Method and device for obtaining ambient temperature for intelligent driving

Abstract

This application provides a method and apparatus for obtaining ambient temperature for intelligent driving. The method includes: obtaining first temperature data from a vehicle-mounted temperature sensor; obtaining second temperature data from an ultrasonic sensor; obtaining vehicle speed data; selecting one of the first temperature data and the second temperature data as the ambient temperature of the ultrasonic sensor based on the vehicle speed data; and calibrating the ultrasonic sensor using the ambient temperature.

Description

Technical Field

[0001] The present invention generally relates to intelligent driving, and more particularly to a method and apparatus for obtaining ambient temperature of an ultrasonic sensor used in intelligent driving. Background Art

[0002] Intelligent driving requires the use of ultrasonic sensors for obstacle detection. In ultrasonic applications, the sensor emits ultrasonic waves and receives and analyzes the echoes. To filter noise from the received echoes, a detection threshold is set. When the echo intensity exceeds the detection threshold, the echo is considered valid. As ultrasonic waves propagate through a medium, varying medium temperatures cause varying degrees of energy attenuation. Therefore, in actual operation, it is necessary to monitor the ambient temperature of the ultrasonic sensor to adjust the detection threshold.

[0003] The prior art generally uses an on-board temperature sensor installed on the vehicle body to determine the ambient temperature of the ultrasonic sensor. However, if the on-board temperature sensor fails, the ambient temperature of the ultrasonic sensor cannot be obtained. Summary of the Invention

[0004] In response to the above technical problems existing in the prior art, the present application provides a method for intelligent driving, including: obtaining first temperature data from a vehicle-mounted temperature sensor; obtaining second temperature data from an ultrasonic sensor; obtaining vehicle speed data; selecting one of the first temperature data and the second temperature data as the ambient temperature of the ultrasonic sensor based on the vehicle speed data; and using the ambient temperature to calibrate the ultrasonic sensor.

[0005] Optionally, the method further includes: determining whether the first temperature data and the second temperature data are valid; if the first temperature data is valid and the second temperature data is invalid, selecting the first temperature data as the ambient temperature; if the second temperature data is valid and the first temperature data is invalid, selecting the second temperature data as the ambient temperature; and if the first temperature data is invalid and the second temperature data is invalid, selecting a default temperature as the ambient temperature.

[0006] Optionally, the method further includes: comparing the vehicle speed with a vehicle speed threshold; if the vehicle speed is greater than the vehicle speed threshold, selecting the first temperature as the ambient temperature; and if the vehicle speed is less than or equal to the vehicle speed threshold, determining the ambient temperature based on the temperature difference between the first temperature data and the second temperature data.

[0007] Optionally, the method further comprises: comparing the temperature difference with a temperature difference threshold; selecting the first temperature as the ambient temperature if the temperature difference is less than or equal to the temperature difference threshold; and selecting the second temperature as the ambient temperature if the temperature difference is greater than the temperature difference threshold.

[0008] Optionally, the vehicle speed threshold is 30 km / h.

[0009] Another aspect of the present application provides a device for intelligent driving, comprising: a module for obtaining first temperature data from a vehicle-mounted temperature sensor; a module for obtaining second temperature data from an ultrasonic sensor; a module for obtaining vehicle speed data; a module for selecting one of the first temperature data and the second temperature data as the ambient temperature of the ultrasonic sensor based on the vehicle speed data; and a module for performing a calibration operation on the ultrasonic sensor using the ambient temperature.

[0010] Optionally, the device further includes: a module for determining whether the first temperature data and the second temperature data are valid; a module for selecting the first temperature data as the ambient temperature if the first temperature data is valid and the second temperature data is invalid; a module for selecting the second temperature data as the ambient temperature if the second temperature data is valid and the first temperature data is invalid; and a module for selecting a default temperature as the ambient temperature if the first temperature data is invalid and the second temperature data is invalid.

[0011] Optionally, the device further includes: a module for comparing the vehicle speed with a vehicle speed threshold; a module for selecting the first temperature as the ambient temperature if the vehicle speed is greater than the vehicle speed threshold; and a module for determining the ambient temperature based on the temperature difference between the first temperature data and the second temperature data if the vehicle speed is less than or equal to the vehicle speed threshold.

[0012] Optionally, the apparatus further comprises: a module for comparing the temperature difference with a temperature difference threshold; a module for selecting the first temperature as the ambient temperature if the temperature difference is less than or equal to the temperature difference threshold; and a module for selecting the second temperature as the ambient temperature if the temperature difference is greater than the temperature difference threshold.

[0013] Optionally, the vehicle speed threshold is 30 km / h.

[0014] A further aspect of the present application provides an electronic device for intelligent driving, comprising a processor and a memory, wherein the memory stores program instructions; the processor executes the program instructions to implement the method for intelligent driving as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A flow chart illustrating a method for obtaining ambient temperature information of a vehicle ultrasonic sensor according to various aspects of the present application is shown.

[0016] Figure 2 is a flow chart of a method for determining an ambient temperature of a vehicle ultrasonic sensor according to aspects of the present application.

[0017] Figure 3 is a diagram of an apparatus for determining an ambient temperature of a vehicle ultrasonic sensor according to aspects of the present application.

[0018] Figure 4 is a diagram of an electronic device for determining the ambient temperature of a vehicle ultrasonic sensor according to aspects of the present application. DETAILED DESCRIPTION

[0019] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0020] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0021] In intelligent driving, ultrasonic sensors are often used for distance measurement, triggering alerts when obstacles are detected. When receiving echoes, ultrasonic sensors filter out those with intensities below a detection threshold and retain only those with intensities above the threshold. However, when ultrasonic waves propagate through air, they are attenuated by air damping. Fluctuations in ambient temperature affect the degree of air damping, causing the attenuation of ultrasonic waves in air to vary with changes in environmental parameters. Therefore, in specific applications, the detection threshold of ultrasonic sensors needs to be adjusted based on ambient temperature.

[0022] This application proposes an improved solution for obtaining the ambient temperature of an ultrasonic sensor.

[0023] Figure 1 A flow chart illustrating a method for acquiring ambient temperature information of an ultrasonic sensor of a vehicle according to aspects of the present application is shown.

[0024] In step 102 , first temperature data may be acquired from a vehicle-mounted temperature sensor installed on a vehicle body.

[0025] The vehicle temperature sensor may be mounted on the exterior of the vehicle body (eg, on a bumper of the vehicle) and may be configured to sense temperature data (also referred to herein as first temperature data) of the vehicle's environment (ie, outside the vehicle cabin).

[0026] At step 104 , second temperature data may be acquired from the ultrasonic sensor.

[0027] The ultrasonic sensor may be configured to output temperature data inside the ultrasonic sensor, where the temperature data may represent a temperature on a chip inside the ultrasonic sensor (also referred to herein as second temperature data).

[0028] At step 106 , speed data of the vehicle may be obtained.

[0029] The speed data of the vehicle may be obtained from a speed sensor of the vehicle.

[0030] At step 108 , the ambient temperature of the ultrasonic sensor may be determined based on the temperature data (the first temperature data and the second temperature data) and the speed data obtained from steps 102 - 106 .

[0031] In one aspect, it may be determined whether the first temperature data and the second temperature data are valid. Valid temperature data from the first temperature data and the second temperature data may be selected to determine the ambient temperature of the ultrasonic sensor.

[0032] Specifically, if the first temperature data is valid and the second temperature data is invalid, the first temperature data may be selected as the ambient temperature. If the first temperature data is invalid and the second temperature data is valid, the second temperature data may be selected as the ambient temperature. If both the first temperature data and the second temperature data are invalid, the default temperature data (e.g., 20° C.) may be used as the ambient temperature.

[0033] In one aspect, if both the first temperature and the second temperature are valid, the ambient temperature of the ultrasonic sensor may be further determined based on the vehicle speed.

[0034] One of the first and second temperature data can be selected as the ambient temperature based on the vehicle speed. Specifically, if the vehicle speed is greater than a speed threshold (e.g., 30 km / h), it indicates that the heat dissipation around the vehicle is good and the onboard temperature sensor can well represent the ambient temperature of the ultrasonic sensor. Therefore, the temperature data output by the onboard temperature sensor (the first temperature data) can be selected as the ambient temperature of the ultrasonic sensor. If the vehicle speed is less than the speed threshold, the temperature difference between the first and second temperature data can be further determined and compared with a temperature threshold (e.g., 10°C). If the temperature difference between the first and second temperature data is less than the temperature difference threshold, it indicates that the error in the temperature data output by the onboard temperature sensor (i.e., the first temperature data) is small, and the first temperature value can be selected as the ambient temperature. If the difference between the first and second temperature data is greater than the temperature difference threshold, it indicates that the error in the temperature data output by the onboard temperature sensor (i.e., the first temperature data) is likely large, and the second temperature data can be selected as the ambient temperature.

[0035] At step 110 , a calibration operation may be performed on the ultrasonic sensor using the ambient temperature determined at step 108 .

[0036] For example, the ambient temperature can be used to adaptively adjust the detection threshold of the ultrasonic sensor, thereby achieving stable detection of the ultrasonic sensor.

[0037] Figure 2 is a flow chart of a method for determining an ambient temperature of an ultrasonic sensor according to aspects of the present application.

[0038] Figure 2 Yes Figure 1 Detailed explanation of step 108.

[0039] like Figure 2 As shown, in step 202 , the ultrasonic sensor is initially powered on.

[0040] In step 204 , a default temperature (eg, 20° C.) may be used as the ambient temperature of the ultrasonic sensor when it is initially powered on.

[0041] At step 206 , the validity of the first temperature data (temperature data output by the vehicle-mounted temperature sensor) and the second temperature data (temperature data output by the ultrasonic sensor) may be determined.

[0042] For example, the temperature data sensed in real time by the vehicle's temperature sensor and / or ultrasonic sensor may fluctuate significantly, and the temperature sensor may determine that the currently sensed temperature data is invalid, thereby outputting an invalid signal. As another example, the vehicle's temperature sensor and / or ultrasonic sensor may be malfunctioning and unable to sense temperature, thereby also outputting an invalid signal.

[0043] If the first temperature data is valid and the second temperature data is invalid, the first temperature data may be selected as the ambient temperature.

[0044] If the first temperature data is invalid and the second temperature data is valid, the second temperature data may be selected as the ambient temperature.

[0045] If both the first temperature data and the second temperature data are invalid, default temperature data (eg, 20° C.) may be used as the ambient temperature.

[0046] If both the first temperature data and the second temperature data are valid, the process may proceed to step 208 .

[0047] At step 208 , the vehicle's speed may be compared to a speed threshold.

[0048] If the vehicle speed is greater than the vehicle speed threshold, the temperature data output by the vehicle-mounted sensor (first temperature data) can be selected as the ambient temperature of the ultrasonic sensor. Higher vehicle speeds indicate better heat dissipation around the vehicle, and the vehicle-mounted temperature sensor can better represent the ambient temperature of the ultrasonic sensor. Therefore, the temperature output by the vehicle-mounted temperature sensor can be selected as the ambient temperature of the ultrasonic sensor.

[0049] If the vehicle speed is less than the vehicle speed threshold, the process may proceed to step 210 .

[0050] At step 210 , the difference between the first temperature data and the second temperature data may be compared with a temperature difference threshold to determine the ambient temperature.

[0051] Specifically, if the difference between the first temperature data and the second temperature data is less than the temperature difference threshold (for example, 10°C), it means that the error of the temperature data output by the vehicle temperature sensor (ie, the first temperature data) is small, and the first temperature data can be selected as the ambient temperature.

[0052] If the difference between the first temperature data and the second temperature data is greater than the temperature difference threshold, it means that the error of the temperature data output by the vehicle temperature sensor (i.e., the first temperature data) may be large, then the temperature data output by the ultrasonic sensor (i.e., the second temperature data) can be selected as the ambient temperature.

[0053] In one aspect, the vehicle speed threshold may be 30 km / h.

[0054] Figure 3 is a diagram of an apparatus for determining an ambient temperature of a vehicle ultrasonic sensor according to aspects of the present application.

[0055] like Figure 3As shown, the apparatus 300 for determining the ambient temperature of a vehicle ultrasonic sensor may include a vehicle temperature sensor 302 , an ultrasonic sensor 304 , a vehicle speed sensor 306 , an ambient temperature determination module 308 , and an ultrasonic sensor calibration module 310 .

[0056] The vehicle temperature sensor 302 may be installed outside the vehicle body (eg, on a bumper of the vehicle) and may be configured to sense temperature data (also referred to herein as first temperature data) of the vehicle environment (ie, outside the vehicle cabin).

[0057] The ultrasonic sensor 304 may be configured to output temperature data inside the ultrasonic sensor, where the temperature data may represent the temperature on the chip inside the ultrasonic sensor (also referred to herein as second temperature data).

[0058] The vehicle speed sensor 306 may be configured to sense vehicle speed.

[0059] The ambient temperature determination module 308 may receive first temperature data from the vehicle temperature sensor 302, second temperature data from the ultrasonic sensor 304, and vehicle speed data from the vehicle speed sensor 306. The ambient temperature determination module 308 may use the received data to determine the ambient temperature of the ultrasonic sensor.

[0060] In one aspect, the ambient temperature determination module 308 may determine whether the first temperature data and the second temperature data are valid. If the first temperature data is valid and the second temperature data is invalid, the first temperature data may be selected as the ambient temperature. If the first temperature data is invalid and the second temperature data is valid, the second temperature data may be selected as the ambient temperature. If both the first temperature data and the second temperature data are invalid, a default temperature data (e.g., 20° C.) may be used as the ambient temperature.

[0061] On the other hand, if both the first temperature data and the second temperature data are valid, the temperature determination module 308 may further determine the ambient temperature based on the vehicle speed.

[0062] Specifically, the ambient temperature determination module 308 may select one of the first temperature data and the second temperature data as the ambient temperature based on the vehicle speed. If the vehicle speed is greater than a vehicle speed threshold (e.g., 30 km / h), the first temperature data may be selected as the ambient temperature of the ultrasonic sensor. If the vehicle speed is less than the vehicle speed threshold, the temperature difference between the first temperature data and the second temperature data may be determined. If the temperature difference between the first temperature data and the second temperature data is less than a temperature difference threshold (e.g., 10°C), the first temperature value may be selected as the ambient temperature. If the temperature difference between the first temperature data and the second temperature data is greater than the temperature difference threshold, the second temperature data may be selected as the ambient temperature.

[0063] The ultrasonic sensor calibration module 310 may perform a calibration operation on the ultrasonic sensor according to the ambient temperature from the ambient temperature determination module 308 .

[0064] For example, the ambient temperature can be used to adaptively adjust the detection threshold of the ultrasonic sensor, thereby achieving stable detection of the ultrasonic sensor.

[0065] This document explains adjusting the detection threshold of the ultrasonic sensor as an example, but those skilled in the art will appreciate that other calibration operations performed on the ultrasonic sensor using the ambient temperature are also within the contemplation of the present application.

[0066] Figure 4 is a diagram of an electronic device for determining the ambient temperature of a vehicle ultrasonic sensor according to aspects of the present application.

[0067] like Figure 4 As shown, electronic device 400 may include memory 402 and processor 404. Memory 402 stores program instructions, and processor 404 may be connected to and communicate with memory 402 via bus 406. Processor 404 may call program instructions in memory 402 to perform the following steps: obtaining first temperature data from an onboard temperature sensor; obtaining second temperature data from an ultrasonic sensor; obtaining vehicle speed data; selecting one of the first temperature data and the second temperature data as the ambient temperature based on the vehicle speed data; and calibrating the ultrasonic sensor using the ambient temperature.

[0068] Optionally, the processor 404 can also call the program instructions in the memory 402 to perform the following steps: determine whether the first temperature data and the second temperature data are valid; if the first temperature data is valid and the second temperature data is invalid, select the first temperature data as the ambient temperature; if the second temperature data is valid and the first temperature data is invalid, select the second temperature data as the ambient temperature; if the first temperature data is invalid and the second temperature data is invalid, select the default temperature as the ambient temperature.

[0069] Optionally, the processor 404 can also call program instructions in the memory 402 to perform the following steps: comparing the vehicle speed with a vehicle speed threshold; if the vehicle speed is greater than the vehicle speed threshold, selecting the first temperature as the ambient temperature; and if the vehicle speed is less than or equal to the vehicle speed threshold, determining the ambient temperature based on the temperature difference between the first temperature data and the second temperature data.

[0070] Optionally, the processor 404 can also call the program instructions in the memory 402 to perform the following steps: comparing the temperature difference with a temperature difference threshold; if the temperature difference is less than or equal to the temperature difference threshold, selecting the first temperature as the ambient temperature; and if the temperature difference is greater than the temperature difference threshold, selecting the second temperature as the ambient temperature.

[0071] The solution proposed in this application for obtaining the ambient temperature of a vehicle's ultrasonic sensor introduces the temperature data output by the ultrasonic sensor in addition to the temperature data sensed by the on-board temperature sensor used in the existing solution. Furthermore, this application uses the vehicle speed to select the temperature data sensed by the on-board temperature sensor or the temperature data output by the ultrasonic sensor as the ambient temperature of the ultrasonic sensor for subsequent calibration operations of the ultrasonic sensor. This application takes into account that when the vehicle speed is high, the temperature data output by the on-board temperature sensor can better represent the ambient temperature of the ultrasonic sensor, while when the vehicle speed is low, the temperature data output by the ultrasonic sensor can better represent the ambient temperature of the ultrasonic sensor. Therefore, when the difference between the temperature output by the on-board temperature sensor and the temperature output by the ultrasonic sensor is large, the temperature data output by the ultrasonic sensor is used as the ambient temperature of the ultrasonic sensor. The applicant has proved through a large number of experiments that the accuracy of calibrating the ultrasonic sensor using the ambient temperature obtained by the solution of this application is high.

[0072] The protection scope of the method for obtaining ambient temperature in intelligent driving described in the present invention is not limited to the execution order of the steps listed in this embodiment. All solutions implemented by adding, reducing, or replacing steps in the prior art based on the principles of the present invention are included in the protection scope of the present invention.

[0073] The description set forth herein in conjunction with the accompanying drawings describes example configurations and does not represent all examples that can be implemented or fall within the scope of the claims. The term "exemplary" as used herein means "serving as an example, instance, or illustration" and does not mean "better than" or "better than other examples." This detailed description includes specific details to provide an understanding of the described techniques. However, these techniques can be practiced without these specific details. In some instances, well-known structures and devices are shown in block diagram form to avoid obscuring the concepts of the described examples.

[0074] The various illustrative blocks and modules described in conjunction with the disclosure herein may be implemented or executed with a general purpose processor, a DSP, an ASIC, an FPGA or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices (e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration).

[0075] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, each function may be stored on or transmitted by a computer-readable medium as one or more instructions or codes. Other examples and implementations fall within the scope of this disclosure and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwiring, or any combination thereof. Features implementing the functions may also be physically located in various locations, including being distributed so that parts of the functions are implemented at different physical locations. In addition, as used herein (including in the claims), "or" used in an enumeration of items (e.g., an enumeration of items with phrases such as "at least one of" or "one or more of") indicates an inclusive enumeration, such that, for example, an enumeration of at least one of A, B, or C means A or B or C or AB or AC or BC or ABC (i.e., A and B and C). Similarly, as used herein, the phrase "based on" should not be interpreted as referring to a closed set of conditions. For example, an exemplary step described as "based on condition A" may be based on both condition A and condition B without departing from the scope of the present disclosure. In other words, as used herein, the phrase "based on" should be interpreted in the same manner as the phrase "based at least in part on."

[0076] Computer-readable media include both non-transient computer storage media and communication media, which include any media that facilitates a computer program to be transferred from one place to another. Non-transient storage media can be any available medium that can be accessed by a general or special-purpose computer. As an example and not limitation, non-transient computer-readable media may include RAM, ROM, electrically erasable programmable read-only memory (EEPROM), compact disc (CD) ROM or other optical disc storage, disk storage or other magnetic storage devices, or any other non-transient medium that can be used to carry or store the desired program code means of an instruction or data structure form and can be accessed by a general or special-purpose computer or a general or special-purpose processor. Any connection is also properly referred to as a computer-readable medium. For example, if software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwaves, then the coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwaves are included in the definition of medium. Disk and disc, as used herein, include CDs, laser discs, optical discs, digital versatile discs (DVDs), floppy disks, and Blu-ray discs, where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above are also included within the scope of computer-readable media.

[0077] The description herein is provided to enable those skilled in the art to make or use the present disclosure. Various modifications to the present disclosure will be apparent to those skilled in the art, and the universal principles defined herein may be applied to other variations without departing from the scope of the present disclosure. Thus, the present disclosure is not limited to the examples and designs described herein, but should be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for intelligent driving, comprising: Acquire first temperature data from a vehicle-mounted temperature sensor; acquiring second temperature data from the ultrasonic sensor; Get the vehicle speed data; comparing the vehicle speed with a vehicle speed threshold; If the vehicle speed is greater than the vehicle speed threshold, selecting the first temperature as the ambient temperature; If the vehicle speed is less than or equal to the vehicle speed threshold, determining the ambient temperature according to a temperature difference between the first temperature data and the second temperature data; as well as Performing a calibration operation on the ultrasonic sensor using the ambient temperature, wherein the method further comprises: determining whether the first temperature data and the second temperature data are valid; If the first temperature data is valid and the second temperature data is invalid, selecting the first temperature data as the ambient temperature; If the second temperature data is valid and the first temperature data is invalid, selecting the second temperature data as the ambient temperature; and If the first temperature data is invalid and the second temperature data is invalid, a default temperature is selected as the ambient temperature.

2. The method of claim 1, further comprising: comparing the temperature difference with a temperature difference threshold; If the temperature difference is less than or equal to the temperature difference threshold, selecting the first temperature as the ambient temperature; as well as If the temperature difference is greater than the temperature difference threshold, the second temperature is selected as the ambient temperature. The method according to claim 1 , wherein the vehicle speed threshold is 30 km / h.

4. A device for intelligent driving, comprising: A module for obtaining first temperature data from a vehicle-mounted temperature sensor; A module for acquiring second temperature data from an ultrasonic sensor; A module for obtaining vehicle speed data; means for comparing the vehicle speed to a vehicle speed threshold; a module for selecting the first temperature as the ambient temperature if the vehicle speed is greater than the vehicle speed threshold; as well as a module for determining the ambient temperature based on a temperature difference between the first temperature data and the second temperature data if the vehicle speed is less than or equal to the vehicle speed threshold; as well as a module for performing a calibration operation on the ultrasonic sensor using the ambient temperature, The device further comprises: a module for determining whether the first temperature data and the second temperature data are valid; a module for selecting the first temperature data as the ambient temperature if the first temperature data is valid and the second temperature data is invalid; means for selecting the second temperature data as the ambient temperature if the second temperature data is valid and the first temperature data is invalid; and means for selecting a default temperature as the ambient temperature if the first temperature data is invalid and the second temperature data is invalid.

5. The apparatus of claim 4, further comprising: means for comparing the temperature difference to a temperature difference threshold; a module for selecting the first temperature as the ambient temperature if the temperature difference is less than or equal to the temperature difference threshold; as well as A module is configured to select the second temperature as the ambient temperature if the temperature difference is greater than the temperature difference threshold. The device according to claim 4 , wherein the vehicle speed threshold is 30 km / h.

7. An electronic device for intelligent driving, comprising a processor and a memory, wherein the memory stores program instructions; the processor executes the program instructions to implement the method for intelligent driving according to any one of claims 1 to 3.

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