CN115946713A - Vehicle driving assistance method and device, electronic device and storage medium - Google Patents
Vehicle driving assistance method and device, electronic device and storage medium Download PDFInfo
- Publication number
- CN115946713A CN115946713A CN202310101857.1A CN202310101857A CN115946713A CN 115946713 A CN115946713 A CN 115946713A CN 202310101857 A CN202310101857 A CN 202310101857A CN 115946713 A CN115946713 A CN 115946713A
- Authority
- CN
- China
- Prior art keywords
- current vehicle
- preset
- early warning
- optimal
- route
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Traffic Control Systems (AREA)
Abstract
The application relates to the technical field of intelligent driving, in particular to a vehicle driving assisting method, a vehicle driving assisting device, electronic equipment and a storage medium, wherein the method comprises the following steps: the method comprises the steps of obtaining perception information of a current vehicle, determining an optimal running route of the current vehicle, generating at least one area to be early-warned according to the optimal running route, obtaining an actual distance between the area to be early-warned and the area to be early-warned, which is closest to the current vehicle, in the at least one area to be early-warned, and further matching an optimal auxiliary driving strategy of the current vehicle to control the current vehicle. Therefore, the problem that when the vehicle runs on a complex lane route, the vehicle cannot change lanes in time due to the fact that the user neglects navigation voice easily, and therefore the vehicle deviates from the originally planned route of navigation is solved.
Description
Technical Field
The present disclosure relates to the field of intelligent driving technologies, and in particular, to a method and an apparatus for assisting driving of a vehicle, an electronic device, and a storage medium.
Background
With the large-scale popularization of vehicles, a certain degree of potential safety hazard is brought to the load of a traffic road, particularly, for the characteristics that a driving scene of a highway is relatively closed and is easy to commercialize and land, a vehicle needs a related driving auxiliary system to assist a driver to drive safely in the driving process of the highway section, so that the problem that the driver feels tired and tedious due to long-term driving is avoided.
In the related art, when facing a region of a complicated lane line such as a branch point, a ramp, and the like of an expressway, a vehicle mostly turns on a lane keeping or other auxiliary driving system to turn on an automatic driving function after a driver drives for a long time.
However, the vehicle with the lane keeping assistant driving system can only run along the current lane, and cannot automatically change the lane and enter the navigation planned route, and if the driver is unfamiliar with the road conditions, too fast driving speed, inattention or fatigue driving, the prompting voice of navigation is easily ignored, and the lane change at the branch road junction cannot be timely performed, so that the deviation from the originally planned route of navigation is urgently needed to be solved.
Disclosure of Invention
The application provides a vehicle driving assisting method, a vehicle driving assisting device, electronic equipment and a storage medium, and aims to solve the problems that when a vehicle runs on a complex lane route, the vehicle cannot change the lane in time easily because a user neglects navigation voice, so that the vehicle deviates from the originally planned route of navigation and the like.
An embodiment of a first aspect of the present application provides a driving assistance method for a vehicle, including the following steps:
acquiring perception information of a current vehicle, wherein the perception information comprises a destination of the current vehicle;
determining an optimal driving route of the current vehicle according to the destination, generating at least one to-be-early-warned area according to the optimal driving route, and acquiring an actual distance between the to-be-early-warned areas which are closest to the current vehicle in the at least one to-be-early-warned area; and
and matching the optimal auxiliary driving strategy of the current vehicle according to the actual distance, and controlling the current vehicle according to the optimal auxiliary driving strategy.
According to an embodiment of the application, the matching of the optimal assisted driving strategy of the current vehicle according to the actual distance comprises:
if the actual distance is smaller than a first preset distance, the optimal auxiliary driving strategy is to send out a first early warning instruction;
if the actual distance is smaller than a second preset distance, judging whether the current vehicle meets a preset deviation route condition, and if the preset deviation route condition is met, sending a second early warning instruction by the optimal auxiliary driving strategy, wherein the second preset distance is smaller than the first preset distance;
if the actual distance is smaller than a third preset distance, judging whether the current vehicle meets the preset deviated route condition, and if the preset deviated route condition is met, sending a third early warning instruction by the optimal auxiliary driving strategy, wherein the third preset distance is smaller than the second preset distance;
and if the actual distance is smaller than a fourth preset distance, the optimal auxiliary driving strategy is to send a fourth early warning instruction, wherein the fourth preset distance is smaller than the third preset distance.
According to an embodiment of the application, the determining whether the current vehicle meets a preset off-route condition includes:
acquiring the position of a lane where the current vehicle is located, the torque of a steering wheel and the current speed of the vehicle;
quantizing the lane position of the current vehicle, the steering wheel torque and the current vehicle speed;
and based on a preset weighting strategy and a normalization strategy, carrying out weighting processing and normalization processing on the quantized lane position of the current vehicle, the steering wheel torque and the current vehicle speed to obtain a weighting result, and judging that the current vehicle meets the preset deviation route condition when the weighting result is greater than a preset threshold value.
According to an embodiment of the application, the controlling the current vehicle according to the optimal driving assistance strategy comprises:
when the early warning instruction is a first early warning instruction, broadcasting early warning information through a preset acoustic device;
when the early warning instruction is a second early warning instruction, the early warning information is broadcasted again through the preset acoustic equipment, the Steering wheel of the current vehicle is controlled to start an early warning vibration mode, meanwhile, a deceleration request is sent to an EPS (Electronic-Power-Steering), a torque reduction request is sent to a Power control system through the EPS, and the current vehicle is controlled to change lanes or exit early warning operation;
when the early warning instruction is a third early warning instruction, the early warning information is broadcasted again through the preset acoustic equipment, the steering wheel of the current vehicle is controlled to start an early warning vibration mode, meanwhile, a deceleration request is sent to the EPS, and after a torque reduction request is sent to a power control system through the EPS, transverse torque is applied to the steering wheel through the EPS, and the current vehicle is controlled to change lanes or exit early warning operation;
and when the early warning instruction is a fourth early warning instruction, replanning the running route of the current vehicle.
According to one embodiment of the application, generating at least one area to be warned according to the optimal driving route comprises the following steps:
acquiring a route branch and/or a ramp in the optimal driving route based on a Global Positioning System (GPS);
and generating at least one area to be early warned according to the route fork and/or the ramp.
According to the vehicle driving assisting method, sensing information of the current vehicle is obtained, the optimal driving route of the current vehicle is determined, at least one area to be early-warned is generated according to the optimal driving route, the actual distance between the area to be early-warned, which is the closest to the current vehicle, in the at least one area to be early-warned is obtained, and the current vehicle is controlled by matching the optimal driving assisting strategy of the current vehicle. Therefore, the problems that when the vehicle runs on a complex lane route, the vehicle cannot change lanes in time due to the fact that the user neglects navigation voice easily, and therefore the originally planned route is deviated are solved.
An embodiment of a second aspect of the present application provides a driving assistance apparatus for a vehicle, including:
the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring perception information of a current vehicle, and the perception information comprises a destination of the current vehicle;
the generating module is used for determining the optimal driving route of the current vehicle according to the destination, generating at least one area to be early-warned according to the optimal driving route, and acquiring the actual distance between the areas to be early-warned, which are closest to the current vehicle, in the at least one area to be early-warned; and
and the matching module is used for matching the optimal assistant driving strategy of the current vehicle according to the actual distance and controlling the current vehicle according to the optimal assistant driving strategy.
According to an embodiment of the present application, the matching module is specifically configured to:
if the actual distance is smaller than a first preset distance, the optimal auxiliary driving strategy is to send out a first early warning instruction;
if the actual distance is smaller than a second preset distance, judging whether the current vehicle meets a preset deviation route condition, and if the preset deviation route condition is met, sending a second early warning instruction by the optimal auxiliary driving strategy, wherein the second preset distance is smaller than the first preset distance;
if the actual distance is smaller than a third preset distance, judging whether the current vehicle meets the preset deviated route condition, and if the preset deviated route condition is met, sending a third early warning instruction by the optimal auxiliary driving strategy, wherein the third preset distance is smaller than the second preset distance;
and if the actual distance is smaller than a fourth preset distance, the optimal auxiliary driving strategy is to send a fourth early warning instruction, wherein the fourth preset distance is smaller than the third preset distance.
According to an embodiment of the present application, the matching module is specifically configured to:
acquiring the position of a lane where the current vehicle is located, the torque of a steering wheel and the current speed of the vehicle;
quantifying the lane position of the current vehicle, the steering wheel torque and the current vehicle speed;
and based on a preset weighting strategy and a normalization strategy, carrying out weighting processing and normalization processing on the quantized lane position of the current vehicle, the steering wheel torque and the current vehicle speed to obtain a weighting result, and judging that the current vehicle meets the preset deviation route condition when the weighting result is greater than a preset threshold value.
According to an embodiment of the present application, the matching module is specifically configured to:
when the early warning instruction is a first early warning instruction, broadcasting early warning information through a preset acoustic device;
when the early warning instruction is a second early warning instruction, the early warning information is broadcasted again through the preset acoustic equipment, the steering wheel of the current vehicle is controlled to start an early warning vibration mode, meanwhile, a deceleration request is sent to an EPS, a torque reduction request is sent to a power control system through the EPS, and the current vehicle is controlled to change lanes or exit early warning operation;
when the early warning instruction is a third early warning instruction, the early warning information is broadcasted again through the preset acoustic equipment, the steering wheel of the current vehicle is controlled to start an early warning vibration mode, meanwhile, a deceleration request is sent to the EPS, and after a torque reduction request is sent to a power control system through the EPS, transverse torque is applied to the steering wheel through the EPS, and the current vehicle is controlled to change lanes or exit early warning operation;
and when the early warning instruction is a fourth early warning instruction, replanning the running route of the current vehicle.
According to an embodiment of the present application, the generating module is specifically configured to:
acquiring a route fork and/or a ramp in the optimal driving route based on a Global Positioning System (GPS);
and generating at least one area to be early-warned according to the route fork and/or the ramp.
According to the auxiliary driving device of the vehicle, the sensing information of the current vehicle is obtained, the optimal driving route of the current vehicle is determined, at least one area to be early-warned is generated according to the optimal driving route, the actual distance between the area to be early-warned and the area to be early-warned, which is closest to the current vehicle, in the at least one area to be early-warned is obtained, and then the optimal auxiliary driving strategy of the current vehicle is matched to control the current vehicle. Therefore, the problem that when the vehicle runs on a complex lane route, the vehicle cannot change lanes in time due to the fact that the user neglects navigation voice easily, and therefore the vehicle deviates from the originally planned route of navigation is solved.
An embodiment of a third aspect of the present application provides an electronic device, including: memory, processor and computer program stored on the memory and executable on the processor, the processor executing the program to implement the driving assistance method of the vehicle as described in the above embodiments
A fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, the program being executed by a processor for implementing a driving assistance method for a vehicle as described in the above embodiments.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of a structure according to one embodiment of the present application;
FIG. 2 is a flow chart of a driving assistance method for a vehicle according to an embodiment of the present application;
FIG. 3 is a flow chart of an implementation according to an embodiment of the present application;
fig. 4 is a block schematic diagram of a driving assistance apparatus of a vehicle according to an embodiment of the present application.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
A driving assistance method, a device, an electronic apparatus, and a storage medium of a vehicle according to an embodiment of the present application are described below with reference to the drawings. In the method, sensing information of the current vehicle is obtained to determine the optimal running route of the current vehicle, at least one area to be early warned is generated according to the optimal running route, the actual distance between the area to be early warned and the current vehicle, which is closest to the current vehicle, in the at least one area to be early warned is obtained, and the current vehicle is controlled by matching the optimal auxiliary driving strategy of the current vehicle. Therefore, the problem that when the vehicle runs on a complex lane route, the vehicle cannot change lanes in time due to the fact that the user neglects navigation voice easily, and therefore the vehicle deviates from the originally planned route of navigation is solved.
Specifically, before describing the embodiment of the present application, first, a system module related to the embodiment of the present application is described, as shown in fig. 1, which is an information obtaining module, a navigation module, a route deviation module, and an early warning module.
The information acquisition module is used for sensing the running state and the surrounding environment of the vehicle and providing GPS information and camera information for the navigation module; the navigation module is used for acquiring vehicle information according to a destination input by a driver and planning an optimal driving route, and meanwhile, the navigation module is also used for positioning branch junctions and ramp waiting early warning areas and calculating the distance between the branch junctions and the ramp waiting early warning areas and the vehicle; the route deviation module is used for intelligently judging whether the vehicle has a yaw trend or not by adopting a deep learning technology according to the running condition of the vehicle; the early warning module is used for executing a corresponding early warning strategy according to the instruction, reminding a driver to drive into a corresponding lane in time and avoiding the driving route from yawing.
Specifically, fig. 2 is a schematic flowchart of a driving assistance method for a vehicle according to an embodiment of the present disclosure.
As shown in fig. 2, the driving assistance method of the vehicle includes the steps of:
in step S201, perception information of the current vehicle is acquired, wherein the perception information includes a destination of the current vehicle.
Specifically, as shown in fig. 3, when the vehicle according to the embodiment of the present application travels on a highway, it is first required to acquire, by an information acquisition module, sensing information of a current vehicle, including position information of the current vehicle acquired by a GPS, destination position information input by a driver, lane line information detected by a camera, vehicle speed information, and steering wheel torque information.
In step S202, an optimal driving route of the current vehicle is determined according to the destination, at least one to-be-warned area is generated according to the optimal driving route, and an actual distance between the to-be-warned areas closest to the current vehicle in the at least one to-be-warned area is acquired.
Further, in some embodiments, generating at least one area to be warned according to the optimal driving route includes: acquiring a route fork and/or a ramp in the optimal driving route based on a Global Positioning System (GPS); and generating at least one area to be early warned according to the route branch and/or the ramp.
Specifically, in the embodiment of the application, after the information acquisition module acquires the sensing information of the current vehicle, the navigation module determines the optimal driving route of the current vehicle according to the acquired destination, the GPS generates at least one to-be-pre-warned area in the area to be pre-warned, such as a route branch and/or a ramp, in the optimal driving route, and calculates the actual distance between the to-be-pre-warned area closest to the current vehicle in the at least one to-be-pre-warned area on the optimal driving route, and the driver can autonomously select whether to start the lane keeping function according to the planning, the familiarity, the driving state, and the like of the route, so that the vehicle keeps driving in the lane line.
In step S203, the optimal assistant driving strategy of the current vehicle is matched according to the actual distance, and the current vehicle is controlled according to the optimal assistant driving strategy.
Further, in some embodiments, matching the optimal assisted driving strategy of the current vehicle according to the actual distance comprises: if the actual distance is smaller than the first preset distance, the optimal auxiliary driving strategy is to send out a first early warning instruction; if the actual distance is smaller than a second preset distance, judging whether the current vehicle meets a preset deviation route condition, and if the preset deviation route condition is met, sending a second early warning instruction by the optimal auxiliary driving strategy, wherein the second preset distance is smaller than the first preset distance; if the actual distance is smaller than a third preset distance, judging whether the current vehicle meets a preset deviation route condition, and if the preset deviation route condition is met, giving a third early warning instruction as the optimal auxiliary driving strategy, wherein the third preset distance is smaller than the second preset distance; and if the actual distance is smaller than a fourth preset distance, the optimal auxiliary driving strategy is to send out a fourth early warning instruction, wherein the fourth preset distance is smaller than the third preset distance.
Further, in some embodiments, determining whether the current vehicle meets a preset off-route condition includes: acquiring the position of a lane where a current vehicle is located, the torque of a steering wheel and the current speed of the vehicle; quantifying the position of a lane where the current vehicle is located, the torque of a steering wheel and the current vehicle speed; and based on a preset weighting strategy and a normalization strategy, carrying out weighting processing and normalization processing on the position of a lane where the current vehicle is located, the torque of a steering wheel and the current speed after quantization to obtain a weighting result, and judging that the current vehicle meets a preset deviation route condition when the weighting result is greater than a preset threshold value.
The preset threshold, the first preset distance, the second preset distance, the third preset distance and the fourth preset distance may be thresholds set by a person skilled in the art according to actual driving requirements, or thresholds obtained through computer simulation, and are not specifically limited herein.
Specifically, in the embodiment of the application, after the actual distance between the areas to be early-warned, which are closest to the current vehicle, in the at least one area to be early-warned is obtained, the optimal auxiliary driving strategy of the current vehicle is matched according to the actual distance.
Specifically, if the actual distance is less than the first preset distance, the optimal driving assistance strategy is to send a first warning instruction to the driver, otherwise, the vehicle continues to run normally, for example, if the first preset distance is 2 kilometers and the actual distance is 1.5 kilometers, the first warning instruction is sent to the driver at this time, and if the actual distance is 2.5 kilometers, the vehicle continues to run normally.
Further, if the actual distance is smaller than a second preset distance, it is determined whether the current vehicle meets a preset deviation route condition, and when the current vehicle meets the preset deviation route condition, the optimal driving assistance strategy is to send a second warning instruction, for example, if the actual distance is 700 meters, the second preset distance is 1 kilometer, and when the current vehicle meets the preset deviation route condition, the second warning instruction is sent to the driver, where the second preset distance is smaller than the first preset distance.
Specifically, in the embodiment of the application, the vehicle system detects driving conditions such as a current vehicle lane position, a steering wheel torque, and a current vehicle driving speed through the information acquisition module, quantizes the driving conditions, performs quantization on the current vehicle lane position, the steering wheel torque, and the current vehicle speed based on a preset weighting strategy and a normalization strategy to obtain a weighting result, and determines that the current vehicle meets a preset deviation condition when the weighting result is greater than a preset threshold. The weighting coefficient is intelligently judged by the deep learning model, meanwhile, learning optimization can be carried out according to the driving habit of the driver, for example, if the weighting output result is larger than 1, the current vehicle is judged to meet the preset condition of deviating from the route, the current vehicle has the trend of deviating from the route, and at the moment, a second early warning instruction is sent to the driver.
For example, if the best planned road direction in the embodiment of the present application is the right front, the expressway lane is three lanes, and the current vehicle is in the express lane, and the vehicle speed is 100 km/h, then the system performs the lane keeping function, and the steering wheel has no right steering trend, then the driving condition of the current vehicle is quantized, and after weighting and normalization, if the weighting result output by the deep learning model is greater than 1, a second warning instruction is sent to the user.
Further, if the actual distance is less than a third preset distance, it is determined whether the current vehicle meets a preset deviation route condition, and when the current vehicle meets the preset deviation route condition, the optimal assistant driving strategy is to send a third warning instruction, for example, if the actual distance is 300 meters, the third preset distance is 500 meters, and when the current vehicle meets the preset deviation route condition, the third warning instruction is sent to the driver, where the third preset distance is less than the second preset distance. It should be noted that the calculation of the deviation route condition and the weighting coefficient of the third preset distance is the same as the calculation of the deviation route condition and the weighting coefficient of the second preset distance, which is not described in detail herein.
Further, if the actual distance is less than a fourth preset distance, it indicates that the driver has missed the intersection of the expressway, that is, the actual distance between the current vehicle and the area to be early-warned closest to the current vehicle is a negative value, the optimal auxiliary driving strategy is required to send a fourth early-warning instruction to the driver, where the fourth preset distance is less than the third preset distance.
Further, in some embodiments, controlling the current vehicle according to an optimal assisted driving strategy includes: when the early warning instruction is a first early warning instruction, broadcasting early warning information through a preset acoustic device; when the early warning instruction is a second early warning instruction, the early warning information is broadcasted again through the preset acoustic equipment, the steering wheel of the current vehicle is controlled to start an early warning vibration mode, meanwhile, a deceleration request is sent to the EPS, a torque reduction request is sent to the power control system through the EPS, and the current vehicle is controlled to change lanes or exit early warning operation; when the early warning instruction is a third early warning instruction, the early warning information is broadcasted again through the preset acoustic equipment, the steering wheel of the current vehicle is controlled to start an early warning vibration mode, meanwhile, a deceleration request is sent to the EPS, and after a torque reduction request is sent to the power control system through the EPS, transverse torque is applied to the steering wheel through the EPS, and the current vehicle is controlled to change lanes or exit early warning operation; and when the early warning instruction is a fourth early warning instruction, replanning the running route of the current vehicle.
Specifically, in this application embodiment, after matching the best supplementary driving strategy of the current vehicle according to actual distance, if the warning instruction that the user received is a first warning instruction, then through presetting acoustic equipment, for example, on-vehicle voice system, according to the best route of traveling of planning and broadcasting warning information, for example: after 2 kilometers, driving to the right front and entering a secondary road or driving straight and going to the XX direction; if the early warning instruction received by the user is a second early warning instruction, the early warning information is broadcasted again through the voice system, the steering wheel of the current vehicle is controlled to start an early warning vibration mode, meanwhile, a deceleration request is sent to the EPS, and a torque reduction request is sent to the power control system by the EPS, so that the vehicle is controlled to decelerate, and a driver can conveniently change lanes or quit early warning operation; if the early warning instruction received by the user is a third early warning instruction, the early warning information is broadcasted again through the voice system, the steering wheel of the current vehicle is controlled to start an early warning vibration mode, meanwhile, a deceleration request is sent to the EPS, and after a torque reduction request is sent to the power control system through the EPS, transverse torque is applied to the steering wheel through the EPS, so that the current vehicle is controlled to change lanes or exit early warning operation; if the early warning instruction received by the user is a fourth early warning instruction, the navigation module replans the running route of the current vehicle according to the destination and the information of the current vehicle because the vehicle deviates from the originally planned route of the navigation.
Further, if the vehicle driving assistance system according to the embodiment of the present application receives a quit instruction, quits and turns off the driving assistance device, and at this time, the vehicle is handed over to the driver for taking over. It should be noted that the exit instruction is a fixed operation action, for example, the driver may cancel the early warning procedure by voice or select another route provided by the navigation module by screen operation, so as to meet the driving demand of the driver.
According to the auxiliary driving method of the vehicle, the sensing information of the current vehicle is obtained, the optimal driving route of the current vehicle is determined, at least one area to be early-warned is generated according to the optimal driving route, the actual distance between the area to be early-warned and the area to be early-warned, which is closest to the current vehicle, in the at least one area to be early-warned is obtained, and then the optimal auxiliary driving strategy of the current vehicle is matched to control the current vehicle. Therefore, the problem that when the vehicle runs on a complex lane route, the vehicle cannot change lanes in time due to the fact that the user neglects navigation voice easily, and therefore the vehicle deviates from the originally planned route of navigation is solved.
Next, a driving assistance apparatus of a vehicle according to an embodiment of the present application is described with reference to the drawings.
Fig. 4 is a block diagram schematically illustrating a driving assistance apparatus of a vehicle according to an embodiment of the present application.
As shown in fig. 4, the driving assistance apparatus 10 for a vehicle includes: an acquisition module 100, a generation module 200 and a matching module 300.
The obtaining module 100 is configured to obtain perception information of a current vehicle, where the perception information includes a destination of the current vehicle;
the generating module 200 is configured to determine an optimal driving route of a current vehicle according to a destination, generate at least one to-be-early-warning region according to the optimal driving route, and acquire an actual distance between the to-be-early-warning region closest to the current vehicle in the at least one to-be-early-warning region; and
and the matching module 300 is configured to match the optimal assistant driving strategy of the current vehicle according to the actual distance, and control the current vehicle according to the optimal assistant driving strategy.
Further, in some embodiments, the matching module 300 is specifically configured to:
if the actual distance is smaller than the first preset distance, the optimal auxiliary driving strategy is to send out a first early warning instruction;
if the actual distance is smaller than a second preset distance, judging whether the current vehicle meets a preset deviation route condition, and if the preset deviation route condition is met, sending a second early warning instruction by the optimal auxiliary driving strategy, wherein the second preset distance is smaller than the first preset distance;
if the actual distance is smaller than a third preset distance, judging whether the current vehicle meets a preset deviation route condition, and if the preset deviation route condition is met, giving a third early warning instruction as the optimal auxiliary driving strategy, wherein the third preset distance is smaller than the second preset distance;
and if the actual distance is smaller than a fourth preset distance, the optimal auxiliary driving strategy is to send out a fourth early warning instruction, wherein the fourth preset distance is smaller than the third preset distance.
Further, in some embodiments, the matching module 300 is specifically configured to:
acquiring the position of a lane where a current vehicle is located, the torque of a steering wheel and the current speed of the vehicle;
quantifying the position of a lane where the current vehicle is located, the torque of a steering wheel and the current vehicle speed;
and based on a preset weighting strategy and a normalization strategy, carrying out weighting processing and normalization processing on the position of a lane where the current vehicle is located, the torque of a steering wheel and the current speed after quantization to obtain a weighting result, and judging that the current vehicle meets a preset deviation route condition when the weighting result is greater than a preset threshold value.
Further, in some embodiments, the matching module 300 is specifically configured to:
when the early warning instruction is a first early warning instruction, broadcasting early warning information through preset acoustic equipment;
when the early warning instruction is a second early warning instruction, the early warning information is broadcasted again through the preset acoustic equipment, the steering wheel of the current vehicle is controlled to start an early warning vibration mode, meanwhile, a deceleration request is sent to the EPS, a torque reduction request is sent to the power control system through the EPS, and the current vehicle is controlled to change lanes or exit early warning operation;
when the early warning instruction is a third early warning instruction, the early warning information is broadcasted again through the preset acoustic equipment, the steering wheel of the current vehicle is controlled to start an early warning vibration mode, meanwhile, a deceleration request is sent to the EPS, and after a torque reduction request is sent to the power control system through the EPS, transverse torque is applied to the steering wheel through the EPS, and the current vehicle is controlled to change lanes or exit the early warning operation;
and when the early warning instruction is a fourth early warning instruction, replanning the driving route of the current vehicle.
Further, in some embodiments, the generating module 200 is specifically configured to:
acquiring a route fork and/or a ramp in the optimal driving route based on a Global Positioning System (GPS);
and generating at least one area to be early warned according to the route branch and/or the ramp.
According to the auxiliary driving device of the vehicle, the sensing information of the current vehicle is obtained, the optimal driving route of the current vehicle is determined, at least one area to be early-warned is generated according to the optimal driving route, the actual distance between the area to be early-warned and the area to be early-warned, which is closest to the current vehicle, in the at least one area to be early-warned is obtained, and then the optimal auxiliary driving strategy of the current vehicle is matched to control the current vehicle. Therefore, the problem that when the vehicle runs on a complex lane route, the vehicle cannot change lanes in time due to the fact that the user neglects navigation voice easily, and therefore the vehicle deviates from the originally planned route of navigation is solved.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device may include:
a memory 501, a processor 502, and a computer program stored on the memory 501 and executable on the processor 502.
The processor 502, when executing the program, implements the driving assistance method of the vehicle provided in the above-described embodiment.
Further, the electronic device further includes:
a communication interface 503 for communication between the memory 501 and the processor 502.
A memory 501 for storing computer programs that can be run on the processor 502.
The memory 501 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 5, but this is not intended to represent only one bus or type of bus.
Optionally, in a specific implementation, if the memory 501, the processor 502, and the communication interface 503 are integrated on a chip, the memory 501, the processor 502, and the communication interface 503 may complete communication with each other through an internal interface.
The processor 502 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.
Embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the driving assistance method for a vehicle as above.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Further, the computer readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware that is related to instructions of a program, and the program may be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A driving assistance method of a vehicle, characterized by comprising the steps of:
acquiring perception information of a current vehicle, wherein the perception information comprises a destination of the current vehicle;
determining an optimal driving route of the current vehicle according to the destination, generating at least one to-be-early-warned area according to the optimal driving route, and acquiring an actual distance between the to-be-early-warned areas which are closest to the current vehicle in the at least one to-be-early-warned area; and
and matching the optimal auxiliary driving strategy of the current vehicle according to the actual distance, and controlling the current vehicle according to the optimal auxiliary driving strategy.
2. The method of claim 1, wherein said matching the optimal assisted driving strategy of the current vehicle as a function of the actual distance comprises:
if the actual distance is smaller than a first preset distance, the optimal auxiliary driving strategy is to send out a first early warning instruction;
if the actual distance is smaller than a second preset distance, judging whether the current vehicle meets a preset deviation route condition, and if the preset deviation route condition is met, sending a second early warning instruction by the optimal auxiliary driving strategy, wherein the second preset distance is smaller than the first preset distance;
if the actual distance is smaller than a third preset distance, judging whether the current vehicle meets the preset deviated route condition, and if the preset deviated route condition is met, sending a third early warning instruction by the optimal auxiliary driving strategy, wherein the third preset distance is smaller than the second preset distance;
and if the actual distance is smaller than a fourth preset distance, the optimal auxiliary driving strategy is to send a fourth early warning instruction, wherein the fourth preset distance is smaller than the third preset distance.
3. The method of claim 2, wherein the determining whether the current vehicle satisfies a preset off-route condition comprises:
acquiring the position of a lane where the current vehicle is located, the torque of a steering wheel and the current speed of the vehicle;
quantifying the lane position of the current vehicle, the steering wheel torque and the current vehicle speed;
and based on a preset weighting strategy and a normalization strategy, carrying out weighting processing and normalization processing on the quantized lane position of the current vehicle, the steering wheel torque and the current vehicle speed to obtain a weighting result, and judging that the current vehicle meets the preset deviation route condition when the weighting result is greater than a preset threshold value.
4. The method of claim 1, wherein the controlling the current vehicle according to the optimal assisted driving strategy comprises:
when the early warning instruction is a first early warning instruction, broadcasting early warning information through a preset acoustic device;
when the early warning instruction is a second early warning instruction, the early warning information is broadcasted again through the preset acoustic equipment, the steering wheel of the current vehicle is controlled to start an early warning vibration mode, meanwhile, a deceleration request is sent to an Electric Power Steering (EPS), a torque reduction request is sent to a power control system through the EPS, and the current vehicle is controlled to change lanes or exit early warning operation;
when the early warning instruction is a third early warning instruction, the early warning information is broadcasted again through the preset acoustic equipment, the steering wheel of the current vehicle is controlled to start an early warning vibration mode, meanwhile, a deceleration request is sent to the EPS, and after a torque reduction request is sent to a power control system through the EPS, transverse torque is applied to the steering wheel through the EPS, and the current vehicle is controlled to change lanes or exit early warning operation;
and when the early warning instruction is a fourth early warning instruction, replanning the driving route of the current vehicle.
5. The method of claim 1, wherein generating at least one area to be pre-warned based on the optimal driving route comprises:
acquiring a route fork and/or a ramp in the optimal driving route based on a Global Positioning System (GPS);
and generating at least one area to be early warned according to the route fork and/or the ramp.
6. A driving assistance apparatus of a vehicle, characterized by comprising:
the system comprises an acquisition module, a display module and a processing module, wherein the acquisition module is used for acquiring perception information of a current vehicle, and the perception information comprises a destination of the current vehicle;
the generating module is used for determining the optimal driving route of the current vehicle according to the destination, generating at least one area to be early-warned according to the optimal driving route, and acquiring the actual distance between the areas to be early-warned, which are closest to the current vehicle, in the at least one area to be early-warned; and
and the matching module is used for matching the optimal assistant driving strategy of the current vehicle according to the actual distance and controlling the current vehicle according to the optimal assistant driving strategy.
7. The apparatus of claim 6, wherein the matching module is specifically configured to:
if the actual distance is smaller than a first preset distance, the optimal auxiliary driving strategy is to send out a first early warning instruction;
if the actual distance is smaller than a second preset distance, judging whether the current vehicle meets a preset deviation route condition, and if the preset deviation route condition is met, sending a second early warning instruction by the optimal auxiliary driving strategy, wherein the second preset distance is smaller than the first preset distance;
if the actual distance is smaller than a third preset distance, judging whether the current vehicle meets the preset deviated route condition, and if the preset deviated route condition is met, sending a third early warning instruction by the optimal auxiliary driving strategy, wherein the third preset distance is smaller than the second preset distance;
and if the actual distance is smaller than a fourth preset distance, the optimal auxiliary driving strategy is to send out a fourth early warning instruction, wherein the fourth preset distance is smaller than the third preset distance.
8. The apparatus of claim 7, wherein the matching module is specifically configured to:
acquiring the position of a lane where the current vehicle is located, the torque of a steering wheel and the current speed of the vehicle;
quantifying the lane position of the current vehicle, the steering wheel torque and the current vehicle speed;
and based on a preset weighting strategy and a normalization strategy, carrying out weighting processing and normalization processing on the quantized lane position of the current vehicle, the steering wheel torque and the current vehicle speed to obtain a weighting result, and judging that the current vehicle meets the preset deviation route condition when the weighting result is greater than a preset threshold value.
9. An electronic device, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement a method of assisted driving of a vehicle as claimed in any one of claims 1 to 5.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing a method for driving assistance of a vehicle according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310101857.1A CN115946713A (en) | 2023-01-19 | 2023-01-19 | Vehicle driving assistance method and device, electronic device and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310101857.1A CN115946713A (en) | 2023-01-19 | 2023-01-19 | Vehicle driving assistance method and device, electronic device and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115946713A true CN115946713A (en) | 2023-04-11 |
Family
ID=87287724
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310101857.1A Pending CN115946713A (en) | 2023-01-19 | 2023-01-19 | Vehicle driving assistance method and device, electronic device and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115946713A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117041916A (en) * | 2023-09-27 | 2023-11-10 | 创意信息技术股份有限公司 | Mass data processing method, device, system and storage medium |
-
2023
- 2023-01-19 CN CN202310101857.1A patent/CN115946713A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117041916A (en) * | 2023-09-27 | 2023-11-10 | 创意信息技术股份有限公司 | Mass data processing method, device, system and storage medium |
| CN117041916B (en) * | 2023-09-27 | 2024-01-09 | 创意信息技术股份有限公司 | Mass data processing method, device, system and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110873568B (en) | High-precision map generation method and device and computer equipment | |
| US10782683B2 (en) | Vehicle control device | |
| US10703362B2 (en) | Autonomous driving autonomous system, automated driving assistance method, and computer program | |
| CN111559388B (en) | Target vehicle screening method, device, equipment and storage medium | |
| US10126751B2 (en) | Lane change support device | |
| US10479362B2 (en) | Autonomous driving assistance system, autonomous driving assistance method, and computer program | |
| CN110182210B (en) | Vehicle control device and vehicle control method | |
| CN111688663A (en) | Autonomous driving system and control logic for vehicle route planning and mode adaptation using maneuver criticality | |
| CN110874229A (en) | Map upgrading method and device for automatic driving automobile | |
| US12197212B2 (en) | Automatic driving system | |
| JP2023083342A (en) | Vehicle control device and vehicle control method | |
| US20170043790A1 (en) | Movement assistance apparatus, movement assistance method, and driving assistance system based on the display of the driving modes according the different sections of the travel in the range allowed by the state of charge of the battery | |
| JP2023091170A (en) | Operation state determination method, automatic operation system | |
| CN115946713A (en) | Vehicle driving assistance method and device, electronic device and storage medium | |
| US11919540B2 (en) | Remote support system and remote support method | |
| CN111806462A (en) | vehicle control device | |
| JP7307566B2 (en) | Automated driving support device | |
| CN113272750A (en) | Traffic jam auxiliary driving method and system, vehicle-mounted equipment and storage medium | |
| CN111273653B (en) | Automatic driving device | |
| CN117999206A (en) | Method for a motor vehicle on a multi-lane road taking account of the gradient in the region of the exit of the multi-lane road, driver assistance system and vehicle | |
| JP7205798B2 (en) | self-driving device | |
| JP7594354B2 (en) | Vehicle driving control system | |
| JP7475386B2 (en) | Vehicle control device | |
| CN117940329B (en) | Driving control method and driving control device | |
| US20240019258A1 (en) | Method for out putting, in a motor vehicle, a navigation instruction to head toward a possible stopping point as well as the motor vehicle and a server device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |