于同一道路且上报拥堵路况信息的车辆数量达到预设数量，则确定该道路的路况结果为拥堵路况，并确定出与所述前方路口相连各个道路的路况结果。
  4. 根据权利要求1至3任意一项所述的车辆驾驶辅助方法，其中，所述车辆驾驶辅助方法还包括：
    基于OBD接口获取车辆的行驶信息，根据行驶信息获取车辆当前所处路段拥堵情况的路况信息，并将路况信息向车辆周边广播。
  5. 根据权利要求1至3任意一项所述的车辆驾驶辅助方法，其中，所述根据所述行车路线，获取设置于所述前方路口的红绿灯中对应所述行车 路线的红绿灯信息的步骤包括：
    向设置于所述前方路口的红绿灯发出获取对应所述行车路线的红绿灯信息的请求；
    获取所述红绿灯根据所述请求发出的红绿灯信息；
    输出所述红绿灯信息。
  6. 根据权利要求5所述的车辆驾驶辅助方法，其中，所述获取所述红绿灯根据所述请求发出的红绿灯信息的步骤包括：
    获取所述红绿灯根据所述请求发出的红绿灯信息；
    对所述红绿灯信息进行解码，得到所述前方路口的红绿灯中对应所述行车路线的当前红绿灯颜色和当前红绿灯颜色的剩余时间。
  7. 根据权利要求1至3任意一项所述的车辆驾驶辅助方法，其中，所述获取车辆的行驶状态，并根据所述红绿灯信息和所述行驶状态输出行车建议的步骤包括：
    获取车辆的行驶速度和车辆与所述前方路口停车线之间的距离；
    根据所述红绿灯信息、车辆的行驶速度以及车辆与所述前方路口停车线之间的距离，选择出建议车辆通过前方路口的方式；其中，所述红绿灯信息包括对应所述行车路线的红绿灯颜色和该颜色的剩余时间；
    输出所述建议车辆通过前方路口的方式。
  8. 根据权利要求7所述的车辆驾驶辅助方法，其中，所述根据所述红绿灯信息、车辆的行驶速度以及车辆与所述前方路口停车线之间的距离，选择出建议车辆通过前方路口的方式的步骤包括：
    根据车辆的行驶速度和车辆与所述前方路口停车线之间的距离，得出车辆驶过所述前方路口停车线所需的时间；
    根据所述红绿灯信息中所述前方路口的当前红绿灯颜色、当前红绿灯颜色的剩余时间和车辆驶过所述前方路口停车线所需的时间，选择出建议车辆通过前方路口的方式。
  9. 一种车辆驾驶辅助装置，所述车辆驾驶辅助装置包括：
    规划程序模块，配置为获取车辆前方路口的路况信息，并根据所述路况信息规划车辆的行车路线；其中，所述前方路口的路况信息包括与所述前方路口相连道路的路况信息；
    获取程序模块，配置为根据所述行车路线，获取设置于所述前方路口的红绿灯中对应所述行车路线的红绿灯信息；
    输出程序模块，配置为获取车辆的行驶状态，并根据所述红绿灯信息和所述行驶状态输出行车建议。
  10. 根据权利要求9所述的车辆驾驶辅助装置，其中，所述规划程序模块包括：
    第一获取子程序模块，配置为获取位于车辆前方路口相连道路上的其他车辆发出的路况信息；
    确定子程序模块，配置为根据其他车辆发出的路况信息，确定出与所述前方路口相连道路的路况结果；
    规划子程序模块，配置为根据所述路况结果，规划车辆的行车路线。
  11. 根据权利要求9或10所述的车辆驾驶辅助装置，其中，所述车辆驾驶辅助装置还包括：
    广播程序模块，配置为基于车载OBD接口获取车辆的行驶信息，根据行驶信息获取车辆当前所处路段拥堵情况的路况信息，并将路况信息向车辆周边广播。
  12. 根据权利要求9或10所述的车辆驾驶辅助装置，其中，所述获取程序模块包括：
    请求子程序模块，配置为向设置于前方路口的红绿灯发出获取对应行车路线的红绿灯信息的请求；
    第二获取子程序模块，配置为获取红绿灯根据请求发出的红绿灯信息；
    第一输出子程序模块，配置为输出红绿灯信息。
  13. 根据权利要求12所述的车辆驾驶辅助装置，其中，所述第二获取子程序模块包括：
    获取子程序单元,配置为获取红绿灯根据请求发出的红绿灯信息；
    解码子程序单元，配置为对红绿灯信息进行解码，得到前方路口的红绿灯中对应行车路线的当前红绿灯颜色和当前红绿灯颜色的剩余时间。
  14. 根据权利要求9或10所述的车辆驾驶辅助装置，其中，所述输出程序模块包括：
    第三获取子程序模块，配置为获取车辆的行驶速度和车辆与所述前方 路口停车线之间的距离；
    选择子程序模块，配置为根据所述红绿灯信息、车辆的行驶速度以及车辆与所述前方路口停车线之间的距离，选择出建议车辆通过前方路口的方式；其中，所述红绿灯信息包括对应所述行车路线的红绿灯颜色和该颜色的剩余时间；
    第二输出子程序模块，配置为输出所述建议车辆通过前方路口的方式。
  15. 一种终端设备，所述终端设备包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现以下步骤：
    获取车辆前方路口的路况信息，并根据所述路况信息规划车辆的行车路线；其中，所述前方路口的路况信息包括与所述前方路口相连道路的路况信息；
    根据所述行车路线，获取设置于所述前方路口的红绿灯中对应所述行车路线的红绿灯信息；
    获取车辆的行驶状态，并根据所述红绿灯信息和所述行驶状态输出行车建议。
  16. 一种车辆驾驶辅助系统，所述车辆驾驶辅助系统包括配置为广播红绿灯信息的红绿灯装置和如权利要求9所述的车辆驾驶辅助装置。
  17. 一种计算机可读存储介质，所述计算机可读存储介质上存储有车辆驾驶辅助程序，所述车辆驾驶辅助程序被处理器执行时实现权利要求1至8任一项所述方法的步骤。
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