WO2023125126A1

WO2023125126A1 - Vehicle driving assistance method and apparatus, vehicle, and cloud server

Info

Publication number: WO2023125126A1
Application number: PCT/CN2022/140223
Authority: WO
Inventors: 孟祥宇
Original assignee: 长城汽车股份有限公司
Priority date: 2021-12-29
Filing date: 2022-12-20
Publication date: 2023-07-06
Also published as: CN115123211A

Abstract

The present application relates to the technical field of vehicles, and provides a vehicle driving assistance method and apparatus, a vehicle, and a cloud server. The vehicle driving assistance method comprises: obtaining the real-time driving information of a vehicle, the real-time driving information comprising a driving speed, a steering wheel angle, a driving lane, and a geographical position; transmitting the real-time driving information to the cloud; when the vehicle drives to a target region, obtaining vehicle driving assistance information, the vehicle driving assistance information being generated by the cloud on the basis of the real-time driving information of a target vehicle, and the target vehicle being a vehicle located in the target region; and broadcasting the vehicle driving assistance information. The present application can provide reliable information support for a driver, so as to assist the driver in safely driving the vehicle.

Description

Vehicle driving assistance method, device, vehicle and cloud server

This patent application claims priority to Chinese Patent Application No. CN202111642502.0 filed on December 29, 2021. The disclosure of the prior application is incorporated by reference in its entirety into this application.

technical field

The present application relates to the field of vehicle technology, in particular to a vehicle driving assistance method, device, vehicle and cloud server.

Background technique

When the vehicle is driving in a dangerous area such as a curve, most of the obstacles beside the curve will block the driver's view of the opposite lane, causing the driver to have a driving blind spot. At present, when a vehicle passes a curve, on the basis of slowing down, the driver usually reminds the vehicles in the opposite lane to pay attention to safety by honking the horn or other means. However, this approach is largely limited by environmental conditions and cannot reliably determine and prompt oncoming vehicles. In particular, there is a great risk of traffic accidents when the vehicle is driving on a turning road with a large corner, or when an oncoming vehicle crosses the solid central line when turning. In addition, some vehicles have a 360° panoramic image, and the vehicle can also use the 360° panoramic image to assist the driver to pass through dangerous areas such as curves.

However, the above methods can only assist the driver to drive the vehicle safely when the vehicle is driving in a dangerous area such as a curve, and cannot provide the driver with more relevant information in advance, so as to provide reliable information support for the driver.

technical problem

The present application provides a vehicle driving assistance method, a device, a vehicle and a cloud server, which can provide reliable information support for the driver, so that the driver can drive the vehicle more safely.

technical solution

In the first aspect, the present application provides a vehicle driving assistance method, which is applied to the vehicle side. The above method includes: obtaining real-time driving information of the vehicle, the real-time driving information includes driving speed, steering wheel angle, driving lane and geographical location; Send the above real-time driving information; when the vehicle travels to the target area, obtain vehicle driving assistance information, the above vehicle driving assistance information is generated by the cloud based on the real-time driving information of the target vehicle, and the target vehicle is a vehicle located in the target area; broadcast vehicle driving assistance information.

Exemplarily, the vehicle driving assistance information may include: real-time driving information of vehicles in and near the target area. For example, the vehicle driving assistance information may include: the driving speed of the vehicle in and near the target area, the steering wheel angle, the driving lane, the position of the vehicle, the distance between the vehicle and the blind spot, the positional relationship between the vehicle and other vehicles, The positional relationship between vehicles and pedestrians, etc. Broadcasting the above-mentioned vehicle driving assistance information to the driver can assist the driver to predict possible dangers in advance, so that the driver can drive the vehicle more safely.

In a possible implementation, before the acquisition of the real-time driving information of the vehicle, the method further includes: detecting whether the vehicle is located on the target road; wherein, if it is detected that the vehicle is located on the target road, performing the above acquisition of the vehicle Real-time driving information steps.

In a possible implementation manner, the above-mentioned acquisition of vehicle driving assistance information when the vehicle travels to the target area includes: if it is detected that the vehicle travels to the target area, requesting the vehicle driving assistance information from the cloud, and obtaining the vehicle driving assistance information ; or, when the vehicle travels to the target area, obtain the vehicle driving assistance information sent by the cloud; wherein, the above-mentioned target area is an area whose distance to the blind spot point is less than a threshold, and the blind spot point is determined based on the road on which the vehicle is driving (ie, the target road).

Exemplarily, for an arc-shaped road, if the ratio of the curvature change speed of the first position point on the arc-shaped road to the curvature change speed of other position points is greater than or equal to the threshold, the blind spot is the first position point; if the arc If the ratio of the curvature change speed of any position point on the linear road to the curvature change speed of other position points is less than the threshold value, the blind spot point is the vertical line between the current vehicle and the opposite vehicle and the arc-shaped road. intersection. For the case where the target road is two intersecting straight roads, the blind spot point is the intersection point of the two straight roads.

In a possible implementation, the geographic location in the real-time driving information may include at least one of the following: the location of the vehicle, the distance between the vehicle and the blind spot, the positional relationship between the vehicle and other vehicles, and the distance between the vehicle and pedestrians. Positional relationship.

In a possible implementation manner, the real-time driving information further includes a turn signal signal, and the method further includes: acquiring vehicle driving assistance information when a vehicle lane change signal is detected, the vehicle lane change signal including a steering wheel angle greater than an angle threshold , and/or activate the turn signal.

In the second aspect, the present application provides a vehicle driving assistance method, which is applied to the cloud side. The above method includes: receiving real-time driving information sent by the vehicle, the real-time driving information includes driving speed, steering wheel angle, driving lane and geographical location, the above-mentioned The vehicle is a vehicle driving on the target road; based on the above-mentioned real-time driving information, the position monitoring of the vehicle driving on the target road is carried out; Auxiliary information; wherein, the first vehicle is any vehicle in the vehicles driving on the target road, the target vehicle is a vehicle located in the target area, and the target area is located on the target road; sending vehicle driving assistance information to the first vehicle .

In a possible implementation manner, the above-mentioned monitoring of the position of the vehicle driving on the target road based on the real-time driving information includes: importing the above real-time driving information into the target map, and importing the real-time driving information of the vehicle on the target road Converted to a preset mark; according to the real-time position of the preset mark in the target map, the position monitoring of the vehicle driving on the target road is carried out.

In a possible implementation manner, if it is determined that the first vehicle is driving to the target area, generating vehicle driving assistance information based on the real-time driving information of the target vehicle includes: if a request for obtaining vehicle driving assistance information sent by the first vehicle is received , the vehicle driving assistance information is generated based on the real-time driving information of the target vehicle; or, if it is detected that the first vehicle travels to the target area, the vehicle driving assistance information is generated based on the real-time driving information of the target vehicle. Wherein, the target area is an area where the distance from the target road to the blind spot is smaller than a threshold, and the blind spot is determined based on the target road.

In a possible implementation manner, the real-time driving information further includes a turn signal signal, and the method further includes: if it is determined that the first vehicle triggers a vehicle lane change signal, generating vehicle driving assistance information based on the real-time driving information of the target vehicle, The above-mentioned vehicle lane change signal includes a steering wheel angle greater than an angle threshold, and/or a signal to trigger a turn signal.

For example, the cloud imports the driving information of the first vehicle and other vehicles within the preset range in front of the first vehicle into the target map model, and converts each vehicle into a preset symbol; Position, to monitor the position of the above-mentioned multiple vehicles.

If it is determined that the first vehicle triggers the vehicle lane change signal, that is, the driver of the first vehicle wants to overtake, the cloud constructs a driving scene based on the steering wheel angle, direction of the corner, and turn signal status of the first vehicle: based on the starting position and A right triangle is constructed at the target position, and the hypotenuse of the right triangle is the travel distance. Based on the starting position of the first vehicle, until the first vehicle reaches the target position, the cloud monitors the real-time driving information of other vehicles within the preset range in front of the first vehicle (such as driving route and dynamic position and driver-related input, For example, whether there is a vehicle lane change signal input), and send vehicle auxiliary driving information to the first vehicle to assist the driver of the first vehicle to change lanes and overtake.

In a third aspect, the present application provides a driving assistance device for a vehicle, which is applied to the vehicle side. The above-mentioned device includes: a first acquisition module for acquiring real-time driving information of the vehicle, the real-time driving information includes driving speed, steering wheel angle, driving Lane and geographic location; the first sending module is used to send the real-time driving information to the cloud; the second acquisition module is used to obtain vehicle driving assistance information when the vehicle travels to the target area, and the vehicle driving assistance information is provided by the cloud based on The real-time driving information of the target vehicle is generated, and the target vehicle is a vehicle located in the target area; the broadcast module is used to broadcast the above-mentioned vehicle driving assistance information.

In a fourth aspect, the present application provides a driving assistance device for a vehicle, which is applied to the cloud side. The device includes: a third acquisition module, configured to acquire real-time driving information sent by the vehicle. The real-time driving information includes driving speed, steering wheel angle, Driving lane and geographical location, the above-mentioned vehicle is a vehicle driving on the target road; a position monitoring module is used to perform position monitoring based on the above-mentioned vehicle driving on the target road; a generating module is used to determine when the first vehicle travels to In the target area, vehicle driving assistance information is generated based on the real-time driving information of the target vehicle; wherein, the first vehicle is any vehicle in the vehicles driving on the target road, the target vehicle is a vehicle located in the target area, and the target area is located in the target area. On the road; a second sending module, configured to send the above-mentioned vehicle driving assistance information to the first vehicle.

In a fifth aspect, the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the above computer program, the above first aspect is realized. Or the steps of the method described in any possible implementation manner of the first aspect.

In a sixth aspect, an embodiment of the present application provides a vehicle, the vehicle includes an electronic device, the electronic device includes a memory, a processor, and a computer program stored in the memory and operable on the processor, and the processor executes the above computer program implement the steps in the method described in the above first aspect or any possible implementation manner of the first aspect.

In the seventh aspect, the embodiment of the present application provides a cloud server, including a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the computer program, the above second aspect or the second The method steps described in any possible implementation manner of the aspect.

In the eighth aspect, the embodiment of the present application provides a computer-readable storage medium, the above-mentioned computer-readable storage medium stores a computer program, and when the above-mentioned computer program is executed by a processor, any one of the above-mentioned first aspect or the first aspect is realized. The steps of the method described in a possible implementation manner, or the steps of the method described in the second aspect above or any possible implementation manner of the second aspect.

In the ninth aspect, the embodiment of the present application provides a computer program product, the computer program product has a program code, and when the program code is run in a corresponding processor, controller, computing device or electronic device, the above first aspect or the first aspect is executed. The steps of the method described in any possible implementation manner of the first aspect, or the steps of the method described in the above second aspect or any possible implementation manner of the second aspect.

Beneficial effect

In the embodiment of the present application, the vehicle sends real-time driving information to the cloud, so that the cloud can monitor the vehicle according to the real-time driving information sent by the vehicle. When the vehicle travels to the target area, the vehicle driving assistance information generated by the cloud based on the real-time driving information of the target vehicle can be obtained from the cloud, and the vehicle driving assistance information is broadcast to assist the driver in driving the vehicle, providing reliable information support for the driver. This enables the driver to drive the vehicle more safely.

The cloud receives the real-time driving information sent by the vehicle, and then monitors the position of the vehicle driving on the target road based on the real-time driving information. If the cloud determines that the first vehicle has driven to the target area, it generates vehicle driving assistance information based on the real-time driving information of the target vehicle, and sends the vehicle driving assistance information to the first vehicle, so that the first vehicle broadcasts the vehicle driving assistance information to Assist the driver to drive the vehicle, improve reliable information support for the driver, and enable the driver to drive the vehicle more safely.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only for the present application For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without paying creative efforts.

FIG. 1 is a schematic diagram of an application scenario of a vehicle driving assistance method provided by an embodiment of the present application;

Fig. 2 is a schematic diagram of another application scenario of the vehicle driving assistance method provided by the embodiment of the present application;

Fig. 3 is a schematic diagram of another application scenario of the vehicle driving assistance method provided by the embodiment of the present application;

Fig. 4 is a schematic flowchart of a vehicle driving assistance method provided by an embodiment of the present application;

Fig. 5 is a schematic diagram of a target area and a blind spot provided by an embodiment of the present application;

Fig. 6 is another schematic diagram of the target area and blind spot provided by the embodiment of the present application;

Fig. 7 is another schematic diagram of the target area and blind spot provided by the embodiment of the present application;

Fig. 8 is a flow chart of the implementation of the vehicle driving assistance method provided by the embodiment of the present application;

FIG. 9 is a schematic diagram of a lane-changing driving scene of a first vehicle provided in an embodiment of the present application;

FIG. 10 is a flow chart of the implementation of the vehicle driving assistance method provided by the embodiment of the present application;

Fig. 11 is a schematic structural diagram of a vehicle driving assistance device provided by an embodiment of the present application;

Fig. 12 is a schematic structural diagram of a vehicle driving assistance device provided by an embodiment of the present application;

Fig. 13 is a schematic diagram of an electronic device provided by an embodiment of the present application.

Embodiment of this application

In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

In order to make the purpose, technical solution and advantages of the present application clearer, specific embodiments will be described below in conjunction with the accompanying drawings.

Fig. 1 shows the application scenario of the vehicle driving assistance method provided by the embodiment of the present application. Referring to Figure 1, in this application scenario, vehicle A and vehicle B are driving in opposite directions on the road around the mountain, vehicle A obtains its own real-time driving information and sends it to the cloud, and vehicle B obtains its own real-time driving information and sends it to the cloud. Real-time driving information can include information such as driving speed, steering wheel angle, driving lane, and geographic location. After the cloud obtains the above real-time driving information, the location monitoring of vehicle A and vehicle B is performed based on the real-time driving information of the two vehicles. If it is determined that vehicle A or vehicle B travels to the target area, vehicle driving assistance information is generated based on the real-time driving information of the two vehicles, and the vehicle driving assistance information is sent to the vehicle entering the target area to assist the driver in driving the vehicle.

Among them, the target area can be determined according to the condition of the road around the mountain where the vehicle is driving. For example, the target area can be fixed or change with the position of the vehicle. No explanation will be given here. Please refer to the related content.

For example, based on the vehicle driving assistance information, the driver of vehicle A can know in advance: the real-time position of vehicle B on the target road, the real-time distance between vehicle B and vehicle A, whether vehicle B is driving into the lane of vehicle A, The real-time driving speed of vehicle B. Due to the blocking of the driver's line of sight by the mountains next to the road, the driver cannot observe the situation of the oncoming vehicle, and the vehicle driving assistance information can inform the driver of the driving information of the oncoming vehicle in advance, and provide reliable information support for the driver. Drivers can drive vehicles more safely.

It should be noted that if vehicle A and vehicle B are driving in the same direction on the road around the mountain, or only vehicle A is driving on the road around the mountain in the current time period, the vehicle can send its own real-time driving information to the cloud. If the cloud determines that there is no oncoming vehicle based on the above real-time driving information, it may not generate vehicle driving assistance information or send vehicle driving assistance information to the vehicle, thereby saving resources in the cloud and freeing up resources to process vehicle driving assistance information for other target roads .

In addition, only two vehicles are shown in FIG. 1 , but it is not limited thereto. For example, in a scene with three or more vehicles, the three or more vehicles need to send their own real-time driving information to the cloud, and the cloud realizes driving assistance based on the real-time driving information of the above three or more vehicles.

Fig. 2 shows another application scenario of the vehicle driving assistance method provided by the embodiment of the present application. See Figure 2. In this application scenario, vehicles A, B, and C are driving on urban roads, and vehicles A and C are driving to the turning area. Due to the obstruction of the line of sight by the buildings next to the road, the driver cannot observe the road on the right side. The condition of the road or the road on the left. At this time, vehicle A and vehicle C can obtain their own real-time driving information and send them to the cloud, and the cloud will monitor the positions of vehicle A and vehicle C based on the real-time driving information of the two vehicles. If it is determined that vehicle A or vehicle C travels to the target area, vehicle driving assistance information is generated based on the real-time driving information of the two vehicles, and the vehicle driving assistance information is sent to the vehicle entering the target area to assist the driver in driving the vehicle.

For example, based on the vehicle driving assistance information, the driver of vehicle A can know in advance: the real-time position of vehicle C on the target road, the real-time distance between vehicle C and vehicle A, whether vehicle C is going straight or turning right, the Real-time driving speed, pedestrian information around vehicle C, etc. Vehicle driving assistance information can inform the driver of the vehicle driving information on the left or right road in advance, and provide reliable information support for the driver, so that the driver can drive the vehicle more safely.

Fig. 3 shows another application scenario of the vehicle driving assistance method provided by the embodiment of the present application. Referring to FIG. 3 , in this application scenario, vehicle A, vehicle B, and vehicle C are driving in the same direction on the road, vehicle A and vehicle B are in the same lane, and vehicle C can be in the same lane as vehicle A or in an adjacent lane. Vehicle A, Vehicle B, and Vehicle C obtain their own real-time driving information and send it to the cloud. The above real-time driving information may include information such as driving speed, steering wheel angle, turn signal, driving lane, and geographic location. After the cloud obtains the above real-time driving information, the location monitoring of vehicle A, vehicle B and vehicle C is performed based on the real-time driving information of the three vehicles. If it is determined that vehicle C triggers the vehicle lane change signal, vehicle driving assistance information is generated based on the real-time driving information of the three vehicles, and the vehicle driving assistance information is sent to vehicle A to assist the driver in driving the vehicle.

For example, based on the vehicle driving assistance information, the driver of vehicle A can know in advance: the real-time driving speeds of vehicle B and vehicle C, the real-time position of vehicle C on the target road, the real-time distance between vehicle C and vehicle B, the C Whether to trigger the vehicle lane change signal and the direction of the lane change, etc. Due to the blocking of the driver's line of sight by vehicle B, the driver cannot observe the situation of the vehicle in front, but the vehicle driving assistance information can inform the driver of the driving information of vehicle C in advance, providing reliable information support for the driver, so that the driver can Drive your vehicle more safely.

The vehicle driving assistance method provided in the embodiment of the present application will be described in detail below with reference to FIG. 1 to FIG. 3 .

Referring to FIG. 4 , it shows a flow chart of the implementation of the vehicle driving assistance method provided by the embodiment of the present application. The vehicle driving assistance method is applied to the vehicle side, and the details are as follows:

Step 101, acquiring real-time driving information of the vehicle.

Wherein, the above-mentioned real-time driving information includes driving speed, steering wheel angle, driving lane and geographic location. The geographic location may include the location of the vehicle, the distance between the vehicle and the blind spot, the positional relationship between the vehicle and other vehicles, information about pedestrians near the vehicle, and the like.

In one scenario, before step 101, the above method may include: detecting whether the vehicle is located on the target road. Wherein, if it is detected that the vehicle is located on the target road, step 101 is executed. Wherein, the above-mentioned target road may be a road that can block the driver's sight, such as a road around a mountain, a detour, near an intersection of an urban road, and the like. If the characteristic information of the road on which the vehicle is currently traveling meets the preset characteristic information corresponding to the above-mentioned target road, it can be determined that the vehicle is located on the target road.

Determine whether to obtain the real-time driving information of the vehicle by detecting whether the vehicle is on the target road: if the vehicle is on the target road, start to obtain the real-time driving information of the vehicle and send it to the cloud; if the vehicle is not on the target road, no Obtaining the real-time driving information of the vehicle does not need to send real-time driving information to the cloud, which can reduce the waste of vehicle resources and reduce the waste of network resources.

Exemplarily, based on the high-precision map and the positioning module, it can be identified whether the vehicle is on the target road, and if it is on the target road, real-time driving information of itself can be obtained. For example, during the time period when the vehicle is on the target road, the vehicle may obtain its own real-time driving information every first preset time. Wherein, the first preset time may be a relatively small time interval, such as 0.1 second.

Exemplarily, the vehicle can acquire its own real-time driving information in response to an acquisition instruction issued by the user. For example, the user generates the obtaining instruction by speaking a voice containing preset content, or the user may generate the obtaining instruction by triggering a physical button.

Step 102, sending the aforementioned real-time driving information to the cloud.

For example, during the time period when the vehicle is on the target road, the vehicle can send its own real-time driving information to the cloud every preset time until the vehicle leaves the target road.

For another example, after responding to the acquisition instruction, the vehicle may send its own real-time driving information to the cloud every preset time until it receives a stop acquisition instruction from the user.

Step 103, when the vehicle travels to the target area, the vehicle driving assistance information is acquired.

Wherein, the above vehicle driving assistance information is generated by the cloud based on the real-time driving information of the target vehicle, the target vehicle may be a vehicle located in the target area, the target vehicle may be two vehicles or more than two vehicles, and the target vehicle may include the current vehicle It is also possible to exclude the current vehicle.

Exemplarily, the vehicle driving assistance information may include: real-time driving information of vehicles in and near the target area, and real-time driving information of vehicles on the target road. For example, the driving speed of the vehicle in and near the target area, the steering wheel angle, the driving lane, the position of the vehicle, the distance between the vehicle and the blind spot, the positional relationship between the vehicle and other vehicles, and the positional relationship between the vehicle and pedestrians wait. Through the above vehicle driving assistance information, the driver can be assisted in predicting possible dangers in advance, so that the driver can drive the vehicle more safely.

In one scenario, if the vehicle detects that it is driving to a target area, it will request vehicle driving assistance information from the cloud, and obtain the vehicle driving assistance information delivered by the cloud. In this scenario, the vehicle detects whether it is driving to the target area, and if it enters the target area, it requests the vehicle's driving assistance information from the cloud. In response to the request, the cloud sends vehicle driving assistance information to the vehicle.

In another scenario, when the vehicle travels to the target area, the vehicle driving assistance information sent by the cloud is obtained. In this scenario, there is no need for the vehicle to request vehicle driving assistance information from the cloud. The cloud can determine whether the vehicle has driven to the target area based on the real-time driving information. If the vehicle has driven to the target area, it will send the vehicle driving assistance information to the vehicle.

Compared with the way that the vehicle sends a request to the cloud to obtain vehicle driving assistance information, the cloud can determine whether the vehicle has driven to the target area and then send the vehicle driving assistance information to the vehicle, which can reduce the time for the vehicle to send the request to the cloud, and the cloud can send it according to the vehicle. The real-time driving information can quickly determine whether the vehicle is in the target area, and can provide the driver with more accurate vehicle driving assistance information for fast-moving vehicles.

Among them, the cloud can monitor the position of the vehicle driving on the target road based on the real-time driving information of the vehicle. If it is determined that the vehicle travels to the target area, vehicle driving assistance information is generated based on the real-time driving information of the vehicle in the target area. For the specific process, please refer to the relevant content in the embodiment in FIG. 8 , which will not be repeated here.

In this embodiment of the present application, the target area may be an area whose distance to a blind spot point is less than a threshold, and the threshold is a distance threshold, and the blind spot point is determined based on the target road on which the vehicle is traveling.

Among them, for the case where the target road is an arc-shaped road, if the ratio of the curvature change speed of the first position point on the arc-shaped road to the curvature change speed of other position points is greater than or equal to the threshold, the threshold is the ratio threshold, (for For ease of description, this arc-shaped road is called the first arc-shaped road), and the blind spot point is the first position point. If the ratio of the curvature change speed of any position point on the arc-shaped road to the curvature change speed of other position points is less than the threshold, the threshold is the ratio threshold, (for the convenience of description, this arc-shaped road is called the second arc-shaped road road), the blind spot point is the intersection point of the perpendicular line connecting the current vehicle and the oncoming vehicle and the arc-shaped road. If the target road is two intersecting straight roads, the blind spot point is the intersection point of the two straight roads.

For the second arc-shaped road, the blind spot point will change with the position between the current vehicle and the oncoming vehicle. Considering this problem, in the embodiment of the present application, the sag of the line connecting the current vehicle and the oncoming vehicle is The intersection point of the line and the target road is used as the blind spot point. When the vehicle reaches the target area of the blind spot point, the vehicle driving assistance information is sent to the vehicle to guide the driver of the current vehicle to accurately and timely pay attention to the objects that are not in the field of vision. Real-time driving information to the vehicle enables the driver to drive the vehicle more safely.

For the first arc-shaped road, the blind spot point will not change with the position change between the current vehicle and the oncoming vehicle, but a fixed position point. Considering this problem, in the embodiment of this application, the first position point is used as a blind spot point, and the target area of the blind spot point is also a fixed area. Compared with the second arc-shaped road, a large number of calculations are not required, but only need to detect whether the vehicle reaches the fixed target area. When the vehicle reaches the target area of the blind spot, the vehicle driving assistance information is sent to the vehicle to guide the driver of the current vehicle to accurately and timely pay attention to the real-time driving information of the oncoming vehicle that is not within the field of vision, so that the driver The vehicle can be driven more safely, and the computing resources of the cloud can be saved.

For straight-line roads, the blind spot point is also fixed as the fulcrum, and the target area of the blind spot point is also a fixed area. Compared with the second arc-shaped road, there is no need to perform a large number of calculations, but only need to detect whether the vehicle reaches a fixed target area. When the vehicle reaches the target area of the blind spot, the vehicle driving assistance information is sent to the vehicle to guide the driver of the current vehicle to accurately and timely pay attention to the real-time driving information of the oncoming vehicle that is not within the field of vision, so that the driver The vehicle can be driven more safely, and the computing resources of the cloud can be saved.

In addition, in order to improve the accuracy of blind spot points, different corrected blind spot points may be set for the first vehicle traveling in the inner lane and the second vehicle traveling in the outer lane. For the first arc-shaped road, the corrected blind spot point of the first vehicle may be a point corresponding to the aforementioned blind spot point on the inner lane, and the corrected blind spot point of the second vehicle may be a point corresponding to the aforementioned blind spot point on the outer lane. For the second curved road, the blind spot point of the first vehicle can be the intersection point of the perpendicular line of the line connecting the first vehicle and the second vehicle and the inner lane, and the blind spot point of the second vehicle can be the intersection point between the first vehicle and the second vehicle. The intersection of the perpendicular line of the line connecting the vehicle and the outer lane.

The above-mentioned target area and blind spot points will be described below with reference to FIG. 5 to FIG. 7 .

Referring to Figure 5, the curvature of the target road is relatively uniform and smooth, and the curvature change speed of each location point is basically the same. In this scenario, the blind spot point is the intersection point O2 of the perpendicular line connecting the line between vehicle A and vehicle B and the target road. In this scenario, the blind spot O2 is the blind spot that can most affect the driver's sight, and the blind spot O2 will change with the position of vehicle A and vehicle B. When the distance from vehicle A or vehicle B to blind spot O2 is less than or is equal to the threshold, and the threshold is the distance threshold, then vehicle A or vehicle B enters the target area.

In addition, in order to improve the accuracy of blind spot points, different blind spot points may be set for vehicle A and vehicle B, such as blind spot point O1 and blind spot point O3 as shown in FIG. 5 . The blind spot O1 is the intersection point of the perpendicular line connecting vehicle A and vehicle B and the driving lane of vehicle B, and the blind spot point O3 is the intersection point of the perpendicular line connecting vehicle A and vehicle B and the driving lane of vehicle A. In this scenario, the blind spot point O1 and blind spot point O3 will change with the position of vehicle A and vehicle B. If the distance from vehicle A to blind spot point O3 is less than or equal to the threshold, vehicle A will enter the target area; if vehicle B arrives at If the distance of the blind spot O1 is less than or equal to the threshold, the vehicle B enters the target area.

Referring to Figure 6, the target road is similar to a mountain peak or an ellipse with a large ratio between the long axis and the short axis. The speed is far greater than the change speed of the road curvature at other points, and the blind spot point is O4 point. In this scenario, the blind spot point O4 is the blind spot point that can most affect the driver's sight, and its position is fixed, and will not change with the position of vehicle A and vehicle B. When the distance between vehicle A or vehicle B and blind spot point O4 is less than or equal to the threshold, then vehicle A or vehicle B enters the target area.

In addition, in order to improve the accuracy, different blind spot points can be set for vehicle A and vehicle B, such as blind spot point O5 and blind spot point O6 shown in FIG. 6 . The blind spot point O5 is a point corresponding to the blind spot point O4 and the driving lane of the vehicle B, and the blind spot point O6 is a point corresponding to the blind spot point O4 and the driving lane of the vehicle A. In this scenario, if the distance from vehicle A to blind spot O6 is less than or equal to the threshold, vehicle A enters the target area; if the distance from vehicle B to blind spot O5 is less than or equal to the threshold, vehicle B enters the target area.

Referring to 7, the target road is two intersecting urban roads, and the blind spot is the intersection point O7 of the two urban roads. In this scenario, the blind spot point O7 is the blind spot point that can most affect the driver's sight, and its position is fixed, and will not change with the position of vehicle A and vehicle C. When the distance between vehicle A or vehicle C and blind spot point O7 is less than or equal to the threshold, then vehicle A or vehicle C enters the target area.

It should be noted that there is a blind spot between vehicle A and vehicle C, and there may also be a blind spot between vehicle A and other vehicles traveling in the opposite direction, and these two blind spot points are usually different.

In practical applications, arc-shaped roads are usually one-way lanes. At this time, other vehicles behind vehicle B will usually follow behind vehicle B. Therefore, based on the blind spot between vehicle A and vehicle B, the driver can It plays a better auxiliary role in safe driving.

Step 104, broadcasting vehicle driving assistance information.

Exemplarily, the vehicle can display vehicle driving assistance information on the central control screen and present it to the driver through a map; or the vehicle can play it to the driver through voice to inform the driver whether there is a vehicle driving in the opposite lane, The real-time driving speed of the vehicle, whether the vehicle deviates from the lane, the real-time distance between the vehicle and the vehicle, the conditions of other vehicles and pedestrians around the vehicle, etc.

It should be noted that, for the case where the target road includes a curve, the vehicle leaves the target road after driving out of the curve, and the above steps do not need to be performed at this time. However, when the target road includes multiple curves, the vehicle leaves the target road after passing through all the curves, and the above steps do not need to be performed at this time.

Optionally, the above-mentioned real-time driving information may also include a turn signal signal, and the above-mentioned method may further include: if it is determined that the first vehicle triggers a vehicle lane-changing signal, generating vehicle driving assistance information based on the real-time driving information of the target vehicle, and the above-mentioned vehicle lane-changing signal These include steering wheel angle greater than an angle threshold, and/or triggering of a turn signal. Wherein, the vehicle driving assistance information may also include driving information of other vehicles within the preset range in front of the first vehicle. Lane of vehicles.

In the above vehicle driving assistance method, the vehicle sends real-time driving information to the cloud, so that the cloud can monitor the vehicle according to the real-time driving information sent by the vehicle. When the vehicle travels to the target area, it can obtain the vehicle driving assistance information generated based on the real-time driving information of the target vehicle from the cloud, and broadcast the vehicle driving assistance information to assist the driver in driving the vehicle, improving reliable information support for the driver, so that The driver can drive the vehicle more safely.

Referring to FIG. 8 , it shows a flow chart of the implementation of the vehicle driving assistance method provided by the embodiment of the present application. The vehicle driving assistance method is applied to the cloud side, and the details are as follows:

Step 201, receiving real-time driving information sent by the vehicle.

Wherein, the above-mentioned real-time driving information may include driving speed, steering wheel angle, driving lane and geographic location. The geographic location may include the location of the vehicle, the distance between the vehicle and the blind spot, the positional relationship between the vehicle and other vehicles, information about pedestrians near the vehicle, and the like.

For the scene where the vehicle acquires real-time driving information, please refer to the relevant content in step 101, and details will not be repeated here.

Step 202, based on the real-time driving information, monitor the position of the vehicle driving on the target road.

Exemplarily, the above-mentioned real-time driving information can be imported into the target map, and the vehicle can be converted into a preset marker; according to the real-time position of the preset marker in the target map, the position of the vehicle driving on the target road can be monitored.

Hereinafter, this step will be described by taking vehicles A and B traveling in opposite directions as examples. After vehicle A and vehicle B send the real-time driving information to the cloud, the cloud can convert the real-time driving information into data points to fill in the target map. Assume that vehicle A is driving in the lane outside the curve, and vehicle B is driving in the lane inside the curve. At this time, there will be data points of vehicle A and vehicle B in the cloud target map (the data points include the lane where the vehicle is located, vehicle speed, steering wheel angle, etc.), The cloud monitors the position of the vehicle based on the data points of vehicle A and vehicle B, such as monitoring the position of vehicle A or vehicle B from the blind spot.

Step 203, if it is determined that the first vehicle has driven to the target area, generating vehicle driving assistance information based on the real-time driving information of the target vehicle.

Wherein, the first vehicle is any vehicle among the vehicles driving on the target road, and the target area is located on the target road. For example, the target area may be an area corresponding to a distance on the target road to a blind spot point that is less than a threshold, where the threshold is a distance threshold, and the blind spot point is determined based on the target road.

In one scenario, if the cloud receives a request from the first vehicle for acquiring vehicle driving assistance information, it generates vehicle driving assistance information based on real-time driving information of the target vehicle. In this scenario, the vehicle detects whether it is driving to the target area, and if it enters the target area, it requests the driving assistance information from the cloud, and the cloud generates the driving assistance information in response to the request.

In yet another scenario, if it is detected that the first vehicle is traveling to the target area, vehicle driving assistance information is generated based on real-time driving information of the target vehicle. In this scenario, the cloud determines whether the vehicle has driven to the target area based on real-time driving information, and generates vehicle driving assistance information if the vehicle has driven to the target area.

Wherein, the aforementioned target area is an area on the target road whose distance to the blind spot point is less than a threshold, and the blind spot point is determined based on the target road on which the vehicle is traveling. For the case where the target road is an arc-shaped road, if the ratio of the curvature change speed of the first position point on the arc-shaped road to the curvature change speed of other position points is greater than or equal to the threshold, the threshold is the ratio threshold, and the blind spot point is The first position point; if the ratio of the curvature change speed of any position point on the arc-shaped road to the curvature change speed of other position points is less than the above threshold, the threshold is the ratio threshold, and the blind spot point is the current vehicle and the opposite vehicle The intersection of the perpendicular line of the connection line and the arc-shaped road. For the case where the target road is two intersecting straight roads, the blind spot point is the intersection point of the two straight roads

For the specific content of the target area and the blind spot, please refer to the relevant content in step 103, which will not be repeated here.

Step 204, sending vehicle driving assistance information to the first vehicle.

Exemplarily, during the time period when the first vehicle is located in the target area, the cloud may send vehicle driving assistance information to the first vehicle every second preset time until the vehicle leaves the target road. Wherein, the second preset time may be a relatively small time interval, such as 0.1 second. Moreover, the vehicle driving assistance information sent by the cloud is generated in real time based on the real-time driving information uploaded by the vehicle and sent to the vehicle.

In addition, when the target road includes multiple curves, the cloud will receive real-time driving information of vehicles at various locations on the target road. At this time, the cloud can continuously monitor the position of each vehicle. When a curve is formed, vehicle driving assistance information is generated according to the real-time driving information of the current vehicle and the real-time driving information of the opposite vehicle located in the curve, and sent to the current vehicle.

Optionally, the above-mentioned real-time driving information may also include a turn signal signal, and the above-mentioned method may also include: if it is determined that the first vehicle triggers a vehicle lane-changing signal, generating vehicle driving assistance information based on the real-time driving information of the target vehicle, and the above-mentioned vehicle lane-changing signal These include steering wheel angle greater than an angle threshold, and/or triggering of a turn signal. Wherein, the vehicle driving assistance information may also include driving information of other vehicles within the preset range in front of the first vehicle. Driveway vehicles.

When the cloud detects that the first vehicle triggers the vehicle lane change signal, it can generate vehicle driving assistance information based on the real-time driving information of other vehicles within the preset range ahead of the first vehicle and send it to the first vehicle. The first vehicle broadcasts the driving assistance information of the vehicle, so that the driver can know in advance: the real-time driving speed of the second vehicle, the real-time position of the second vehicle on the target road, the real-time distance between the second vehicle and the third vehicle, the real-time distance between the second vehicle and the third vehicle, 2. Whether the vehicle triggers the vehicle lane change signal and the direction of the lane change. Wherein, the third vehicle is a vehicle in front of the first vehicle and adjacent to the first vehicle, and the second vehicle is a vehicle in front of the third vehicle.

Due to the occlusion of the driver's line of sight by the third vehicle, the driver cannot observe the situation of the second vehicle in front, but the vehicle driving assistance information can inform the driver of the driving information of the second vehicle in advance, improving reliable information support for the driver , so that the driver can drive the vehicle more safely.

Referring to Fig. 3, vehicle B is used as the information providing vehicle, vehicle A is the vehicle preparing for overtaking, and vehicle C is the vehicle in front of vehicle B. Vehicle A, vehicle B, and vehicle C respectively send their real-time driving information to the cloud. The real-time driving information may include information such as driving speed, steering wheel angle, turn signal, driving lane, and geographic location. Wherein, the geographical location information may include the position of the vehicle itself and the distance between the vehicle and the vehicle in front, and the driving speed may include the driving speed of the vehicle itself and the relative speed between the vehicle itself and the vehicle in front. The relative speed can be determined according to the distance change between the two vehicles within the time T.

The cloud fills the real-time driving information of vehicle A, vehicle B and vehicle C into the virtually constructed target road model, so as to monitor vehicle A, vehicle B and vehicle C. The cloud can also send the target road model including the real-time driving information of the vehicle A, the vehicle B and the vehicle C to the vehicle A, the vehicle B and the vehicle C. If vehicle A wants to overtake another vehicle, the cloud constructs a driving scene based on the steering wheel angle, direction of the corner, and turn signal status of vehicle A: a right-angled triangle is constructed based on the starting position and target position of vehicle A (as shown in Figure 9), and the hypotenuse is the driving distance . Based on the starting position of vehicle A, until the end of the target position of vehicle A, the cloud monitors the real-time driving information of vehicle B and vehicle C (such as driving route and dynamic position and driver-related input, such as whether there is a vehicle turn signal input), And send vehicle auxiliary driving information to vehicle A to assist the driver of vehicle A to change lanes and overtake.

In the above vehicle driving assistance method, the cloud receives the real-time driving information sent by the vehicle, and then monitors the position of the vehicle driving on the target road based on the real-time driving information. If the cloud determines that the first vehicle has driven to the target area, it generates vehicle driving assistance information based on the real-time driving information of the target vehicle, and sends the vehicle driving assistance information to the first vehicle, so that the first vehicle broadcasts the vehicle driving assistance information to Assist the driver to drive the vehicle, improve reliable information support for the driver, and enable the driver to drive the vehicle more safely.

Referring to FIG. 10 , it shows a flow chart of the implementation of the vehicle driving assistance method provided by the embodiment of the present application. The vehicle driving assistance method is applied to the vehicle side and the cloud side, and the details are as follows:

In step 301, the vehicle acquires real-time driving information of the vehicle.

Step 302, the vehicle sends real-time driving information of the vehicle to the cloud.

In step 303, the cloud monitors the location of the vehicle based on the real-time driving information of the vehicle.

Step 304, if it is determined that the vehicle has driven to the target area, the cloud generates vehicle driving assistance information based on the real-time driving information of the vehicle.

Step 305, if it is determined that the vehicle triggers the vehicle lane change signal, the cloud generates vehicle driving assistance information based on the real-time driving information of the vehicle.

Step 306, the cloud sends vehicle driving assistance information to the vehicle.

Step 307, the vehicle broadcasts vehicle driving assistance information.

It should be understood that the sequence numbers of the steps in the above embodiments do not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiment of the present application.

The following are device embodiments of the present application, and for details that are not exhaustively described therein, reference may be made to the above-mentioned corresponding method embodiments.

Figure 11 shows a schematic structural diagram of a vehicle driving assistance device applied to the vehicle side provided by the embodiment of the present application. For the convenience of description, only the parts related to the embodiment of the present application are shown, and the details are as follows:

As shown in FIG. 11 , the vehicle driving assistance device 400 may include a first acquiring module 401 , a first sending module 402 , a second acquiring module 403 and a broadcast module 404 .

The first acquiring module 401 is configured to acquire real-time driving information of the vehicle, which includes driving speed, steering wheel angle, driving lane and geographic location. The first sending module 402 is configured to send real-time driving information to the cloud. The second acquiring module 403 is configured to acquire vehicle driving assistance information when the vehicle travels to the target area. The vehicle driving assistance information is generated by the cloud based on the real-time driving information of the target vehicle. The target vehicle is a vehicle located in the target area. The broadcast module 404 is configured to broadcast vehicle driving assistance information.

Optionally, the above device further includes: a detection module, configured to detect whether the vehicle is located on the target road. Wherein, if it is detected that the vehicle is located on the target road, the first acquiring module 401 executes acquiring the real-time driving information of the vehicle.

Optionally, the second acquisition module 403 is specifically configured to: if it is detected that the vehicle is traveling to the target area, request the vehicle driving assistance information from the cloud, and obtain the vehicle driving assistance information; or, when the vehicle travels to the target area, Obtain the vehicle driving assistance information sent by the cloud; wherein, the target area is an area whose distance to the blind spot point is less than a threshold, and the blind spot point is determined based on the target road on which the vehicle is driving.

Exemplarily, if the ratio of the curvature change speed of the first position point on the arc-shaped road to the curvature change speed of other position points is greater than or equal to the threshold, the blind spot point is the first position point; if any position on the arc-shaped road The ratio of the camber change speed of the point to the camber change speed of other position points is less than the above threshold, then the blind spot point is the intersection point of the perpendicular line connecting the current vehicle and the opposite vehicle and the arc-shaped road; for the target road, it is two In the case of two intersecting straight roads, the blind spot is the intersection point of the two straight roads.

Exemplarily, the geographical location includes at least one of the following: the position of the vehicle, the distance between the vehicle and the blind spot, the positional relationship between the vehicle and other vehicles, and the positional relationship between the vehicle and pedestrians.

Optionally, the above-mentioned real-time driving information also includes a turn signal signal, and the above-mentioned device may also include: a fourth acquisition module, configured to acquire vehicle driving assistance information when a vehicle lane-changing signal is detected, and the above-mentioned vehicle lane-changing signal includes a steering wheel angle greater than the angle threshold, and/or trigger the turn signal.

Figure 12 shows a schematic structural diagram of a vehicle driving assistance device applied to the cloud side provided by the embodiment of the present application. For the convenience of description, only the parts related to the embodiment of the present application are shown, and the details are as follows:

As shown in FIG. 12 , the vehicle driving assistance device 500 may include a third acquiring module 501 , a location monitoring module 502 , a generating module 503 and a second sending module 504 .

The third acquiring module 501 is used to acquire the real-time driving information sent by the vehicle, the real-time driving information includes driving speed, steering wheel angle, driving lane and geographical location, and the above-mentioned vehicle is a vehicle driving on the target road. The position monitoring module 502 is configured to monitor the position of vehicles driving on the target road based on the above real-time driving information. A generating module 503, configured to generate vehicle driving assistance information based on real-time driving information of the target vehicle when it is determined that the first vehicle is traveling to the target area; wherein, the first vehicle is any vehicle among vehicles driving on the target road, The aforementioned target vehicle is a vehicle located in a target area, and the target area is located on a target road. The second sending module 504 is configured to send vehicle driving assistance information to the first vehicle.

Optionally, the position monitoring module 502 is specifically used to: import real-time driving information into the target map, and convert the vehicle into a preset mark; according to the real-time position of the preset mark in the target map, monitor the vehicle driving on the target road. location monitoring.

Optionally, the generation module 503 is specifically configured to: if a request for acquiring vehicle driving assistance information sent by the first vehicle is received, generate vehicle driving assistance information based on the real-time driving information of the target vehicle; or, if it is detected that the first vehicle is driving To the target area, vehicle driving assistance information is generated based on the real-time driving information of the target vehicle; wherein, the target area is an area on the target road whose distance to the blind spot point is less than a threshold, and the blind spot point is determined based on the target road on which the vehicle is driving.

Exemplarily, if the ratio of the curvature change speed of the first position point on the arc-shaped road to the curvature change speed of other position points is greater than or equal to the threshold, the blind spot point is the first position point; if any position on the arc-shaped road The ratio of the camber change speed of the point to the camber change speed of other position points is less than the above threshold, then the blind spot point is the intersection point of the perpendicular line connecting the current vehicle and the oncoming vehicle and the arc-shaped road. For the case where the target road is two intersecting straight roads, the blind spot point is the intersection point of the two straight roads.

Exemplarily, the geographical position includes at least one of the following: the position of the vehicle, the distance between the vehicle and the blind spot, the positional relationship between the vehicle and other vehicles, and the positional relationship between the vehicle and pedestrians.

Optionally, the above-mentioned real-time driving information also includes a turn signal signal, and the above-mentioned device may further include: a second generation module, configured to generate vehicle driving assistance based on the real-time driving information of the target vehicle when it is determined that the first vehicle triggers the vehicle lane change signal. Information, the above-mentioned vehicle lane change signal includes a steering wheel angle greater than an angle threshold, and/or a signal that triggers a turn signal.

An embodiment of the present application provides a vehicle, including an electronic device, the electronic device includes a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the computer program, any one of the above-mentioned vehicle driving The steps in the embodiment of the auxiliary method are, for example, steps 101 to 104 shown in FIG. 4 .

The embodiment of the present application also provides a computer program product, which has a program code, and when the program code runs in a corresponding processor, controller, computing device or terminal, it executes the steps in any one of the above embodiments of the vehicle driving assistance method , such as steps 201 to 204 shown in FIG. 8 .

Those skilled in the art should understand that the methods proposed in the embodiments of the present application and associated devices may be implemented in various forms of hardware, software, firmware, dedicated processors or combinations thereof. Special purpose processors may include Application Specific Integrated Circuits (ASICs), Reduced Instruction Set Computers (RISCs), and/or Field Programmable Gate Arrays (FPGAs). The proposed methods and devices are preferably implemented as a combination of hardware and software. The software is preferably installed as an application program on the program storage device. It is typically a computer platform based machine having hardware, such as one or more central processing units (CPUs), random access memory (RAM), and one or more input/output (I/O) interfaces. An operating system is also typically installed on the computer platform. Various procedures and functions described herein may be part of the application program, or a part thereof may be executed by the operating system.

Fig. 13 is a schematic diagram of an electronic device provided by an embodiment of the present application. As shown in FIG. 13 , the electronic device 600 of this embodiment includes: a processor 601 , a memory 602 , and a computer program 603 stored in the memory 602 and operable on the processor 601 . When the above-mentioned processor 601 executes the computer program 603 , the steps in the above-mentioned embodiments of the vehicle driving assistance method are implemented, for example, step 101 to step 104 shown in FIG. 4 . Alternatively, when the processor 601 executes the computer program 603, functions of the modules/units in the above-mentioned device embodiments, such as the functions of the modules 401 to 404 shown in FIG. 11 , are realized.

Exemplarily, the computer program 603 may be divided into one or more modules, and the one or more modules/units are stored in the memory 602 and executed by the processor 601 to complete/implement The program provided by this application. The one or more modules may be a series of computer program instruction segments capable of accomplishing specific functions, and the instruction segments are used to describe the execution process of the computer program 603 in the electronic device 600 . For example, the computer program 603 can be divided into modules/units 401 to 404 shown in FIG. 11 .

The above-mentioned electronic device 600 may be a computing device such as a vehicle controller, a mobile phone, a notebook, a palmtop computer, and a cloud server. The above electronic device 600 may include, but not limited to, a processor 601 and a memory 602 . Those skilled in the art can understand that FIG. 13 is only an example of the electronic device 600, and does not constitute a limitation to the electronic device 600. It may include more or less components than shown in the figure, or combine certain components, or different components. , for example, the electronic device 600 may also include an input and output device, a network access device, a bus, and the like.

The so-called processor 601 may be a central processing unit (Central Processing Unit, CPU), can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.

The storage 602 may be an internal storage unit of the electronic device 600 , such as a hard disk or memory of the electronic device 600 . The memory 602 may also be an external storage device of the electronic device 600, such as a plug-in hard disk equipped on the electronic device 600, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, Flash Card (Flash Card), etc. Further, the memory 602 may also include both an internal storage unit of the electronic device 600 and an external storage device. The memory 602 is used to store the computer program and other programs and data required by the electronic device. The memory 602 can also be used to temporarily store data that has been output or will be output.

Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used for illustration. In practical applications, the above-mentioned functions can be assigned to different functional units, Completion of modules means that the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit, and the above-mentioned integrated units may adopt hardware It can also be implemented in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present application. For the specific working processes of the units and modules in the above system, reference may be made to the corresponding processes in the aforementioned method embodiments, and details will not be repeated here.

In the above-mentioned embodiments, the descriptions of each embodiment have their own emphases, and for parts that are not detailed or recorded in a certain embodiment, refer to the relevant descriptions of other embodiments.

Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.

In the embodiments provided in this application, it should be understood that the disclosed device/terminal and method may be implemented in other ways. For example, the device/terminal embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or Components may be combined or integrated into another system, or some features may be omitted, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

If the integrated module/unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments in the present application can also be completed by instructing related hardware through computer programs. The computer programs can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps in the above-mentioned embodiments of the vehicle air-conditioning control method can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a removable hard disk, a magnetic disk, an optical disk, a computer memory, and a read-only memory (Read-Only Memory, ROM) , random access memory (Random Access Memory, RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, computer-readable media Excluding electrical carrier signals and telecommunication signals.

Furthermore, the embodiments shown in the drawings of the present application or the features of the various embodiments mentioned in this specification are not necessarily to be understood as independent embodiments from each other. Rather, each feature described in one example of an embodiment can be combined with one or more other desired features from other embodiments to produce other embodiments that are not described in words or with reference to the figures.

The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still implement the foregoing embodiments Modifications to the technical solutions described in the examples, or equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the application, and should be included in the Within the protection scope of this application.

Claims

A vehicle driving assistance method, characterized in that it is applied to the vehicle side, the method comprising:

Obtain real-time driving information of the vehicle, the real-time driving information includes driving speed, steering wheel angle, driving lane and geographic location;

Send the real-time driving information to the cloud;

When the vehicle travels to the target area, vehicle driving assistance information is acquired, the vehicle driving assistance information is generated by the cloud based on the real-time driving information of the target vehicle, and the target vehicle is a vehicle located in the target area;

broadcast the vehicle driving assistance information.
The vehicle driving assistance method according to claim 1, wherein, before said acquiring the real-time driving information of the vehicle, said method further comprises:

Detecting whether the vehicle is located on the target road; wherein, if it is detected that the vehicle is located on the target road, the step of acquiring real-time driving information of the vehicle is executed.
The vehicle driving assistance method according to claim 2, wherein the acquiring vehicle driving assistance information when the vehicle travels to the target area comprises:

If it is detected that the vehicle travels to the target area, requesting the vehicle driving assistance information from the cloud, and acquiring the vehicle driving assistance information issued by the cloud; or,

When the vehicle travels to the target area, obtain the vehicle driving assistance information sent by the cloud;

Wherein, the target area is an area whose distance to a blind spot point is less than a threshold, and the blind spot point is determined based on the target road.
The vehicle driving assistance method according to claim 3, characterized in that, for the case where the target road is an arc-shaped road, if the curvature change speed of the first position point on the arc-shaped road is different from that of other position points If the ratio of the camber change speed is greater than or equal to the threshold, the blind spot point is the first position point; if the ratio of the camber change speed of any position point on the arc-shaped road to the camber change speed of other position points is less than The threshold, then the blind spot point is the intersection of the perpendicular line of the line connecting the current vehicle and the opposite vehicle and the arc-shaped road;

For the case where the target road is two intersecting straight roads, the blind spot point is the intersection point of the two straight roads.
The vehicle driving assistance method according to claim 4, wherein the geographic location includes at least one of the following: the location of the vehicle, the distance between the vehicle and the blind spot, and the distance between the vehicle and other vehicles. positional relationship between them.
The vehicle driving assistance method according to claim 1, wherein the real-time driving information further includes a turn signal, and the method further comprises:

The vehicle driving assistance information is obtained when a vehicle lane change signal is detected, the vehicle lane change signal includes a steering wheel angle greater than an angle threshold, and/or a turn signal signal is triggered.
A vehicle driving assistance method, characterized in that it is applied to the cloud side, and the method includes:

Receive real-time driving information sent by the vehicle, the real-time driving information includes driving speed, steering wheel angle, driving lane and geographic location, and the vehicle is a vehicle driving on the target road;

Based on the real-time driving information, position monitoring is performed on vehicles driving on the target road;

If it is determined that the first vehicle travels to the target area, vehicle driving assistance information is generated based on the real-time driving information of the target vehicle; wherein, the first vehicle is any vehicle among vehicles driving on the target road, and the target the vehicle is a vehicle located in the target area, and the target area is located on the target road;

Sending the vehicle driving assistance information to the first vehicle.
The vehicle driving assistance method according to claim 7, wherein the monitoring of the position of the vehicle driving on the target road based on the real-time driving information includes:

Importing the real-time driving information into the target map, converting the vehicle into a preset sign;

According to the real-time position of the preset marker in the target map, the position monitoring of the vehicles driving on the target road is performed.
The vehicle driving assistance method according to claim 7, wherein if it is determined that the first vehicle has driven to the target area, generating vehicle driving assistance information based on the real-time driving information of the target vehicle includes:

generating the vehicle driving assistance information based on the real-time driving information of the target vehicle if a request for acquiring the vehicle driving assistance information sent by the first vehicle is received; or,

If it is detected that the first vehicle is traveling to the target area, generating the vehicle driving assistance information based on the real-time driving information of the target vehicle;

Wherein, the target area is an area corresponding to a distance on the target road to a blind spot point less than a threshold, and the blind spot point is determined based on the target road.
The vehicle driving assistance method according to claim 9, wherein, for the case where the target road is an arc-shaped road, if the curvature change speed of the first position point on the arc-shaped road is different from that of other position points If the ratio of the camber change speed is greater than or equal to the threshold, the blind spot point is the first position point; if the ratio of the camber change speed of any position point on the arc-shaped road to the camber change speed of other position points is less than The threshold, then the blind spot point is the intersection of the perpendicular line of the line connecting the current vehicle and the opposite vehicle and the arc-shaped road;

For the case where the target road is two intersecting straight roads, the blind spot point is the intersection point of the two straight roads.
The vehicle driving assistance method according to claim 9, wherein the geographic location includes at least one of the following: the location of the vehicle, the distance between the vehicle and the blind spot, and the distance between the vehicle and other vehicles. positional relationship between them.
The vehicle driving assistance method according to claim 7, wherein the real-time driving information further includes a turn signal, and the method further comprises:

If it is determined that the first vehicle triggers a vehicle lane change signal, the vehicle driving assistance information is generated based on the real-time driving information of the target vehicle, and the vehicle lane change signal includes that the steering wheel angle is greater than an angle threshold, and/or triggers steering light signal.
A vehicle driving assistance device is characterized in that it is applied to a vehicle, and the device includes:

The first acquiring module is used to acquire the real-time driving information of the vehicle, the real-time driving information including driving speed, steering wheel angle, driving lane and geographic location;

A first sending module, configured to send the real-time driving information to the cloud;

The second acquisition module is configured to acquire vehicle driving assistance information when the vehicle travels to the target area, the vehicle driving assistance information is generated by the cloud based on the real-time driving information of the target vehicle, and the target vehicle is located at vehicles in said target area;

The broadcast module is used to broadcast the vehicle driving assistance information.
A vehicle driving assistance device is characterized in that it is applied to the cloud, and the device includes:

The third acquisition module is used to acquire the real-time driving information sent by the vehicle, the real-time driving information includes driving speed, steering wheel angle, driving lane and geographic location, and the vehicle is a vehicle driving on the target road;

A position monitoring module, configured to monitor the position of vehicles driving on the target road based on the real-time driving information;

A generating module, configured to generate vehicle driving assistance information based on the real-time driving information of the target vehicle when it is determined that the first vehicle is driving to the target area; wherein the first vehicle is one of the vehicles driving on the target road any vehicle, the target vehicle is a vehicle located in the target area, and the target area is located on the target road;

A second sending module, configured to send the vehicle driving assistance information to the first vehicle.
A vehicle, comprising an electronic device, the electronic device comprising a memory, a processor, and a computer program stored in the memory and operable on the processor, wherein the processor executes the computer program When realizing the steps of the vehicle driving assistance method described in any one of claims 1 to 6 above.
A cloud server, comprising a memory, a processor, and a computer program stored in the memory and operable on the processor, wherein the processor implements the above claim 7 when executing the computer program Steps of the vehicle driving assistance method described in any one of 12 to 12.
A computer-readable storage medium, the computer-readable storage medium stores a computer program, characterized in that, when the computer program is executed by a processor, the vehicle driving assistance described in any one of claims 1 to 12 is realized method steps.