WO2018149214A1

WO2018149214A1 - Assisted driving method, device, and computer storage medium

Info

Publication number: WO2018149214A1
Application number: PCT/CN2017/114343
Authority: WO
Inventors: 任鹏
Original assignee: 中兴通讯股份有限公司
Priority date: 2017-02-15
Filing date: 2017-12-02
Publication date: 2018-08-23
Also published as: CN108428366A; CN108428366B

Abstract

An assisted driving method, an assisted driving device, and a computer storage medium. The method comprises: a first terminal transmitting, to at least one second terminal, a wireless signal (101), wherein the first terminal and the second terminal corresponds to different vehicles, and the second terminal comprises respective terminals in radiation coverage of the wireless signal; the first terminal detecting signal strength of the wireless signal fed back by the second terminal after receiving the wireless signal (102); and upon determining a change in the signal strength, the first terminal transmitting, to the second terminal, indication information indicative of a change in distances between different vehicles (103).

Description

Auxiliary driving method, device and computer storage medium

Technical field

The present disclosure relates to the field of terminal technologies, and in particular, to an assisted driving method, apparatus, and computer storage medium.

Background technique

With the continuous development of terminal technologies, the functions of terminals are increasing and the applications are becoming more and more extensive. For example, applying a mobile terminal to vehicle assisted driving. At present, the mobile terminal realizes assisted driving by the following method: the target mobile terminal corresponding to the target vehicle acquires its own position in real time according to the Global Positioning System (GPS), and receives the surrounding vehicle position transmitted by the mobile terminal corresponding to the surrounding vehicle; The mobile terminal determines the real-time distance between the target vehicle and the surrounding vehicle according to the position of the vehicle and the surrounding vehicle position; when the real-time distance is decreasing, the target mobile terminal sends a prompt message to the mobile terminal corresponding to the surrounding vehicle to notify the surrounding vehicle that the target vehicle is being Close to; thus achieving the function of assisted driving, to achieve the effect of improving driving safety.

In the process of implementing the above technical solution, the inventor has found that at least the following problems exist in the prior art: when the prompt information is sent, the prompt information is sent to all mobile terminals in the surrounding area, but the vehicle does not need to be driven during driving. Sending prompt information to all mobile terminals in the surrounding area. For example, two vehicles with different driving directions and different driving paths do not need to send prompt information to each other; sending prompt information frequently will inevitably affect the driver receiving the prompt information. To reduce driving safety. In addition, the existing assisted driving scheme must be connected to the mobile data network to achieve, so if the vehicle is traveling in a tunnel, cave, and other areas without a network, the existing assisted driving technology cannot be achieved, thereby reducing driving safety.

Summary of the invention

The main purpose of the embodiments of the present invention is to provide an assisted driving method, a device and a computer storage medium, which solve the problem of low driving safety in the existing assisted driving scheme and improve the driving safety effect.

To achieve the above objective, the technical solution of the embodiment of the present invention is implemented as follows:

An embodiment of the present invention provides an assisted driving method, where the method includes:

The first terminal sends a wireless signal to the at least one second terminal, where the first terminal and the second terminal respectively correspond to different vehicles, and the second terminal includes each terminal within the range of the wireless signal radiation;

The first terminal detects a signal strength of a wireless signal that is fed back after the second terminal receives the wireless signal;

When determining the change of the signal strength, the first terminal sends prompt information to the second terminal, where the prompt information is used to indicate a change in distance between different vehicles.

According to an exemplary embodiment, the signal strength change comprises a signal strength enhancement, the hint information being used to indicate a decrease in distance between different vehicles.

According to an exemplary embodiment, before the first terminal sends the prompt information to the second terminal, the method further includes:

When the first terminal determines whether the different vehicles are traveling in the same direction and determines to travel in the same direction, the first terminal is executed to send prompt information to the second terminal.

The first terminal determines whether the different vehicles are traveling with the same path, and when the same path is determined to travel, the first terminal is configured to send prompt information to the second terminal.

According to an exemplary embodiment, the determining, by the first terminal, whether the different vehicles are traveling in the same direction comprises:

The first terminal acquires a first speed of the first vehicle traveling, and acquires a second speed of the second vehicle traveling;

The first terminal acquires a relative traveling speed of the first vehicle and the second vehicle;

The first terminal calculates the same direction relative traveling speed and the opposite direction relative traveling speed according to the first speed and the second speed;

The first terminal calculates a same speed difference degree according to the relative traveling speed and the same direction relative traveling speed; and calculates an anisotropy speed difference degree according to the relative traveling speed and the opposite direction relative traveling speed;

Determining that the first vehicle and the second vehicle are traveling in the same direction when the difference in the same direction speed is less than the difference in the anisotropy speed; when the difference in the speed of the anisotropy is smaller than the difference in the same direction speed And determining that the first vehicle and the second vehicle are traveling in an opposite direction.

According to an exemplary embodiment, the first terminal acquires a relative traveling speed of the first vehicle and the second vehicle, including:

The first terminal detects a first signal strength of the wireless signal at the second terminal at a start time of the first time period;

At the end time of the first time period, the first terminal detects a second signal strength of the wireless signal at the second terminal;

The first terminal calculates a difference between the first signal strength and the second signal strength to obtain a signal strength difference;

The first terminal calculates a distance between the first vehicle and the second vehicle according to a preset operation;

The first terminal calculates a quotient of the distance and the first time period to obtain the relative traveling speed.

According to an exemplary embodiment, the first terminal determines whether the different vehicles are traveling with the same path, including:

The first terminal acquires a travel distance of the first vehicle in a second time period;

At the start time of the second time period, the first terminal acquires a first distance between the first vehicle and the second vehicle; and at the end time of the second time period, acquires the first a second distance between a vehicle and the second vehicle;

The first terminal calculates a distance difference between the first distance and the second distance;

When the travel distance is equal to the distance difference, the first terminal determines that the first vehicle and the second vehicle are traveling in the same path; otherwise, determining that the first vehicle and the second vehicle are not Drive along the same path.

The embodiment of the invention further provides an auxiliary driving device, the device comprising:

a first sending module, configured to send a wireless signal to the at least one second terminal, where the second terminal includes each terminal within a range of the wireless signal radiation;

a detecting module, configured to detect a signal strength of the wireless signal fed back after the second terminal receives the wireless signal;

The second sending module is configured to send prompt information to the second terminal when determining the change of the signal strength, where the prompt information is used to indicate a change in distance between different vehicles.

According to an exemplary embodiment, the apparatus further includes:

The first determining module is configured to determine whether the different vehicles are traveling in the same direction and determine to send the prompt information to the second terminal when determining the same direction driving.

According to an exemplary embodiment, the apparatus further includes:

The second determining module is configured to determine whether the different vehicles are traveling in the same path, and when determining to travel in the same path, performing sending of the prompt information to the second terminal.

According to an exemplary embodiment, the first determining module includes:

a first acquiring unit, configured to acquire a first speed of traveling of the first vehicle, and acquire a second speed of traveling of the second vehicle;

a second acquiring unit, configured to acquire a relative traveling speed of the first vehicle and the second vehicle;

a first calculating unit configured to calculate a normal relative traveling speed and an opposite relative traveling speed according to the first speed and the second speed;

a second calculating unit, configured to calculate a same speed difference degree according to the relative traveling speed and the same direction relative traveling speed; and calculate an anisotropy speed difference degree according to the relative traveling speed and the opposite direction relative traveling speed;

a first determining unit, configured to determine that the first vehicle and the second vehicle are traveling in the same direction when the same speed difference is less than the anisotropy speed difference; when the anisotropy speed difference When the difference in the same direction speed is less than, the first vehicle and the second vehicle are determined to travel in an opposite direction.

According to an exemplary embodiment, the second obtaining unit includes:

a first detecting subunit, configured to detect a first signal strength of the wireless signal at the second terminal at a start time of the first time period;

a second detecting subunit, configured to detect a second signal strength of the wireless signal at the second terminal at an end time of the first time period;

a first calculating subunit, configured to calculate a difference between the first signal strength and the second signal strength to obtain a signal strength difference;

a second calculating subunit, configured to calculate a distance between the first vehicle and the second vehicle according to a preset operation;

And a third calculating subunit configured to calculate a quotient of the distance and the first time period to obtain the relative traveling speed.

According to an exemplary embodiment, the second determining module includes:

a third acquiring unit, configured to acquire a driving distance of the first vehicle in a second time period;

a fourth acquiring unit, configured to acquire a first distance between the first vehicle and the second vehicle at a start time of the second time period; and acquire an at the end time of the second time period Describe a second distance between the first vehicle and the second vehicle;

a third calculating unit, configured to calculate a distance difference between the first distance and the second distance;

a second determining unit, configured to determine that the first vehicle and the second vehicle are traveling in the same path when the driving distance is equal to the distance difference; otherwise, determining the first vehicle and the second vehicle Not driving on the same path.

An embodiment of the present invention further provides a computer storage medium, where the computer storage medium stores one or more programs executable by a computer, and when the one or more programs are executed by the computer, the computer is executed Perform any of the above assisted driving methods.

The auxiliary driving method, device and computing storage medium provided by the embodiment of the present invention transmit a wireless signal to the second terminal through the first terminal, and the first terminal detects the signal strength of the wireless signal at the second terminal, and determines a trend of the signal strength. When the signal strength changes, the first terminal sends a prompt message to the second terminal to prompt the second terminal to change the distance between the different vehicles of the user of the vehicle, thereby reminding the second terminal to drive the user correspondingly to the vehicle, thereby improving driving. Safety. In addition, the assisted driving scheme determines the distance between different vehicles by using a wireless signal. Compared with using the mobile data network, the assisted driving method provided by the embodiment of the present invention does not require the terminal to be in the mobile data network. Within the coverage, even in tunnels, mountains or other areas where mobile data networks are not covered, the assisted driving method is still feasible, thus reducing the need for assisted driving, improving the convenience of assisted driving, and using wireless signals. The terminal does not generate a fee when assisting driving, saving user consumption and improving the user experience.

DRAWINGS

1 is a schematic diagram of an assisted driving method according to an embodiment of the present invention;

2A is a schematic diagram of another assisted driving method according to an embodiment of the present invention;

2B is a schematic diagram of a method for determining whether different vehicles are traveling in the same direction according to an embodiment of the present invention;

FIG. 3A is a schematic diagram of still another assisted driving method according to an embodiment of the present invention; FIG.

FIG. 3B is a schematic diagram of another method for determining whether different vehicles are traveling in the same path according to an embodiment of the present invention; FIG.

FIG. 3C is a schematic diagram of another method for determining whether different vehicles are traveling in the same path according to an embodiment of the present invention; FIG.

FIG. 3D is a schematic diagram of another method for determining whether different vehicles are traveling in the same path according to an embodiment of the present invention; FIG.

4 is a schematic diagram of another assisted driving method according to an embodiment of the present invention;

FIG. 5A is a schematic diagram of an assist driving device according to an embodiment of the present invention; FIG.

FIG. 5B is a schematic diagram of still another auxiliary driving device according to an embodiment of the present invention; FIG.

FIG. 5C is a schematic diagram of still another auxiliary driving device according to an embodiment of the present invention; FIG.

FIG. 5D is a schematic diagram of another assisting driving device according to an embodiment of the present invention; FIG.

FIG. 5E is a schematic diagram of determining whether different vehicles are in the same direction according to an embodiment of the present invention; FIG.

FIG. 5F is a schematic diagram of a device for acquiring a relative traveling speed of a first vehicle and a second vehicle according to an embodiment of the present invention; FIG.

FIG. 5G is a schematic diagram of determining whether different vehicles are in the same path driving device according to an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described in the following with reference to the accompanying drawings.

Embodiment 1

An embodiment of the present invention provides an assisted driving method. Referring to FIG. 1, the method includes the following steps:

Step 101: The first terminal sends a wireless signal to the second terminal.

The first terminal and the second terminal respectively correspond to different vehicles. In addition, the first terminal is a terminal corresponding to any one of the vehicles traveling on the road; the second terminal includes each terminal within a range of radiation of the wireless signal.

The wireless signal may be a wireless fidelity signal, a wireless Bluetooth signal, or a wireless relay signal.

In addition, the sending, by the first terminal, the wireless signal to the second terminal may be sent in real time, or may be sent periodically, or may be sent once every preset different time period, and of course, how to send according to the need, for example, When the vehicle is traveling on a road with a large traffic flow, the wireless signal is transmitted in real time, and when the vehicle is traveling on a road with a small traffic flow, the wireless signal may not be transmitted.

Step 102: The first terminal detects a signal strength of the wireless signal that is fed back after the second terminal receives the wireless signal.

The signal strength of a wireless signal at a certain location is related to the distance from the location to the wireless signal transmission point, and the signal strength of the wireless signal is attenuated as the distance increases. Therefore, in this implementation, after the second terminal receives the wireless signal sent by the first terminal, the signal strength of the wireless signal at the second terminal has been attenuated.

The step may be: after the second terminal receives the wireless signal, the second terminal detects the signal strength of the wireless signal in its own, and feeds the signal strength to the first terminal through the wireless signal, and the first terminal detects the signal strength of the feedback.

In addition, the time at which the first terminal detects the signal strength is consistent with the time at which the first terminal sends the wireless signal to the second terminal.

In addition, for convenience of description, in the examples included in the present specification, the signal strength is used to indicate the signal strength of the wireless signal at the second terminal unless otherwise specified.

Step 103: When determining that the signal strength changes, the first terminal sends a prompt message to the second terminal, where the prompt information is used to indicate a change in distance between different vehicles.

After detecting the signal strength of the feedback, the first terminal determines the trend of the signal strength according to the signal strength, that is, determines whether the wireless signal is in an enhanced trend or an attenuating trend.

According to an exemplary embodiment, the first terminal periodically sends a wireless signal to the second terminal as an example to describe how the first terminal determines the trend of the signal strength:

During a certain period of time (the period includes N periods), the first terminal periodically detects the signal strength (the signal strength is detected at the beginning of the first period and at the end of each period), and then sequentially 0th signal strength R ₀ , first signal strength R ₁ , second signal strength R ₂ , third signal strength R ₃ , ..., Nth signal strength R _N ; when R ₀ , R ₁ , R ₂ , R ₃ When the value of R _N is an increasing trend, the signal strength is in an increasing trend. When the values of R ₀ , R ₁ , R ₂ , R ₃ , ..., R _N are decreasing, The signal strength is in a decaying trend.

It should be noted that the values here are increasing trend and the value is decreasing trend, and the latter value is not necessarily greater than the previous value, but an overall trend of numerical changes. For example, if 5 signal strengths are detected, they are 1, 2, 3, 4, and 5, or the 5 signal strengths detected are 1, 2, 2, 3, and 4, or 5 signal strengths detected. The order of 2, 1, 2, 3, and 4, respectively, indicates that the trend of numerical change is an increasing trend. The numerical reduction trend is similar to the numerical increase trend and will not be described here.

In addition, the trend of signal strength can also be determined by the following method: the first terminal calculates the difference between each signal strength (including R ₁ , R ₂ , R ₃ , ..., R _N ) and the first signal strength R ₀ , ΔR ₁ , ΔR ₂ , ΔR ₃ , ..., ΔR _{N are obtained in turn} . When the values of ΔR ₁ , ΔR ₂ , ΔR ₃ , ..., ΔR _N are increasing, the signal strength is in an increasing trend. When the values of ΔR ₁ , ΔR ₂ , ΔR ₃ , ..., ΔR _N are in a decreasing trend, the signal intensity is in attenuating tendency.

According to an exemplary embodiment, since the signal strength increases as the distance decreases, and decreases as the distance increases, when it is determined that the signal strength is in an increasing trend, the distance between the first terminal and the second terminal is illustrated Decrease, that is, the distance between different vehicles is decreasing; when the distance between different vehicles is reduced, the driving safety is correspondingly reduced, so the first terminal sends a message prompt to the second terminal to inform the corresponding vehicle of the second terminal Other vehicles are approaching, reminding the user of the corresponding vehicle of the second terminal to drive carefully, thereby improving driving safety, especially during driving, such as overtaking, emergency braking, heavy fog, heavy rain, etc., low visibility or emergency avoidance (first aid) Or police, etc.). Conversely, when it is determined that the signal strength is in a decaying trend, it indicates that the distance between the first terminal and the second terminal is increasing, that is, the distance between different vehicles is increasing; when the distance between different vehicles is increased, the driving safety is improved. Therefore, the first terminal does not need to send a message prompt to the second terminal. Of course, the first terminal may also send an information prompt to the second terminal to inform the user of the second terminal that the distance between the first vehicle and the second vehicle is increasing, and the driving is relatively safe.

In addition, the first terminal and the second terminal in the embodiment are any terminals that can send and receive wireless signals. Such as mobile phones, smart phones, notebook computers, digital broadcast receivers, personal digital assistants (PDAs), tablet computers (PADs), portable multimedia players (PMPs), and the like.

In addition, it should be noted that when the vehicle is running on a road without a mobile data network, the existing method of assisting driving using the GPS cannot be performed, and the assisted driving method provided by the embodiment of the present invention can be used for assisted driving. When the vehicle is running on a road without mobile data network coverage, the assisted driving method provided by the embodiment of the present invention plays a key role in improving the driving safety of the vehicle. Of course, the assisted driving method provided by the embodiment of the present invention can also be performed separately. The method for assisting driving using GPS is prior art and will not be described in detail herein.

In summary, the assist driving method provided by the embodiment of the present invention sends a wireless signal to the second terminal by using the first terminal, and the first terminal detects the signal strength of the wireless signal at the second terminal, and determines the trend of the signal strength. When the signal strength is increased, the first terminal sends a prompt message to the second terminal to prompt the second terminal to reduce the distance between the different vehicles of the user of the vehicle, thereby reminding the second terminal to drive the user correspondingly to the vehicle, thereby improving driving. Safety. In addition, the assisted driving method determines the distance between different vehicles by using a wireless signal, so the assisted driving method of the present invention does not require the terminal to be in the coverage of the mobile data network as compared with the use of the mobile data network. The assisted driving method is still feasible even in tunnels, mountains or other places where mobile data networks are not covered, thus reducing the need for assisted driving, improving the convenience of assisted driving, and using wireless signals for assisted driving. The terminal does not incur costs, saves user consumption, and improves the user experience.

Embodiment 2

Another embodiment of the present invention provides an assisted driving method for use in roads where different vehicles can travel in opposite directions. The difference between this embodiment and the first embodiment is that the first embodiment adds a step of judging whether different vehicles are traveling in the same direction on the basis of the first embodiment, and only needs to satisfy both the signal strength enhancement and the different vehicles traveling in the same direction. The prompt message is sent. Referring to FIG. 2A, the method includes the following steps:

Step 201: The first terminal sends a wireless signal to the second terminal.

The first terminal and the second terminal respectively correspond to different vehicles, and the second terminal includes each terminal within a range of wireless signal radiation.

Step 202: The first terminal detects a signal strength of the wireless signal that is fed back after the second terminal receives the wireless signal.

Step 203: When it is determined that the signal strength is increased, the first terminal determines whether the different vehicles are traveling in the same direction.

When it is determined that the signal strength is increased, it can only be stated that the distance between different vehicles is decreasing. But if different vehicles are driving in the opposite direction, even if the signal strength is increased, different vehicles must travel in different lanes, so The driving of different vehicles generally does not affect each other (in general, there is no overtaking between vehicles driving in the opposite direction, or even if the vehicle in one lane fails, it will not affect the vehicle in the other lane. The driving safety of different vehicles is relatively high. However, if different vehicles are traveling in the same direction, there will be overtaking conditions between different vehicles, or different vehicles traveling in the same lane. The failure of the preceding vehicles will definitely affect the driving of the rear vehicles, so the safety of different vehicles will be safe. reduce. Therefore, the first terminal needs whether different vehicles are traveling in the same direction to assist driving.

FIG. 2B is a schematic diagram of a method for determining whether different vehicles are traveling in the same direction according to an embodiment of the present invention. As shown in FIG. 2B, the first terminal corresponds to the first vehicle, and the second terminal corresponds to the second vehicle as an example. The following methods can be used to determine whether different vehicles are traveling in the same direction:

Step 2031: The first terminal acquires a first speed of the first vehicle traveling, and acquires a second speed of the second vehicle driving.

Specifically, the acceleration sensor in the first terminal acquires the acceleration of the first terminal, and the first terminal obtains the speed of the first terminal by analyzing the acquired acceleration, and the speed of the first terminal is corresponding to the first terminal. That is the first speed of the first vehicle. Similarly, the second terminal obtains the second speed by the same or similar method, and details are not described herein. After the second terminal acquires the second speed, the second speed is sent to the first terminal by using wireless communication, and the first terminal receives the second speed sent by the second terminal. In addition, the speed obtained by the acceleration is prior art and will not be described here.

Among them, the acceleration and speed can be instantaneous acceleration.

In addition, after acquiring the accelerations of the first terminal and the second terminal, it may be determined according to the respective accelerations whether the first vehicle and the second vehicle are traveling straight or curved. Specifically, when the direction of the acceleration is the same as the traveling direction, it is determined that the vehicle is traveling straight; when the direction of the acceleration is different from the traveling direction, it is determined that the vehicle is traveling in a curve. The acquisition of the direction of travel is prior art and will not be described here.

In addition, since the steps of determining whether the different vehicles are traveling in the same direction are performed on the premise that the different vehicles are traveling in a straight line, it is possible to determine whether the different vehicles are traveling straight ahead before performing the steps of determining whether the different vehicles are traveling in the same direction. In order to improve the accuracy of the embodiment. Of course, within the error tolerance range, even if the different vehicles are traveling in a curve, the method for determining whether different vehicles are traveling in the same direction is also applicable in the embodiment.

In addition, when determining whether different vehicles are traveling in the same direction, it is necessary to judge within a period of time (recorded as the first period of time), that is, the first speed and the second speed in this step are actually average speeds. However, the acceleration obtained by the acceleration sensor is instantaneous acceleration, and the first speed and the second speed obtained by the acceleration are also instantaneous speeds, and the instantaneous speed may be used instead of the average speed within the error tolerance range. In addition, the first time period can be Select as small a value as possible to reduce the error between the instantaneous speed and the average speed. In addition, it is also possible to obtain a plurality of instantaneous velocities, calculate an average value of the plurality of instantaneous velocities, and replace the average velocities with the average values of the plurality of instantaneous velocities, which can also reduce the error.

Step 2032: The first terminal acquires a relative traveling speed of the first vehicle and the second vehicle.

According to an exemplary embodiment, the first terminal may acquire the relative traveling speed of the first vehicle and the second vehicle by:

In the first step, at the beginning of the first time period, the first terminal detects the signal strength of the wireless signal at the second terminal to obtain the first signal strength.

In the second step, at the end of the first time period, the first terminal detects the signal strength of the wireless signal at the second terminal to obtain a second signal strength.

In the third step, the first terminal calculates a difference between the first signal strength and the second signal strength to obtain a signal strength difference.

In the fourth step, the first terminal calculates a distance between the first vehicle and the second vehicle according to a preset operation.

The preset operation may be L=ΔR·K, where L is the distance between the first vehicle and the second vehicle, ΔR is the signal strength difference, and K is a constant coefficient.

In the fifth step, the first terminal calculates the quotient of the distance and the first time period to obtain a relative traveling speed.

Step 2033: The first terminal calculates an absolute value of the difference between the first speed and the second speed to obtain a relative traveling speed in the same direction; and calculates a sum of the first speed and the second speed to obtain an opposite relative traveling speed.

Specifically, when the first vehicle and the second vehicle are traveling in the same direction, the relative traveling speed of the first vehicle and the second vehicle is the difference between the speed of the first vehicle and the speed of the second vehicle, that is, the first speed and a difference in speed of the second speed; when the first vehicle and the second vehicle are traveling in an opposite direction, the relative traveling speed of the first vehicle and the second vehicle is the sum of the speed of the first vehicle and the speed of the second vehicle, that is, It is the sum of the speeds of the first speed and the second speed.

Step 2034, the first terminal calculates the absolute value of the difference between the relative traveling speed and the relative traveling speed, and obtains the same speed difference degree; and calculates the absolute value of the difference between the relative traveling speed and the opposite relative traveling speed, and obtains the anomalous speed. Degree of difference.

Step 2035, when the difference of the same direction speed is less than the difference degree of the anisotropy speed, determining that the first vehicle and the second vehicle are traveling in the same direction; when the difference degree of the anisotropy speed is less than the difference degree of the same direction, determining the first vehicle and the first Two vehicles travel in an opposite direction.

When it is determined that the vehicle is traveling in the same direction, step 204 is performed; when it is determined that the vehicle is traveling in the opposite direction, the operation is not performed.

Step 204: When determining the same direction driving, the first terminal sends the prompt information to the second terminal.

When the different vehicles are traveling in the same direction, the safety of the driving is reduced, so the first terminal sends a prompt message to the second terminal to inform the second terminal that the user corresponding to the first terminal of the vehicle is approaching, thereby prompting the first The user of the vehicle corresponding to the second terminal drives carefully, thereby improving driving safety.

For other content in this example, refer to the related description in the first embodiment, and details are not described in this embodiment.

In summary, the assisted driving method provided by the embodiment of the present invention does not directly send the prompt information after determining that the distance between different vehicles is reduced, but determines whether different vehicles are traveling in the same direction, and only determines different vehicles. The prompt information is sent when traveling in the same direction, so the process of sending the prompt information when the different vehicles are traveling in the opposite direction is omitted, so the process of receiving the prompt information by the terminal is also omitted, so that the terminal does not need to frequently receive the prompt information. Thereby reducing the impact on the driver, thereby improving driving safety.

Embodiment 3

The embodiment of the invention provides a further assisted driving method, which is applied to roads where different vehicles can travel on different paths. The difference between this embodiment and the first embodiment is that, in the first embodiment, the step of determining whether different vehicles are traveling in the same path is added on the basis of the first embodiment, and only when the signal strength is increased and the different vehicles are traveling in the same path, The prompt message is sent. Referring to FIG. 3A, the method includes the following steps:

Step 301: The first terminal sends a wireless signal to the second terminal.

Step 302: The first terminal detects a signal strength of the wireless signal that is fed back after the second terminal receives the wireless signal.

Step 303: When it is determined that the signal strength is increased, the first terminal determines whether the different vehicles are traveling along the same path.

When it is determined that the signal strength is increased, it can only be stated that the distance between different vehicles is decreasing. However, if different vehicles are driving on different paths (lanes), different vehicles have less influence on each other during driving. For example, when a vehicle brakes on one path, it generally only affects vehicles on the same path. It does not affect the vehicles on different paths. At this time, it is only necessary to send the prompt information to the vehicles traveling on the same path without sending the prompt information to the vehicles of different paths.

In addition, since the vehicle may be traveling straight, it may also be a curved road. Straight driving and curved driving use different methods to judge whether different vehicles are traveling in the same direction. In addition, it can be seen from step 2031 that it is possible to determine whether the travel path of the different vehicle is a straight line or a curved road by the direction of the acceleration and the direction of travel, and no further details are provided herein.

FIG. 3B and FIG. 3C are diagrams for determining that different vehicles are provided when the vehicle is traveling in a straight line. As shown in FIG. 3B and FIG. 3C , the first terminal corresponds to the first vehicle, and the second terminal corresponds to the second vehicle as an example, and the following methods can be used to determine whether different vehicles are traveling in the same path:

Step 3031: The first terminal acquires a travel distance of the first vehicle in the second time period.

Specifically, the average speed of the first vehicle is acquired in the second time period; the product of the average speed of the first vehicle and the second time period is calculated, and the driving distance of the first vehicle in the second time period is obtained (FIG. 3C L ₁ ).

For the average speed of the first vehicle, if the second time period is shorter, an instantaneous speed in the second time period may be used instead, or multiple instantaneous speeds may be acquired in the second time period, and multiple instantaneous speeds may be obtained. The average value is determined as the average speed of the first vehicle. Of course, the average speed of the first vehicle can be obtained by other methods, which is not limited in this embodiment of the present invention.

Step 3032, at the start time of the second time period, the first terminal acquires a first distance between the first vehicle and the second vehicle according to the signal strength, and at the end time of the second time period, the first vehicle and The second distance between the second vehicles.

For ease of understanding, it can be assumed that the second vehicle is stationary and only the first vehicle is moving. 3C, the start time represented by t _1, t ₂ represented by the end time, for the second terminal, with a first distance L _2, the second distance is represented by L _3, the third terminal, with a first distance L ₄ , the second distance is represented by L ₅ .

In addition, the acquisition of the distance between the two vehicles according to the signal strength has been described in detail in step 2032, and will not be described herein.

Step 3033: The first terminal calculates a distance difference between the first distance and the second distance.

As shown in FIG. 3C, for the second vehicle, the distance difference between the first distance L ₂ and the second distance L ₃ is L ₁ , and for the third vehicle, the distance difference between the first distance L ₄ and the second distance L ₅ is L ₆ .

Step 3034: When the driving distance is equal to the distance difference, the first terminal determines that the first vehicle and the second vehicle are traveling in the same path; otherwise, determining that the first vehicle and the second vehicle are not traveling in the same path.

3C, for driving a second vehicle, the first vehicle distance L ₁ is equal to the distance difference L _1, a first vehicle and a second vehicle is traveling different paths. For the third vehicle, the travel distance L _{1 of the} first vehicle is not equal to the distance difference L ₆ , and the first vehicle and the third vehicle travel on different paths.

It should be noted that the equality here is not absolute equality, but is approximately equal within the error tolerance. For example, when the driving distance is 20 meters and the distance difference is 19 meters, the driving distance is different from the distance difference by 1 meter, but if the error tolerance is 2 meters, the driving distance is considered to be equal to the distance difference.

FIG. 3D is a schematic diagram of a method for determining whether different vehicles are traveling in the same path when the vehicle is in a curved road when the vehicle is in a curve driving manner. As shown in Figure 3D, the first terminal and the second terminal The end is driven in the same path, the first terminal and the third terminal do not travel in the same path, and the second terminal and the third terminal do not travel in the same path. The specific judgment process is as follows:

In a first step, the first terminal acquires a first linear velocity and a first angular velocity of the first vehicle, a second linear velocity and a second angular velocity of the second vehicle, and a third linear velocity and a third angular velocity of the third vehicle.

Specifically, the acceleration of each terminal is obtained by an angular velocity sensor installed in each terminal; and the linear velocity and angular velocity of each terminal are obtained by analyzing the acceleration.

According to an exemplary embodiment, after acquiring the first linear velocity and the first angular velocity of the first terminal, the first terminal saves its first linear velocity and the first angular velocity. The second terminal and the third terminal may send the line speed and the angular velocity obtained by acquiring the first terminal to the first terminal, and the first terminal receives the line speed and the angular velocity sent by the second terminal and the third terminal, so that the first terminal acquires a second linear velocity and a second angular velocity of the second terminal, and a third linear velocity and a third angular velocity of the third terminal.

Exemplarily, the first line speed obtained by the first terminal is 10 km/hour, the first angular speed is 10 degrees/hour, the second line speed is 20 km/hour, the second angular speed is 20 degrees/hour, and the third line speed 20 km / h, third angular speed 20.2 ° / h

In addition, the analysis of the acceleration to obtain the linear velocity and angular velocity of each terminal is known in the prior art and will not be described in detail herein.

In the second step, the first terminal calculates a quotient of the first line speed and the first angular speed to obtain a first travel radius of the first vehicle (denoted as r ₁ ); the first terminal calculates a second line speed and a second angular speed of the second vehicle a quotient, obtaining a second travel radius of the second vehicle (denoted as r ₂ ); the first terminal calculates a quotient of the third line speed and the third angular speed of the third vehicle to obtain a third travel radius of the third vehicle (denoted as r ₃ ).

Still taking the example of the first step in this embodiment as an example, the first travel radius is

Second travel radius

Third travel radius

In the third step, the first terminal compares the sizes of the first driving radius, the second driving radius, and the third driving radius, and when there are two equal values in the first driving radius, the second driving radius, and the third traveling radius, determining Two vehicles corresponding to two equal driving radii are driven in the same path.

It can be seen from the calculation of the third step that the first travel radius r ₁ and the second travel radius are equal, both being 1 km, then the first vehicle and the second vehicle are traveling on the same path; and the third travel radius and the first travel radius are The second travel radius is different, so the third vehicle does not travel in the same path as the first vehicle and the second vehicle.

In addition, it should be noted that when comparing the driving radius is equal, it is not absolutely equal or absolutely not Equal, approximately equal or approximately unequal within the allowable range of error.

In addition, when implemented, the two modules of the curve driving assist driving and the straight driving assist driving can be set on each terminal, and the user can switch by selecting different module functions.

Step 304: When determining that the same path is traveling, the first terminal sends the prompt information to the second terminal.

For the other content in this example, reference may be made to the related descriptions in the first embodiment and the second embodiment, and details are not described in this embodiment.

In summary, the assisted driving method provided by the embodiment of the present invention does not directly send the prompt information after determining that the distance between different vehicles is reduced, but determines whether different vehicles are traveling along the same path, and only determines different vehicles. The prompt information is sent when the same path is driven, so the process of sending the prompt information when different vehicles are traveling on different paths is omitted, so the process of receiving the prompt information by the terminal is also omitted, so that the terminal does not need to frequently receive the prompt information. Thereby reducing the impact on the driver, thereby improving driving safety.

Embodiment 4

The embodiment of the invention provides another assisted driving method, which is applied to roads in which different vehicles can travel in different directions or on different paths. The difference between this embodiment and the first embodiment is that the first embodiment adds a step of judging whether different vehicles are traveling in the same direction on the basis of the first embodiment. When different vehicles are traveling in the same direction, the steps of judging whether different vehicles are traveling in the same direction are added. The prompt message is sent only when the signal strength is increased, different vehicles are traveling in the same direction, and different conditions are met when different vehicles are traveling in the same path. Referring to Figure 4, the method includes the following steps:

Step 401: The first terminal sends a wireless signal to the second terminal.

Step 402: The first terminal detects a signal strength of the wireless signal that is fed back after the second terminal receives the wireless signal.

Step 403: When it is determined that the signal strength is increased, the first terminal determines whether the different vehicles are traveling in the same direction.

Step 404: When determining the same direction driving, the first terminal determines whether different vehicles are traveling in the same direction.

Step 405: When determining that the same path is traveling, the first terminal sends the prompt information to the second terminal.

Of course, it is also possible to first determine whether the vehicle is traveling in the same direction. If it is the same as the route, it is similar to this embodiment, and will not be described in detail here.

For the other content in this example, reference may be made to the related descriptions in the first embodiment, the second embodiment, and the third embodiment, and details are not described in this embodiment.

In summary, the assisted driving method provided by the embodiment of the present invention does not directly send the prompt information after determining that the distance between different vehicles is reduced, but determines whether different vehicles are traveling in the same direction and traveling in the same path. The prompt message is sent when the different vehicles are in the same direction and traveling in the same path, so the process of sending the prompt information when the different vehicles are traveling in different directions and different paths is omitted, thereby eliminating the process of receiving the prompt information by the terminal, so that Therefore, the terminal does not need to frequently receive prompt information, thereby reducing the impact on the driver, thereby improving driving safety.

Embodiment 5

The embodiment of the present invention provides a helper driving device 500. The device 500 is located on the first terminal, and the first terminal may be a mobile terminal. Referring to FIG. 5A, the device 500 includes: a first sending module 501, a detecting module 502, and a second sending module 503; wherein:

The first sending module 501 is configured to send a wireless signal to the at least one second terminal, where the first terminal and the second terminal respectively correspond to different vehicles, and the second terminal includes each terminal within a range of wireless signal radiation.

The detecting module 502 is configured to detect a signal strength of the wireless signal fed back after the second terminal receives the wireless signal.

The second sending module 503 is configured to send prompt information to the second terminal when determining the change of the signal strength, where the prompt information is used to indicate a change in the distance between different vehicles.

According to an exemplary embodiment, the signal strength change includes signal strength enhancement, and the prompt information is used to indicate a decrease in distance between different vehicles.

According to an exemplary embodiment, referring to FIG. 5B, the apparatus 500 further includes:

The first determining module 504 is configured to determine whether the different vehicles are traveling in the same direction and determine to send the prompt information operation to the second terminal when determining the same direction driving.

According to an exemplary embodiment, referring to FIG. 5C, the apparatus 500 further includes:

The second judging module 505 is configured to determine whether the different vehicles are traveling in the same path, and when determining to travel in the same path, perform the operation of sending the prompt information to the second terminal.

According to an exemplary embodiment, referring to FIG. 5D, the apparatus 500 includes: a first sending module 501, a detecting module 502 and a second sending module 503, a first determining module 504, and a second determining module 505.

For the function of each module, refer to FIG. 5A, FIG. 5B and FIG. 5C, and details are not described herein.

According to an exemplary embodiment, when the first terminal corresponds to the first vehicle and the second terminal corresponds to the second vehicle, as shown in FIG. 5E, the first determining module 504 includes: a first acquiring unit 5041 and a second acquiring unit 5042. a first calculating unit 5043, a second calculating unit 5044, and a first determining unit 5045; wherein:

The first obtaining unit 5041 is configured to acquire a first speed at which the first vehicle travels and acquire a second speed at which the second vehicle travels.

The second obtaining unit 5042 is configured to acquire a relative traveling speed of the first vehicle and the second vehicle.

The first calculating unit 5043 is configured to calculate an absolute value of a difference between the first speed and the second speed to obtain the same direction Relative travel speed; and calculate the sum of the first speed and the second speed to obtain an opposite relative travel speed.

The second calculating unit 5044 is configured to calculate an absolute value of the difference between the relative traveling speed and the relative traveling speed, to obtain the same speed difference degree, and calculate the absolute value of the difference between the relative traveling speed and the opposite relative traveling speed, and obtain the difference The difference in speed.

The first determining unit 5045 is configured to determine that the first vehicle and the second vehicle are traveling in the same direction when the difference in the same direction speed is less than the difference in the anisotropy speed; when the difference in the speed of the anisotropy is less than the difference in the speed of the same direction, determining The first vehicle and the second vehicle travel in opposite directions.

According to an exemplary embodiment, referring to FIG. 5F, the second obtaining unit 5042 includes: a first detecting subunit 5042a, a second detecting subunit 5042b, a first calculating subunit 5042c, a second calculating subunit 5042d, and a Three calculation subunits 5042e; wherein:

The first detecting subunit 5042a is configured to detect a first signal strength of the wireless signal at the second terminal at a start time of the first time period.

The second detecting subunit 5042b is arranged to detect the second signal strength of the wireless signal at the second terminal at the end of the first time period.

The first calculating subunit 5042c is configured to calculate a difference between the first signal strength and the second signal strength to obtain a signal strength difference.

The second calculation subunit 5042d is configured to calculate a distance between the first vehicle and the second vehicle according to a preset operation.

Wherein, the preset operation is L=ΔR·K, where L is the distance between the first vehicle and the second vehicle, ΔR is the signal strength difference, and K is a constant coefficient.

The third calculating subunit 5042e is configured to calculate the quotient of the distance and the first time period to obtain a relative traveling speed.

According to an exemplary embodiment, when the first terminal corresponds to the first vehicle and the second terminal corresponds to the second vehicle, as shown in FIG. 5G, the second determining module 505 includes: a third obtaining unit 5051, and a fourth acquiring unit 5052. a third calculating unit 5053 and a second determining unit 5054; wherein:

The third obtaining unit 5051 is configured to acquire a driving distance of the first vehicle in the second time period.

The fourth obtaining unit 5052 is configured to acquire, when the starting time of the second time period, the first distance between the first vehicle and the second vehicle according to the signal strength, and at the end time of the second time period, the first a second distance between the vehicle and the second vehicle.

The third calculating unit 5053 is configured to calculate a distance difference between the first distance and the second distance.

The second determining unit 5054 is configured to determine that the first vehicle and the second vehicle are traveling in the same path when the driving distance is equal to the distance difference; otherwise, determining that the first vehicle and the second vehicle are not traveling in the same path.

It should be noted that the content of the system embodiment is described in detail in the method embodiment and the device embodiment, and details are not described herein.

In summary, the assist driving device provided by the embodiment of the present invention transmits a wireless signal to the second terminal through the first terminal, and the first terminal detects the signal strength of the wireless signal at the second terminal, and determines the trend of the signal strength. When the signal strength is increased, the first terminal sends a prompt message to the second terminal to prompt the second terminal to reduce the distance between the different vehicles of the user of the vehicle, thereby reminding the second terminal to drive the user correspondingly to the vehicle, thereby improving driving. Safety. In addition, the assisted driving method determines the distance between different vehicles by using a wireless signal, so the assisted driving method of the present invention does not require the terminal to be in the coverage of the mobile data network as compared with the use of the mobile data network. The assisted driving method is still feasible even in tunnels, mountains or other places where mobile data networks are not covered, thus reducing the need for assisted driving, improving the convenience of assisted driving, and using wireless signals for assisted driving. The terminal does not incur costs, saves user consumption, and improves the user experience. In addition, another auxiliary driving device provided by the embodiment of the present invention does not directly send the prompt information after determining that the distance between different vehicles is reduced, but determines whether different vehicles are traveling in the same direction or in the same path. It is judged that the different vehicles are in the same direction and the prompt information is sent when traveling in the same path, so the process of sending the prompt information when the different vehicles are traveling in different directions and different paths is omitted, thereby eliminating the process of receiving the prompt information by the terminal, so that Therefore, the terminal does not need to frequently receive prompt information, thereby reducing the impact on the driver, thereby improving driving safety.

Those skilled in the art will appreciate that embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention can take the form of a hardware embodiment, a software embodiment, or a combination of software and hardware. Moreover, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) including computer usable program code.

The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (system), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, a special purpose computer, an embedded processor, or other programmable data processing device to produce a machine such that a processor through a computer or other programmable data processing device The executed instructions produce means for implementing the functions specified in one or more blocks of the flowchart or in a block or blocks of the flowchart.

The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.

These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. The instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

The above is only the preferred embodiment of the present invention and is not intended to limit the scope of the present invention.

Industrial applicability

The technical solution provided by the embodiment of the present invention can be applied to the field of terminal technologies. The assisted driving method provided by the embodiment of the present invention does not require the terminal to be within the coverage of the mobile data network, and the assisted driving method is still feasible even in a tunnel, deep mountain or other places where the mobile data network cannot be covered, thereby reducing the assistance. The driving requirements increase the convenience of assisted driving; and the terminal does not incur costs when using the wireless signal for assisted driving, saving user consumption and improving the user experience.

Claims

A method of assisted driving, including:

The first terminal sends a wireless signal to the at least one second terminal, where the first terminal and the second terminal respectively correspond to different vehicles, and the second terminal includes each terminal within the range of the wireless signal radiation;

The first terminal detects a signal strength of a wireless signal that is fed back after the second terminal receives the wireless signal;

When determining the change of the signal strength, the first terminal sends prompt information to the second terminal, where the prompt information is used to indicate a change in distance between different vehicles.
The method of claim 1 wherein said change in signal strength comprises signal strength enhancement and said prompt information is used to indicate a decrease in distance between different vehicles.
The method of claim 1, wherein before the sending, by the first terminal, the prompt information to the second terminal, the method further comprises:

When the first terminal determines whether the different vehicles are traveling in the same direction and determines to travel in the same direction, the first terminal is executed to send prompt information to the second terminal.
The method of claim 1, wherein before the sending, by the first terminal, the prompt information to the second terminal, the method further comprises:

The first terminal determines whether the different vehicles are traveling with the same path, and when the same path is determined to travel, the first terminal is configured to send prompt information to the second terminal.
The method of claim 3, wherein the determining, by the first terminal, whether the different vehicles are traveling in the same direction comprises:

The first terminal acquires a first speed of the first vehicle traveling, and acquires a second speed of the second vehicle traveling;

The first terminal acquires a relative traveling speed of the first vehicle and the second vehicle;

The first terminal calculates the same direction relative traveling speed and the opposite direction relative traveling speed according to the first speed and the second speed;

The first terminal calculates a same speed difference degree according to the relative traveling speed and the same direction relative traveling speed; and calculates an anisotropy speed difference degree according to the relative traveling speed and the opposite direction relative traveling speed;

Determining that the first vehicle and the second vehicle are traveling in the same direction when the difference in the same direction speed is less than the difference in the anisotropy speed; when the difference in the speed of the anisotropy is smaller than the difference in the same direction speed And determining that the first vehicle and the second vehicle are traveling in an opposite direction.
The method of claim 5, wherein the obtaining, by the first terminal, the relative travel speed of the first vehicle and the second vehicle comprises:

The first terminal detects a first signal strength of the wireless signal at the second terminal at a start time of the first time period;

At the end of the first time period, the first terminal detects the wireless signal at the second end Second signal strength at the end;

The first terminal calculates a difference between the first signal strength and the second signal strength to obtain a signal strength difference;

The first terminal calculates a distance between the first vehicle and the second vehicle according to a preset operation;

The first terminal calculates a quotient of the distance and the first time period to obtain the relative traveling speed.
The method of claim 4, wherein the first terminal determines whether the different vehicles are traveling along the same path, including:

The first terminal acquires a travel distance of the first vehicle in a second time period;

At the start time of the second time period, the first terminal acquires a first distance between the first vehicle and the second vehicle; and at the end time of the second time period, acquires the first a second distance between a vehicle and the second vehicle;

The first terminal calculates a distance difference between the first distance and the second distance;

When the travel distance is equal to the distance difference, the first terminal determines that the first vehicle and the second vehicle are traveling in the same path; otherwise, determining that the first vehicle and the second vehicle are not Drive along the same path.
An assisting driving device, wherein the device is located at a first terminal, the device comprising:

a first sending module, configured to send a wireless signal to the at least one second terminal, where the second terminal includes each terminal within a range of the wireless signal radiation;

a detecting module, configured to detect a signal strength of the wireless signal fed back after the second terminal receives the wireless signal;

The second sending module is configured to send prompt information to the second terminal when determining the change of the signal strength, where the prompt information is used to indicate a change in distance between different vehicles.
The apparatus of claim 8 wherein said change in signal strength comprises signal strength enhancement and said prompt information is used to indicate a decrease in distance between different vehicles.
The apparatus of claim 8 further comprising:

The first determining module is configured to determine whether the different vehicles are traveling in the same direction and determine to send the prompt information to the second terminal when determining the same direction driving.
The apparatus of claim 8 further comprising:

The second determining module is configured to determine whether the different vehicles are traveling in the same path, and when determining to travel in the same path, performing sending of the prompt information to the second terminal.
The device of claim 10, wherein the first determining module comprises:

a first acquiring unit, configured to acquire a first speed of traveling of the first vehicle, and acquire a second speed of traveling of the second vehicle;

a second acquiring unit, configured to acquire a relative traveling speed of the first vehicle and the second vehicle;

a first calculating unit configured to calculate a normal relative traveling speed and an opposite relative traveling speed according to the first speed and the second speed;

a second calculating unit, configured to calculate a same speed difference degree according to the relative traveling speed and the same direction relative traveling speed; and calculate an anisotropy speed difference degree according to the relative traveling speed and the opposite direction relative traveling speed;

a first determining unit, configured to determine that the first vehicle and the second vehicle are traveling in the same direction when the same speed difference is less than the anisotropy speed difference; when the anisotropy speed difference When the difference in the same direction speed is less than, the first vehicle and the second vehicle are determined to travel in an opposite direction.
The apparatus according to claim 12, wherein said second obtaining unit comprises:

a first detecting subunit, configured to detect a first signal strength of the wireless signal at the second terminal at a start time of the first time period;

a second detecting subunit, configured to detect a second signal strength of the wireless signal at the second terminal at an end time of the first time period;

a first calculating subunit, configured to calculate a difference between the first signal strength and the second signal strength to obtain a signal strength difference;

a second calculating subunit, configured to calculate a distance between the first vehicle and the second vehicle according to a preset operation;

And a third calculating subunit configured to calculate a quotient of the distance and the first time period to obtain the relative traveling speed.
The apparatus according to claim 11, wherein said second determining module comprises:

a third acquiring unit, configured to acquire a driving distance of the first vehicle in a second time period;

a fourth acquiring unit, configured to acquire a first distance between the first vehicle and the second vehicle at a start time of the second time period; and acquire an at the end time of the second time period Describe a second distance between the first vehicle and the second vehicle;

a third calculating unit, configured to calculate a distance difference between the first distance and the second distance;

a second determining unit, configured to determine that the first vehicle and the second vehicle are traveling in the same path when the driving distance is equal to the distance difference; otherwise, determining the first vehicle and the second vehicle Not driving on the same path.
A computer storage medium having stored therein one or more programs executable by a computer, the one or more programs being executed by the computer to cause the computer to perform as in claims 1-7 The assisted driving method of any of the above.