Control method, device and equipment for auxiliary driving through construction road and storage medium

Abstract

The invention discloses an auxiliary driving control method and device through a construction road, equipment and a storage medium, and relates to the technical field of intelligent driving, and the method comprises the steps: obtaining cloud construction information and perceived road condition information; performing credibility judgment on the cloud construction information based on the sensed road condition information; when the judgment result is credible, performing collision prediction on the vehicle based on the sensed road condition information and the cloud construction information; and when the collision prediction result is that collision possibly occurs, auxiliary control is performed on the vehicle, and the change of a construction road can be quickly responded, so that accidents are reduced and the driving experience is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to assisted driving control methods, devices, equipment and storage media through construction roads. Background Art

[0002] With the development of intelligent driving, intelligent driving can greatly reduce the driver's driving fatigue;

[0003] However, smart driving still has some limitations on construction roads. When the road is blocked by cones / water barriers, the sensors are affected by weather (such as at night, rainy and foggy weather) and obstruction by the vehicle in front (such as a following vehicle), resulting in late recognition of the merging information of the cones / water barriers, causing the vehicle to change lanes or slow down too late. Especially in scenarios with high speeds on highways, accidents of collisions with construction areas often occur, seriously affecting the smart driving experience.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide an assisted driving control method, device, equipment and storage medium for passing through construction roads, aiming to solve the technical problem that intelligent driving cannot be accurately identified due to sensors.

[0006] To achieve the above objectives, the present application proposes an assisted driving control method for passing through a construction road, the assisted driving control method for passing through a construction road comprising:

[0007] Obtain construction information and road condition information from the cloud;

[0008] Performing credibility judgment on the cloud-based construction information based on the perceived road condition information;

[0009] When the judgment result is credible, a collision prediction is performed on the vehicle based on the perceived road condition information and the cloud construction information;

[0010] When the collision prediction result indicates that a collision may occur, auxiliary control is performed on the vehicle.

[0011] In one embodiment, the step of judging the credibility of the cloud construction information based on the perceived road condition information includes:

[0012] identifying a traffic control facility ahead of the vehicle based on the perceived road condition information;

[0013] When it is identified that there is a traffic control facility in the preset area ahead of the vehicle, determining whether there is the traffic control facility in the preset area according to the cloud construction information;

[0014] When the traffic control facility exists in the preset area, it is determined that the cloud construction information is credible.

[0015] In one embodiment, after the step of determining whether there is a traffic control facility in the preset area in front of the vehicle according to the cloud construction information when the traffic control facility is identified, the method further includes:

[0016] When the traffic control facility does not exist in the preset area, it is determined that the cloud-based construction information is unreliable, and the perceived road condition information is uploaded to update the cloud-based construction information and remove the mark of the traffic control facility.

[0017] In one embodiment, the step of predicting a vehicle collision based on the perceived road condition information and the cloud construction information includes:

[0018] When it is determined that there is a traffic control facility within a first preset distance in front of the vehicle according to the perceived road condition information and the cloud construction information, performing a vehicle-side judgment on the traffic control facility;

[0019] When the traffic control facility is in the own lane, it is determined that the collision prediction result is that a collision may occur.

[0020] In one embodiment, when the collision prediction result indicates that a collision may occur, the step of performing auxiliary control on the vehicle includes:

[0021] When the collision prediction result indicates that a collision is likely, determining whether there are traffic control facilities in an adjacent lane of the vehicle;

[0022] If there is no traffic control facility in the adjacent lane of the vehicle, determining whether there is a lane change condition in the adjacent lane;

[0023] When a lane-changing condition exists in the adjacent lane, controlling the vehicle to change lanes to the adjacent lane;

[0024] When there is no lane change condition in the adjacent lane, the vehicle is controlled to brake.

[0025] In one embodiment, after the step of predicting a vehicle collision based on the perceived road condition information and the cloud construction information, the method further includes:

[0026] When the traffic control facility is in an adjacent lane, determining that the collision prediction result is that a collision is likely to occur;

[0027] The vehicle is controlled to reduce its speed to a preset range so as to pass safely.

[0028] In one embodiment, the method further comprises:

[0029] Identify the traffic control facility in front of the vehicle according to the sensed road condition information, and obtain the positioning information of the vehicle and the data of the traffic control facility, the data including the construction type of the traffic control facility, the lateral position and longitudinal position of the traffic control facility relative to the vehicle, and the lane where the traffic control facility is located;

[0030] The positioning information of the vehicle and the data of the traffic control facilities are uploaded to the cloud to update the cloud construction information.

[0031] In addition, to achieve the above purpose, the present application also proposes an auxiliary driving control device for passing through a construction road, the device comprising:

[0032] Information acquisition module, used to obtain cloud-based construction information and perceive road condition information;

[0033] A credibility judgment module, used for judging the credibility of the cloud construction information based on the perceived road condition information;

[0034] A prediction module, configured to predict a collision of the vehicle based on the perceived road condition information and the cloud construction information when the judgment result is credible;

[0035] A control module is used to perform auxiliary control on the vehicle when the collision prediction result indicates that a collision may occur.

[0036] In addition, to achieve the above-mentioned purpose, the present application also proposes an assisted driving control device for passing through a construction road, the device comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the assisted driving control method for passing through a construction road as described above.

[0037] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the assisted driving control method through the construction road as described above are implemented.

[0038] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the assisted driving control method through the construction road as described above.

[0039] One or more technical solutions proposed in this application have at least the following technical effects:

[0040] Obtain cloud-based construction information and perceived road condition information; make credibility judgements on cloud-based construction information based on perceived road condition information; when the judgement result is credible, predict vehicle collision based on perceived road condition information and cloud-based construction information; when the collision prediction result indicates that a collision is likely to occur, perform auxiliary control of the vehicle to quickly respond to changes in construction roads, thereby reducing accidents and improving driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0043] Figure 1 A flowchart diagram of the first embodiment of the assisted driving control method for a construction road provided in this application;

[0044] Figure 2 An assisted driving decision flow chart provided in Example 1 of the assisted driving control method for a construction road of the present application;

[0045] Figure 3 A map update flow chart provided for the first embodiment of the assisted driving control method for a construction road of the present application;

[0046] Figure 4 A flowchart diagram of Embodiment 2 of the assisted driving control method for passing a construction road of the present application;

[0047] Figure 5 A flowchart of map mark credibility judgment provided in Example 2 of the assisted driving control method for a construction road of this application;

[0048] Figure 6 This is a schematic diagram of the module structure of the auxiliary driving control device for passing through a construction road according to an embodiment of the present application;

[0049] Figure 7 Schematic diagram of the device structure of the hardware operating environment involved in the assisted driving control method through the construction road in the embodiment of the present application.

[0050] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0051] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0052] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0053] When smart driving passes through temporary cone / water barrier construction sections, due to the limitations of existing sensor recognition, such as other vehicles blocking the front of the vehicle, or rainy, foggy weather, or night weather, the sensor cannot promptly identify the merging situation of the cone / water barrier in front, resulting in the vehicle failing to change lanes in time or braking too late. Especially in scenarios with high speeds on highways, accidents of colliding with construction areas often occur, causing complaints from drivers and seriously affecting the smart driving experience.

[0054] In response to the above problems, this strategy develops a control method for construction roads to address the limitations of intelligent driving through construction roads and improve user experience.

[0055] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, an auxiliary driving control device for passing through a construction road, etc. The following takes the auxiliary driving control device for passing through a construction road as an example to illustrate this embodiment and the following embodiments.

[0056] Based on this, the embodiment of the present application provides an assisted driving control method for passing through a construction road, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the assisted driving control device method for passing a construction road in the present application.

[0057] In this embodiment, the auxiliary driving control device method for passing through the construction road includes steps S10 to S40:

[0058] Step S10, obtaining cloud construction information and perceived road condition information;

[0059] It should be noted that cloud-based construction information is detailed information about the construction area stored on the cloud server, including the location of the construction area, construction type, traffic control facilities, etc.

[0060] Perceived road condition information refers to road condition information collected in real time by vehicle sensors, including vehicle position, position and type of surrounding objects (such as traffic control facilities), etc.

[0061] Step S20, judging the credibility of the cloud construction information based on the perceived road condition information;

[0062] It should be noted that due to the quick repair of temporary construction or positioning or map errors, the wrong construction area is marked on the map, so it is necessary to combine the perception information to determine whether the map mark is credible. If the map mark is credible, the mark information can be used for decision control. If it is not credible, decision control can only rely on perception information.

[0063] It should be understood that credibility judgment is to evaluate the accuracy and real-time nature of cloud-based construction information to determine whether the information can be relied upon for subsequent operations.

[0064] Step S30, when the judgment result is credible, predicting the collision of the vehicle based on the perceived road condition information and the cloud construction information;

[0065] It should be noted that collision prediction is to predict whether the vehicle is likely to collide with traffic control facilities in the construction area based on factors such as the vehicle's current position, speed, and surrounding environment.

[0066] In a feasible implementation, step S30 may include steps A11 to A13:

[0067] Step A11: when it is determined that there is a traffic control facility within a first preset distance in front of the vehicle according to the perceived road condition information and the cloud construction information, a vehicle-side judgment is made on the traffic control facility;

[0068] In a specific implementation, it is determined whether there is cone / water barrier information within a distance L in front of the vehicle (e.g., within 200 meters), and a vehicle-side judgment is performed.

[0069] It should be noted that the first preset distance can be set, such as 200 meters, 300 meters, etc.

[0070] Traffic control facilities, namely cones and water barriers, are used during road construction, maintenance or other temporary traffic control situations to ensure the safety of the construction area and the orderly flow of traffic.

[0071] Step A12: When the traffic control facility is in the own lane, determine that the collision prediction result is that a collision may occur.

[0072] In the specific implementation, if the traffic control facility is on the self-lane, and the collision prediction result is determined to be a possible collision, the following strategy is adopted:

[0073] If both perception and map determine that there are no cones / water barriers in the adjacent lane, and there are no other vehicles in the adjacent lane that would hinder the lane change, the vehicle will change lanes to the adjacent lane in advance to pass through the construction area;

[0074] If the map and perception determine that there are no cones / water barriers in the adjacent lane, but the traffic volume in the adjacent lane is heavy and the vehicle cannot change lanes to the adjacent lane, the system will determine whether the vehicle can pass through its lane based on the information of the nearest and farthest cones marked on the map. If the vehicle can pass through its lane, the system will lower the set speed and slow down to pass. If the vehicle cannot pass through its lane, the system will continue to slow down and wait for the opportunity to change lanes. If the vehicle cannot change lanes, when the distance to the merging point is less than E, the vehicle will perform emergency braking and stop the vehicle before merging.

[0075] Further, when the traffic control facility is in an adjacent lane, determining the collision prediction result is that a collision may occur;

[0076] Control the vehicle to reduce speed to the preset range for safe passage.

[0077] In the specific implementation, if the map and perception determine that there are cones / water barriers in the adjacent lane, the vehicle's set speed will be reduced, and the vehicle will be controlled according to the cone / water barrier boundaries recognized by the perception on both sides.

[0078] Step S40: When the collision prediction result indicates that a collision may occur, auxiliary control is performed on the vehicle.

[0079] It should be noted that auxiliary control means that the system automatically intervenes in vehicle operations to avoid collisions or reduce the consequences of collisions.

[0080] It should be noted that when there is cone / water barrier information within a distance L in front of the map (such as within 200 meters), and the cone / water barrier is only on the own vehicle line, if the map marks that there are no cones / water barriers in the adjacent lane and lane line, and it is perceived that there are no cones / water barriers in the adjacent lane and lane line, then the own vehicle changes lanes to the adjacent lane, otherwise the own vehicle goes straight without changing lanes.

[0081] like Figure 2As shown, first check whether the map ahead is marked with construction. If the construction information marked on the map is credible, the system will navigate according to the map information and prepare to pass through the construction area; if the perception system recognizes cones or water barriers, the system will further determine whether these construction signs are on the self-driving lane. If the construction sign is on the self-driving lane, the system will check whether there is a construction sign in the adjacent lane and determine whether there is a lane change condition. If there is no construction sign in the adjacent lane and there is a lane change condition, the system will control the vehicle to change lanes and pass through the construction area. If there is no construction sign in the adjacent lane but there is no lane change condition, the system will control the vehicle to slow down and pass; if the construction sign is not on the self-driving lane, the system will determine whether it can go straight through. If it can, the vehicle will go straight through the construction area; if it can't, the system will take corresponding measures, such as changing lanes or slowing down; in addition, the system will decide whether it needs to slow down or emergency brake to avoid collision based on traffic flow and vehicle speed. The entire flowchart embodies a closed-loop decision-making system that combines map information and real-time perception data to ensure that the vehicle can pass the construction section safely and accurately. In this way, the assisted driving system can improve its responsiveness to construction zones, reduce potential traffic accidents, and improve driving safety and reliability.

[0082] In a feasible implementation, step S40 may include steps A21 to A23:

[0083] Step A21: When the collision prediction result indicates that a collision may occur, determining whether there are traffic control facilities in adjacent lanes of the vehicle;

[0084] It should be noted that when there is cone / water barrier information within a distance L in front of the map (such as within 200 meters), but there is no cone / water barrier information in the driving lane, and the perception does not recognize cones / water barriers in the driving lane, the vehicle will go straight through and lane changes are prohibited in the construction area.

[0085] Step A22: if there is no traffic control facility in the adjacent lane of the vehicle, determine whether there is a lane change condition in the adjacent lane;

[0086] Step A23: When a lane change condition exists in an adjacent lane, controlling the vehicle to change lanes to the adjacent lane;

[0087] Step A24: When there is no lane change condition in the adjacent lane, control the vehicle to brake.

[0088] It should be noted that when there are cones / water barriers within a distance of L (e.g., 200 meters) ahead on the map, and there are cones / water barriers in the lane, the following strategy is adopted:

[0089] If both perception and map determine that there are no cones / water barriers in the adjacent lane, and there are no other vehicles in the adjacent lane that would hinder the lane change, the vehicle will change lanes to the adjacent lane in advance to pass through the construction area;

[0090] If the map and perception determine that there are no cones / water barriers in the adjacent lane, but the traffic volume in the adjacent lane is heavy and the vehicle cannot change lanes to the adjacent lane, the system will determine whether the vehicle can pass through its lane based on the information of the nearest and farthest cones marked on the map. If the vehicle can pass through its lane, the system will lower the set speed and slow down to pass. If the vehicle cannot pass through its lane, the system will continue to slow down and wait for the opportunity to change lanes. If the vehicle cannot change lanes, when the distance to the merging point is less than E, the vehicle will perform emergency braking and stop the vehicle before merging.

[0091] If the map and perception determine that there are cones / barriers in the adjacent lane, the self-vehicle set speed is reduced, and the self-vehicle controls according to the cone / barrier boundaries recognized by the perception on both sides;

[0092] If the map shows that the adjacent lane is an emergency lane, the vehicle's set speed is reduced and the vehicle is controlled according to the cone / water barrier boundary and the road boundary on the other side;

[0093] Further, the traffic control facility in front of the vehicle is identified based on the perceived road condition information, and the positioning information of the vehicle and the data of the traffic control facility are obtained, the data including the construction type of the traffic control facility, the lateral position and longitudinal position of the traffic control facility relative to the vehicle, and the lane where the traffic control facility is located;

[0094] Upload the vehicle's location information and traffic control facility data to the cloud to update the cloud construction information.

[0095] It should be noted that when the positioning and map are normal, when a vehicle with assisted driving passes through a temporary construction section with cones / water barriers, regardless of whether smart driving is turned on, if the sensor recognizes that there are multiple cones / water barriers ahead, the cone / water barrier information within 20m will be recorded, including: the vehicle's positioning information, the identified construction type, the vehicle's horizontal and vertical positions relative to each cone / water barrier, the lateral position of the center of the cone / water barrier from the left lane line, whether the cones / water barriers are on the lane line, and the lane where the cones / water barriers are located (if the cones / water barriers are on the lane line, they do not belong to any lane), and the above information will be uploaded to the cloud to the map module.

[0096] It should be understood that the data of traffic control facilities is key point data. In order to speed up the update of lightweight maps, it is necessary to reduce the data recorded in the map. Therefore, the cloud computing module needs to process the cones / water barriers according to the perception and recognition information and the position of the vehicle and mark the key points. The key point data includes: the latitude and longitude coordinates of the starting point of the cone / water barrier, the latitude and longitude coordinates of the end point of the cone / water barrier, whether there are cones / water barriers in each lane, the latitude and longitude of the farthest cone / water barrier from the left lane line in each lane, the latitude and longitude of the nearest cone / water barrier from the left lane line in each lane, whether the farthest and nearest cones / water barriers are on the lane line, and the type of construction objects.

[0097] When subsequent vehicles pass this section of road again and identify cones / water barriers, the locations of the cones / water barriers will be uploaded to the cloud again, and the cone / water barrier marking information will be identified before the cloud map is corrected; if the vehicle passes this section of road without identifying the cones / water barriers, the cloud map will remove the cone / water barrier marking of this temporary construction point.

[0098] When the construction point is marked on the map, the map module needs to send the marked location to the vehicle.

[0099] like Figure 3 As shown, the system first checks whether the vehicle's positioning system and map data are working properly. This is the basis for ensuring the accuracy of subsequent operations; the current position perception recognizes whether the cone / water barrier is recognized: if the positioning and map are normal, the system will use the vehicle's perception system (such as camera, radar, etc.) to identify whether there are construction signs, such as cones or water barriers, within 20 meters ahead; upload the horizontal and vertical positions, lanes, and vehicle positions of the cones / water barriers within 20 meters ahead to the cloud: once the construction signs are recognized, the system will collect the specific location information of these signs and upload them to the cloud; after receiving the information, the cloud will calculate the key points, including the latitude and longitude coordinates of the starting and ending points of the construction objects, and the positions of the farthest and nearest cones / water barriers in each lane; the system will check whether there are already construction information marks at the current position; if there are no construction information marks, the system will create a new construction mark point on the map; if there are already construction information marks, the system will modify the existing construction sign data according to the newly uploaded information; if the vehicle passes through the construction section but does not recognize the cone / water barrier, the system will remove the mark of this construction point from the cloud map.

[0100] The present embodiment provides an assisted driving control method through a construction road, which obtains cloud-based construction information and perceived road condition information; makes a credibility judgment on the cloud-based construction information based on the perceived road condition information; when the judgment result is credible, predicts a vehicle collision based on the perceived road condition information and the cloud-based construction information; when the collision prediction result indicates that a collision may occur, assists in controlling the vehicle, and can quickly respond to changes in the construction road, thereby reducing accidents and improving the driving experience.

[0101] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 4 , step S20, including steps S201 to S203:

[0102] Step S201, identifying traffic control facilities ahead of the vehicle based on perceived road condition information;

[0103] In the specific implementation, the sensors carried by the vehicle (such as cameras, radars, lidar, etc.) are used to collect road condition information ahead, and image recognition or object detection algorithms are used to identify traffic control facilities (such as cones, water barriers, etc.); to ensure that the vehicle can detect the traffic control facilities ahead in real time, providing a basis for subsequent decision-making.

[0104] Step S202, when it is identified that there are traffic control facilities in the preset area ahead of the vehicle, determining whether there are traffic control facilities in the preset area according to cloud construction information;

[0105] In the specific implementation, the traffic control facility information perceived by the vehicle is compared with the construction information in the cloud to check whether there are recorded traffic control facilities in the preset area; to verify the accuracy of the construction information in the cloud and ensure that the vehicle can make correct driving decisions based on the latest construction conditions.

[0106] Furthermore, when there are no traffic control facilities in the preset area, it is determined that the cloud-based construction information is unreliable, and the perceived road condition information is uploaded to update the cloud-based construction information and remove the mark of the traffic control facility.

[0107] It should be noted that if the traffic control facilities perceived by the vehicle are not recorded in the cloud construction information, the cloud information is considered unreliable. At this time, the vehicle needs to upload the perceived road condition information to the cloud in order to update the construction information and remove the erroneous traffic control facility marks.

[0108] Step S203, when there are traffic control facilities in the preset area, it is determined that the cloud construction information is credible.

[0109] In a specific implementation, if the cloud construction information records the traffic control facilities perceived by the vehicle, the cloud information is considered to be credible.

[0110] It should be noted that when the perception determines that there are cones / barriers in the lane, but there are no cones / barriers in the map mark, the map construction mark information is not credible, and the system needs to make corresponding decisions and controls based on the perception recognition information. According to the above map credible scenario, the same decision and control are carried out.

[0111] like Figure 5As shown, the system first checks whether the map ahead is marked with construction. If there is no construction mark on the map, the system will further identify whether there are construction signs such as cones or water barriers ahead through the perception system; if the perception system identifies cones or water barriers, the system will check whether there are construction marks on the corresponding lanes on the map. If there are no corresponding construction marks on the map, the system will consider the map information unreliable and may need to update the map information or take other measures to ensure safety. If there are construction marks on the map, the system will further determine whether these marks are credible; if the system determines that the construction information marked on the map is credible, the vehicle will navigate according to the map information and prepare to pass through the construction area. If the vehicle has passed the construction end point marked on the map, the system will confirm this and may update the vehicle's navigation status to reflect that it has passed the construction area.

[0112] The present embodiment provides an assisted driving control method for passing through a construction road, which identifies traffic control facilities in front of a vehicle based on perceived road condition information; when traffic control facilities are identified to exist in a preset area in front of the vehicle, determines whether there are traffic control facilities in the preset area based on cloud-based construction information; when traffic control facilities exist in the preset area, determines that the cloud-based construction information is credible; and confirms the reliability of the cloud-based construction information so that the vehicle can rely on this information for subsequent driving decisions and safe operations.

[0113] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the assisted driving control method of the present application through construction roads. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0114] This application also provides an auxiliary driving control device for passing through construction roads, please refer to Figure 6 , the auxiliary driving control device for passing through the construction road includes:

[0115] Information acquisition module 10, used to obtain cloud construction information and perceived road condition information;

[0116] A credibility judgment module 20, used to judge the credibility of cloud construction information based on the perceived road condition information;

[0117] A prediction module 30, for predicting a collision of the vehicle based on the perceived road condition information and the cloud construction information when the judgment result is credible;

[0118] The control module 40 is used to perform auxiliary control on the vehicle when the collision prediction result indicates that a collision may occur.

[0119] The assisted driving control device for passing through construction roads provided by the present application adopts the assisted driving control method for passing through construction roads in the above-mentioned embodiment, which can solve the technical problem that the intelligent driving cannot be accurately identified due to the sensor. Compared with the prior art, the beneficial effects of the assisted driving control device for passing through construction roads provided by the present application are the same as the beneficial effects of the assisted driving control method for passing through construction roads provided by the above-mentioned embodiment, and the other technical features of the assisted driving control device for passing through construction roads are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0120] In one embodiment, the credibility judgment module 20 is further used to identify the traffic control facilities in front of the vehicle according to the perceived road condition information;

[0121] When it is identified that there are traffic control facilities in the preset area ahead of the vehicle, determine whether there are traffic control facilities in the preset area based on the cloud construction information;

[0122] When there are traffic control facilities in the preset area, it is determined that the cloud-based construction information is credible.

[0123] In one embodiment, the credibility judgment module 20 is also used to determine that the cloud construction information is unreliable when there are no traffic control facilities in the preset area, and upload the perceived road condition information to update the cloud construction information and remove the mark of the traffic control facilities.

[0124] In one embodiment, the prediction module 30 is further used to perform vehicle-side judgment on the traffic control facilities when it is determined that there are traffic control facilities within a first preset distance in front of the vehicle based on the perceived road condition information and the cloud construction information;

[0125] When the traffic control facility is in the own lane, the collision prediction result is determined to be a possible collision.

[0126] In one embodiment, the control module 40 is further configured to determine whether there are traffic control facilities in adjacent lanes of the vehicle when the collision prediction result indicates that a collision may occur;

[0127] When there is no traffic control facility in the adjacent lane of the vehicle, judging whether there is a lane change condition in the adjacent lane;

[0128] When the adjacent lane has lane-changing conditions, the vehicle is controlled to change lanes to the adjacent lane;

[0129] When there are no lane change conditions in the adjacent lane, the vehicle is controlled to brake.

[0130] In one embodiment, the prediction module 30 is further configured to determine that a collision prediction result is a possible collision when the traffic control facility is in an adjacent lane;

[0131] Control the vehicle to reduce speed to the preset range for safe passage.

[0132] In one embodiment, the control module 40 is further used to identify the traffic control facility in front of the vehicle according to the perceived road condition information, and obtain the positioning information of the vehicle and the data of the traffic control facility, the data including the construction type of the traffic control facility, the lateral position and longitudinal position of the traffic control facility relative to the vehicle, and the lane where the traffic control facility is located;

[0133] Upload the vehicle's location information and traffic control facility data to the cloud to update the cloud construction information.

[0134] The present application provides an assisted driving control device for passing a construction road, and the assisted driving control device for passing a construction road includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the assisted driving control method for passing a construction road in the above-mentioned embodiment one.

[0135] Reference below Figure 7 , which shows a schematic diagram of the structure of the auxiliary driving control device for passing through the construction road suitable for implementing the embodiment of the present application. The auxiliary driving control device for passing through the construction road in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 7 The assisted driving control device for passing through a construction road shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0136] like Figure 7As shown, the auxiliary driving control device for passing the construction road may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM: Read Only Memory) 1002 or the program loaded from the storage device 1003 to the random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the auxiliary driving control device for passing the construction road are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the assisted driving control device through the construction road to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows an assisted driving control device through the construction road with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0137] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0138] The assisted driving control device for passing through a construction road provided by the present application adopts the assisted driving control method for passing through a construction road in the above-mentioned embodiment, which can solve the technical problem that the intelligent driving cannot be accurately identified due to the sensor. Compared with the prior art, the beneficial effects of the assisted driving control device for passing through a construction road provided by the present application are the same as the beneficial effects of the assisted driving control device method for passing through a construction road provided by the above-mentioned embodiment, and the other technical features in the assisted driving control device for passing through a construction road are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0139] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0140] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0141] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, the computer-readable program instructions being used to execute the assisted driving control method through the construction road in the above-mentioned embodiment.

[0142] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0143] The computer-readable storage medium may be included in the auxiliary driving control device for passing through the construction road; or may exist independently without being assembled into the auxiliary driving control device for passing through the construction road.

[0144] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the assisted driving control device of the construction road, the assisted driving control device of the construction road: obtains cloud-based construction information and perceived road condition information; makes a credibility judgment on the cloud-based construction information based on the perceived road condition information; when the judgment result is credible, predicts a collision of the vehicle based on the perceived road condition information and the cloud-based construction information; and when the collision prediction result indicates that a collision may occur, performs auxiliary control on the vehicle.

[0145] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0146] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0147] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0148] The readable storage medium provided in this application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned assisted driving control method through construction roads, and can solve the technical problem that the intelligent driving cannot accurately identify the sensor. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the assisted driving control method through construction roads provided in the above-mentioned embodiment, and will not be repeated here.

[0149] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the above-mentioned assisted driving control method through a construction road.

[0150] The computer program product provided by this application can solve the technical problem that the intelligent driving cannot accurately identify the sensor. Compared with the prior art, the beneficial effects of the computer program product provided by this application are the same as the beneficial effects of the assisted driving control method through the construction road provided by the above embodiment, which will not be repeated here.

[0151] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. An assisted driving control method for passing a construction road, characterized in that: The auxiliary driving control method for passing through the construction road includes: Obtain construction information and road condition information from the cloud; Performing credibility judgment on the cloud-based construction information based on the perceived road condition information; When the judgment result is credible, a collision prediction is performed on the vehicle based on the perceived road condition information and the cloud construction information; When the collision prediction result indicates that a collision may occur, auxiliary control is performed on the vehicle.

2. The auxiliary driving control method for passing through a construction road as claimed in claim 1, characterized in that: The step of judging the credibility of the cloud construction information based on the perceived road condition information includes: identifying a traffic control facility ahead of the vehicle based on the perceived road condition information; When it is identified that there is a traffic control facility in the preset area ahead of the vehicle, determining whether there is the traffic control facility in the preset area according to the cloud construction information; When the traffic control facility exists in the preset area, it is determined that the cloud construction information is credible.

3. The auxiliary driving control method for passing through a construction road as claimed in claim 2, characterized in that: After the step of determining whether there is a traffic control facility in the preset area in front of the vehicle according to the cloud construction information when the traffic control facility is identified, the method further includes: When the traffic control facility does not exist in the preset area, it is determined that the cloud-based construction information is unreliable, and the perceived road condition information is uploaded to update the cloud-based construction information and remove the mark of the traffic control facility.

4. The auxiliary driving control method for passing through a construction road as claimed in claim 1, characterized in that: The step of predicting a vehicle collision based on the perceived road condition information and the cloud construction information includes: When it is determined that there is a traffic control facility within a first preset distance in front of the vehicle according to the perceived road condition information and the cloud construction information, performing a vehicle-side judgment on the traffic control facility; When the traffic control facility is in the own lane, it is determined that the collision prediction result is that a collision may occur.

5. The auxiliary driving control method for passing through a construction road as claimed in claim 1, characterized in that: The step of performing auxiliary control on the vehicle when the collision prediction result indicates that a collision may occur comprises: When the collision prediction result indicates that a collision is likely, determining whether there are traffic control facilities in an adjacent lane of the vehicle; If there is no traffic control facility in the adjacent lane of the vehicle, determining whether there is a lane change condition in the adjacent lane; When a lane-changing condition exists in the adjacent lane, controlling the vehicle to change lanes to the adjacent lane; When there is no lane change condition in the adjacent lane, the vehicle is controlled to brake.

6. The auxiliary driving control method for passing through a construction road as claimed in claim 1, characterized in that: After the step of predicting a vehicle collision based on the perceived road condition information and the cloud construction information, the method further includes: When the traffic control facility is in an adjacent lane, determining that the collision prediction result is that a collision is likely to occur; The vehicle is controlled to reduce its speed to a preset range so as to pass safely.

7. The auxiliary driving control method for passing through a construction road as claimed in claim 1, characterized in that: The method further comprises: Identify the traffic control facility in front of the vehicle according to the sensed road condition information, and obtain the positioning information of the vehicle and the data of the traffic control facility, the data including the construction type of the traffic control facility, the lateral position and longitudinal position of the traffic control facility relative to the vehicle, and the lane where the traffic control facility is located; The positioning information of the vehicle and the data of the traffic control facilities are uploaded to the cloud to update the cloud construction information.

8. An auxiliary driving control device for passing a construction road, characterized in that: The device comprises: Information acquisition module, used to obtain cloud-based construction information and perceive road condition information; A credibility judgment module, used for judging the credibility of the cloud construction information based on the perceived road condition information; A prediction module, configured to predict a collision of the vehicle based on the perceived road condition information and the cloud construction information when the judgment result is credible; A control module is used to perform auxiliary control on the vehicle when the collision prediction result indicates that a collision may occur.

9. An auxiliary driving control device for passing a construction road, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the assisted driving control method through a construction road as described in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the assisted driving control method through a construction road as described in any one of claims 1 to 7 are implemented.

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