Driving assistance system and method for vehicle intersection steering

Abstract

The present disclosure provides a driving assistance system and method for vehicle steering at an intersection. The driving assistance system includes: an information acquisition unit configured to acquire information about multiple vehicles to be steered at an intersection and information about a target object that conflicts with the steering; a calculation unit configured to predict the motion trajectory of the target object based on the information about the target object, and to classify the multiple vehicles to be steered into vehicles that can safely complete the turn or vehicles that cannot safely complete the turn based at least on the predicted motion trajectory of the target object; and an execution unit configured to send assisted driving instructions to the multiple vehicles based on the calculation results.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and more particularly, to a driving assistance system and method for vehicle intersection steering. Background Art

[0002] At intersections without independent left-turn signals, vehicles turning left at intersections are easily affected by oncoming vehicles going straight because left turns and going straight are released at the same time. For vehicles with drivers, although there are also risk factors, the driver can manually judge the impact of oncoming vehicles going straight based on the actual situation and wait for an opportunity to turn left. However, for autonomous vehicles, since the sensors on the left-turning vehicles behind cannot easily detect the situation in the intersection area, multiple vehicles turning at the intersection is a difficult problem for the autonomous driving system. Usually, the vehicle in front detects the free space ahead and passes through on its own. After reaching the intersection, the vehicle behind detects the free space ahead again and passes through on its own. This process is repeated in this order, resulting in low traffic efficiency.

[0003] Therefore, there is a need for a driver assistance system and method for vehicle intersection steering. Summary of the Invention

[0004] One purpose of the present disclosure is to estimate the number of vehicles that can safely complete a turn for multiple turning vehicles, and send the estimated result to subsequent vehicles to be turned, so as to achieve simultaneous turning of multiple vehicles and improve traffic efficiency.

[0005] Therefore, according to a first aspect of the present disclosure, a driving assistance system for vehicle turning at an intersection is provided, the driving assistance system comprising:

[0006] an information acquisition unit configured to acquire information of a plurality of vehicles to be turned at an intersection and information of target objects that conflict with the turning;

[0007] a computing unit configured to predict a motion trajectory of the target object based on the information of the target object, and classify the plurality of vehicles to be turned into vehicles that can safely complete the turn or vehicles that cannot safely complete the turn based at least on the predicted motion trajectory of the target object;

[0008] The execution unit is configured to send assisted driving instructions to the multiple vehicles based on the calculation results.

[0009] In one embodiment, the assisted driving instructions include: sending prompts of one or more of the target speed, target acceleration, target steering angle, target position and target lateral and longitudinal trajectories to the driver of the vehicle that can safely complete the turn or the vehicle that cannot safely complete the turn, and / or sending signals of one or more of the target speed, target acceleration, target steering angle, target position and target lateral and longitudinal trajectories to the control system of the vehicle that can safely complete the turn or the vehicle that cannot safely complete the turn.

[0010] In one embodiment, the information acquisition unit includes any one or a combination of any two or more selected from the following, installed on the vehicle to be steered: a camera, a laser radar, a millimeter-wave radar, and an ultrasonic sensor.

[0011] In one embodiment, the information acquisition unit acquires information of a plurality of vehicles to be turned at an intersection through vehicle-to-vehicle communication.

[0012] In one embodiment, the information acquisition unit is configured to acquire the information of the target object from, for example, road facilities or connected vehicles via a vehicle networking communication device.

[0013] In one embodiment, the information acquisition unit is located on the leading vehicle to be turned or on a road facility.

[0014] In one embodiment, the computing unit is also used to determine one or more of the target speed, target acceleration, target steering angle, target position and target lateral and longitudinal trajectory of the vehicle that can safely complete the turn, and the execution unit sends one or more of the target speed, target acceleration, target steering angle, target position and target lateral and longitudinal trajectory to the vehicle that can safely complete the turn.

[0015] In one embodiment, the vehicles communicate with each other wirelessly, such as via Wi-Fi and / or mobile network.

[0016] In one embodiment, the vehicles determine each other's positions using Global Navigation Satellite System positioning and highly automated driving maps.

[0017] In one embodiment, the target object is selected from one or more of the following: a vehicle, a cyclist, and a pedestrian.

[0018] In one embodiment, the target object information includes the position, velocity and acceleration, or navigation path of the target object.

[0019] In one embodiment, the computing units are on all vehicles to be turned, and preferably the last vehicle that can safely complete the turn is the last vehicle that the computing units of all vehicles determine can safely complete the turn.

[0020] According to a second aspect of the present disclosure, a vehicle is provided, comprising the driving assistance system according to the first aspect of the present disclosure.

[0021] According to a third aspect of the present disclosure, a driving assistance method for vehicle turning at an intersection is provided, the method comprising:

[0022] (1) Obtain information about multiple vehicles to be turned at an intersection and information about target objects that conflict with the turning;

[0023] (2) predicting a motion trajectory of the target object based on the information of the target object, and classifying the plurality of vehicles to be turned into vehicles that can safely complete the turn or vehicles that cannot safely complete the turn based at least on the predicted motion trajectory of the target object;

[0024] (3) Based on the calculation results, sending assisted driving instructions to the multiple vehicles.

[0025] In one embodiment, in (3), the assisted driving instruction includes: sending prompts of one or more of the target speed, target acceleration, target steering angle, target position and target lateral and longitudinal trajectories to the driver of the vehicle that can safely complete the turn or the vehicle that cannot safely complete the turn, and / or sending signals of one or more of the target speed, target acceleration, target steering angle, target position and target lateral and longitudinal trajectories to the control system of the vehicle that can safely complete the turn or the vehicle that cannot safely complete the turn.

[0026] In one embodiment, in (1), the information is obtained by any one or a combination of any two or more of the following sensors installed on the vehicle to be steered: a camera, a laser radar, a millimeter wave radar, and an ultrasonic sensor.

[0027] In one embodiment, in (1), information of multiple vehicles to be turned at an intersection is obtained through vehicle-to-vehicle communication.

[0028] In one embodiment, in (1), the information of the target object is obtained from, for example, road facilities or connected vehicles via a vehicle network communication device.

[0029] In one embodiment, in (1), information is obtained from the foremost vehicle to be turned or from a road facility.

[0030] In one embodiment, in (1), information is obtained from a plurality of vehicles to be turned.

[0031] In one embodiment, one or more of the target speed, target acceleration, target steering angle, target position and target lateral and longitudinal trajectory of the vehicle that can safely complete the turn are also determined in (2), and one or more of the target speed, target acceleration, target steering angle, target position and target lateral and longitudinal trajectory are sent to the vehicle that can safely complete the turn in (3).

[0032] In one embodiment, the vehicles communicate with each other wirelessly, such as via Wi-Fi and / or mobile network.

[0033] In one embodiment, in (1), the vehicles determine each other's positions via global navigation satellite system positioning and highly automated driving maps.

[0034] In one embodiment, in (1), the target object is selected from one or more of the following: a vehicle, a cyclist, and a pedestrian.

[0035] In one embodiment, in (1), the information of the target object includes the position, velocity and acceleration of the target object, or a navigation path.

[0036] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method according to the third aspect of the present disclosure is implemented.

[0037] By utilizing the solution disclosed herein, adjacent pre-turning vehicles are organized into a temporary fleet, and the vehicles in the temporary fleet are divided into vehicles that can safely pass through the intersection and vehicles that cannot safely pass through the intersection. Then, the vehicles that can safely pass through the intersection pass, thereby improving the traffic efficiency of the intersection. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present disclosure may be better understood from the following description of specific embodiments of the present disclosure taken in conjunction with the accompanying drawings, wherein like reference numbers indicate identical or functionally similar elements.

[0039] Figure 1 A schematic diagram of a driving assistance system according to an embodiment of the present disclosure is shown.

[0040] Figure 2 A schematic diagram of an application of a driving assistance system and method according to an embodiment of the present disclosure is shown.

[0041] Figure 3 A flowchart of a driving assistance method according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0042] Hereinafter, embodiments of the present disclosure are described with reference to the accompanying drawings. The following detailed description and the accompanying drawings are used to exemplarily illustrate the principles of the present disclosure, and the present disclosure is not limited to the preferred embodiments described. The scope of the present application is defined by the claims. The present disclosure is now described in detail with reference to exemplary embodiments, and some embodiments are illustrated in the accompanying drawings. The following description is made with reference to the accompanying drawings, and unless otherwise indicated, the same figure numbers in different drawings represent the same or similar elements. The schemes described in the following exemplary embodiments do not represent all schemes of the present disclosure. On the contrary, these schemes are merely examples of systems and methods of various aspects of the present disclosure involved in the appended claims.

[0043] The driving assistance system for vehicle intersection steering according to the present disclosure can be installed on a vehicle or applied to a vehicle. The vehicle can be an internal combustion engine vehicle with an internal combustion engine as a driving source, an electric vehicle or a fuel cell vehicle with an electric motor as a driving source, a hybrid vehicle with the above two as a driving source, or a vehicle with other driving sources. The driving assistance system for vehicle intersection steering according to the present disclosure is preferably applied to a vehicle with a driving assistance, partially automatic driving or fully automatic driving mode. Therefore, the present disclosure relates to a vehicle, preferably a driving assistance, partially automatic driving or fully automatic driving vehicle, which includes the driving assistance system for vehicle intersection steering according to the present disclosure.

[0044] The vehicles with driving assistance, partial automatic driving or fully automatic driving modes described in this article have the following basic characteristics: for example, such vehicles are equipped with multiple sensors or positioning devices, such as cameras, lidar, millimeter wave radar, ultrasonic sensors, vehicle-to-everything (V2X) devices, highly automated driving (HAD) maps, etc. These sensors can detect the environment around the vehicle, such as surrounding objects, obstacles, infrastructure, etc.; these vehicles can detect the position of the vehicle to be turned through the global navigation satellite system (GNSS) and one or a combination of sensor detection results and highly automated driving maps; these vehicles can obtain new navigation paths through online servers; these vehicles can plan the route to be traveled based on perception and position results; such vehicles can also send control signals to the power system, steering system, braking system, etc. based on the planned route.

[0045] Figure 1 Schematic diagram of a driving assistance system for vehicle intersection steering according to an embodiment of the present disclosure is shown. Figure 1 As shown, the driving assistance system 100 for vehicle intersection steering includes an information acquisition unit 110 , a calculation unit 120 and an execution unit 130 .

[0046] like Figure 1As shown, the information acquisition unit 110 is configured to acquire information about multiple vehicles to be steered at an intersection and information about target objects that conflict with the steering. The target objects may be moving and / or stationary. In one example, the target objects are selected from one or more of the following: vehicles, cyclists, and pedestrians. In one example, the target object information includes the target object's position, velocity, and acceleration. The velocity and acceleration of the stationary target object are zero. In a preferred example, if contact can be established with the target object, the target object information also includes its navigation information, which can be used to predict its motion trajectory. The vehicles to be steered include the frontmost vehicle to be steered and the rear vehicle to be steered, all turning in the same direction, such as left or right. The vehicles to be steered may be in the same lane or in different lanes, as determined by road signs. In one example, the vehicles determine each other's positions using global navigation satellite system positioning and a highly automated driving map. In one example, the information acquisition unit 110 includes any one or a combination of the following sensors installed on the vehicles to be steered: a camera, a lidar, a millimeter-wave radar, or an ultrasonic sensor. In one example, the information acquisition unit 110 acquires information about a plurality of vehicles to be turned at an intersection through vehicle-to-vehicle (V2V) communication. In one example, the information acquisition unit 110 is configured to acquire information about the target object from, for example, road facilities or connected vehicles through vehicle-to-vehicle communication. Therefore, the information acquisition unit 110 may be located on the front vehicle to be turned or may be located on road facilities. In one example, the information acquisition unit 110 is located on a plurality of vehicles to be turned. In one example, the vehicles communicate with each other wirelessly, such as through Wi-Fi and / or mobile networks.

[0047] For each of the multiple vehicles, the information acquisition unit 110 establishes contact with all vehicles preceding the vehicle, and all of them confirm joining the coordinated turn queue at the intersection. If the information acquisition unit 110 cannot establish contact with a vehicle, or a vehicle does not confirm joining the coordinated turn queue at the intersection, the subsequent vehicles are excluded from the coordinated turn queue at the intersection.

[0048] like Figure 1As shown, the computing unit 120 is configured to predict the target object's trajectory based on information about the target object, and, based at least on the predicted target object's trajectory, classify the multiple vehicles to be turned into vehicles that can safely complete the turn or vehicles that cannot. Whether a vehicle can safely complete the turn can be determined by whether the trajectory overlaps with the predicted target object's trajectory. If there is no overlap, an appropriate path and acceleration are selected to ensure that as many vehicles as possible can safely complete the turn. The vehicles that can safely complete the turn are the first several vehicles in the queue, while the remaining vehicles are vehicles that cannot safely complete the turn. In one example, the computing unit 120 is further configured to determine one or more of a target speed, target acceleration, target steering angle, target position, and target transverse and longitudinal trajectory for the vehicles that can safely complete the turn. The execution unit 130 transmits one or more of the target speed, target acceleration, target steering angle, target position, and target transverse and longitudinal trajectory to the vehicles that can safely complete the turn. In one example, the computing unit 120 is present on all vehicles to be turned. The last vehicle that can safely complete the turn is the last vehicle that the computing units 120 on all vehicles determine can safely complete the turn. The other vehicles are determined to be vehicles that cannot complete the turn safely. After the first batch of vehicles turns, the remaining vehicles can use the information acquisition unit 110 to restart the next round of information acquisition process.

[0049] like Figure 1As shown, the execution unit 130 is configured to send assisted driving instructions to the multiple vehicles based on the calculation results of the calculation unit 120. For the vehicles that can safely complete the turn and the vehicles that cannot safely complete the turn, one or more of their target speed, target acceleration, target steering angle, target position, and target transverse and longitudinal trajectory are different. Therefore, in one example, the assisted driving instructions include sending information on one or more of the target speed, target acceleration, target steering angle, target position, and target transverse and longitudinal trajectory to the vehicles that can safely complete the turn and the vehicles that cannot safely complete the turn, respectively. The multiple vehicles may include manually driven vehicles and / or vehicles with driver assistance, partially automated driving, or fully automated driving. Therefore, in one example, the assisted driving instructions include: sending prompts on one or more of the target speed, target acceleration, target steering angle, target position, and target transverse and longitudinal trajectory to the drivers of the vehicles that can safely complete the turn and the vehicles that cannot safely complete the turn, and / or sending signals on one or more of the target speed, target acceleration, target steering angle, target position, and target transverse and longitudinal trajectory to the control systems of the vehicles that can safely complete the turn and the vehicles that cannot safely complete the turn. In one example, for a vehicle that can safely complete a turn, the system automatically controls the steering wheel and the powertrain based on the target acceleration to allow the vehicle to reach the other side of the intersection along a predetermined path. In another example, for a vehicle that cannot safely complete a turn, the system automatically controls the steering wheel, powertrain, and braking system to allow the vehicle to reach the stop line along a predetermined path.

[0050] In addition, it should be understood that each unit in the vehicle driving assistance system 100 can be implemented in whole or in part through software, hardware, or a combination thereof. Each of the above units can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in the computer device in the form of software so that the processor can call and execute the corresponding operations of each of the above units.

[0051] Those skilled in the art will understand that Figure 1 The schematic diagram of the vehicle driving assistance system 100 shown in the figure is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0052] refer to Figure 2, which shows an application diagram of a driving assistance system and method according to one embodiment of the present disclosure. Vehicles 1-3 plan to turn left at an intersection, and the oncoming straight-moving vehicle 0 is a target object with which the turn is in conflict. An information acquisition unit located on vehicle 1 is used to acquire information about multiple vehicles 2-3 planning to turn left at the intersection, as well as information about vehicle 0 with which the turn is in conflict. The information acquisition unit establishes communication with vehicles 2-3, and each of vehicles 1-3 determines to join a queue for coordinated turning at the intersection. Information about vehicle 0 includes its position, speed, and acceleration, or a navigation path. The motion trajectory of the target object is predicted based on its position, speed, and acceleration. If communication with vehicle 0 is established, its navigation information can be obtained, and the motion trajectory of vehicle 0 can be predicted using this navigation information. Based on the predicted motion trajectory of vehicle 0, vehicles 1-3 planning to turn left are classified as vehicles 1 and 2 that can safely complete the turn, and vehicle 3 that cannot. Assisted driving instructions include sending one or more of the following information: target speed, target acceleration, target steering angle, target position, and target lateral and longitudinal trajectory to vehicles 1 and 2 that can safely complete the turn, and vehicle 3 that cannot safely complete the turn. For vehicles 1 and 2 that can safely complete the turn, the steering wheel is automatically controlled, and the power system is automatically controlled based on the target acceleration value, so that the vehicle reaches the other side of the intersection along the predetermined path. For vehicle 3 that cannot safely complete the turn, the steering wheel, power system, and braking system are automatically controlled so that the vehicle reaches the stop line mark along the predetermined path.

[0053] Hereinafter, a driving assistance method for vehicle intersection turning according to an embodiment of the present disclosure will be described with reference to the accompanying drawings. Figure 3 1 is a flowchart illustrating a driving assistance method S100 for vehicle intersection steering according to an embodiment of the present disclosure. The driving assistance method S100 for vehicle intersection steering can be executed by the aforementioned driving assistance system 100 for vehicle intersection steering.

[0054] like Figure 3As shown, in S110, information about multiple vehicles to be turned at an intersection and information about target objects that conflict with the turn are obtained. As described above, the target objects can be moving and / or stationary objects. In one example, the target objects can be selected from one or more of the following: vehicles, cyclists, and pedestrians. In one example, the target object information includes the target object's position, velocity, and acceleration. The velocity and acceleration of the stationary target object are zero. In a preferred example, if contact can be established with the target object, the target object information also includes its navigation information, which can be used to predict its motion trajectory. The vehicles to be turned include the frontmost vehicle to be turned and the rear vehicle to be turned, all of which are turning in the same direction, such as left or right. In one example, the information about the multiple vehicles to be turned at an intersection can be obtained using any one or a combination of the following sensors installed on the vehicles to be turned: a camera, a lidar, a millimeter-wave radar, and an ultrasonic sensor. In one example, the information about the multiple vehicles to be turned at an intersection can be obtained through vehicle-to-vehicle communication. In one example, the target object information may be acquired from, for example, road facilities or connected vehicles via a vehicle networking communication device.

[0055] For each of the plurality of vehicles, all vehicles preceding the vehicle are confirmed to join the queue for coordinated turning at the intersection. If communication with a vehicle cannot be established, or a vehicle does not confirm joining the queue for coordinated turning at the intersection, then the subsequent vehicles are excluded from the queue for coordinated turning at the intersection.

[0056] At S120, the target object's trajectory is predicted based on the target object's information, and based at least on the predicted target object's trajectory, the multiple vehicles to be steered are classified as either vehicles that can safely complete the turn or vehicles that cannot. Whether a vehicle can safely complete the turn can be determined by whether it overlaps with the predicted target object's trajectory. If there is no overlap, an appropriate path and acceleration are selected to ensure that as many vehicles as possible can safely complete the turn. The vehicles that can safely complete the turn are the first several vehicles in the queue, while the remaining vehicles are vehicles that cannot safely complete the turn. In one example, S120 may also determine one or more of a target speed, target acceleration, target steering angle, target position, and target transverse and longitudinal trajectory for the vehicles that can safely complete the turn. Subsequently, in S130, one or more of the target speed, target acceleration, target steering angle, target position, and target transverse and longitudinal trajectory are transmitted to the vehicles that can safely complete the turn. In one example, calculations are performed separately on all vehicles to be steered to classify the multiple vehicles to be steered as either vehicles that can safely complete the turn or vehicles that cannot safely complete the turn. The last vehicle that can safely complete the turn is the last vehicle that all vehicles have determined to be able to safely complete the turn. Other vehicles are determined to be vehicles that cannot safely complete the turn. These vehicles can restart the next round of information acquisition process S110 after the first batch of turning vehicles have turned.

[0057] In S130, based on the calculation results, assisted driving instructions are sent to the multiple vehicles. For the vehicles that can safely complete the turn and the vehicles that cannot safely complete the turn, one or more of their target speeds, target accelerations, target steering angles, target positions, and target transverse and longitudinal trajectories are different. Therefore, in one example, the assisted driving instructions include sending information about one or more of the target speeds, target accelerations, target steering angles, target positions, and target transverse and longitudinal trajectories to the vehicles that can safely complete the turn and the vehicles that cannot safely complete the turn, respectively. The multiple vehicles may include manually driven vehicles and / or vehicles with driver assistance, partially automated driving, or fully automated driving. Therefore, in one example, the assisted driving instructions include sending prompts about one or more of the target speeds, target accelerations, target steering angles, target positions, and target transverse and longitudinal trajectories to the drivers of the vehicles that can safely complete the turn and the vehicles that cannot safely complete the turn, and / or sending signals about one or more of the target speeds, target accelerations, target steering angles, target positions, and target transverse and longitudinal trajectories to the control systems of the vehicles that can safely complete the turn and the vehicles that cannot safely complete the turn. In one example, for a vehicle that can safely complete a turn, the system automatically controls the steering wheel and the powertrain based on the target acceleration to allow the vehicle to reach the other side of the intersection along a predetermined path. In another example, for a vehicle that cannot safely complete a turn, the system automatically controls the steering wheel, powertrain, and braking system to allow the vehicle to reach the stop line along a predetermined path.

[0058] The present disclosure further provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements any of the methods described above when executed by a processor. It will be understood by those skilled in the art that all or part of the steps in the method according to the above-mentioned embodiments of the present disclosure can be instructed by a computer program to be completed by the relevant hardware, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the steps of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the various embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory.

[0059] Those skilled in the art should understand that the division and order of the various steps in the driving assistance method for vehicle intersection steering disclosed in the present invention are merely illustrative and not restrictive, and those skilled in the art may make deletions, additions, substitutions, modifications and changes without departing from the spirit and scope of the present disclosure as set forth in the attached claims and their equivalent technical solutions.

[0060] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0061] Although the present disclosure has been described in conjunction with the embodiments, it should be understood by those skilled in the art that the above description and the accompanying drawings are only exemplary and non-restrictive, and the present disclosure is not limited to the disclosed embodiments. Various modifications and variations are possible without departing from the spirit of the present disclosure.

Claims

1. A driving assistance system for vehicle steering at an intersection, characterized in that: The driving assistance system includes: an information acquisition unit configured to acquire information of a plurality of vehicles to be turned at an intersection and information of target objects that conflict with the turning; a computing unit configured to predict a motion trajectory of the target object based on the information of the target object, and classify the plurality of vehicles to be turned into vehicles that can safely complete the turn or vehicles that cannot safely complete the turn based at least on the predicted motion trajectory of the target object; The execution unit is configured to send assisted driving instructions to the multiple vehicles to be steered based on the calculation results of the calculation unit.

2. The driving assistance system according to claim 1, characterized in that: The assisted driving instructions include: sending prompts of one or more of the target speed, target acceleration, target steering angle, target position and target lateral and longitudinal trajectories to the driver of the vehicle that can safely complete the turn or the vehicle that cannot safely complete the turn, and / or sending signals of one or more of the target speed, target acceleration, target steering angle, target position and target lateral and longitudinal trajectories to the control system of the vehicle that can safely complete the turn or the vehicle that cannot safely complete the turn.

3. The driving assistance system according to claim 1 or 2, characterized in that: The information acquisition unit includes any one or a combination of the following installed on the vehicle to be steered: a camera device, a laser radar, a millimeter wave radar, and an ultrasonic sensor.

4. The driving assistance system according to claim 1 or 2, characterized in that: The information acquisition unit is configured to acquire information of the target object from road facilities or connected vehicles through a vehicle network communication device.

5. The driving assistance system according to claim 1 or 2, characterized in that: The calculation unit is further used to determine one or more of a target speed, a target acceleration, a target steering angle, a target position, and a target lateral and longitudinal trajectory of the vehicle that can safely complete the turn, and the execution unit sends one or more of the target speed, target acceleration, target steering angle, target position, and target lateral and longitudinal trajectory to the vehicle that can safely complete the turn.

6. The driving assistance system according to claim 1 or 2, characterized in that: The vehicles communicate with each other wirelessly, and the wireless method includes at least Wi-Fi and / or mobile network.

7. A vehicle, characterized in that: The vehicle comprises a driving assistance system according to any one of claims 1-6.

8. A driving assistance method for vehicle turning at an intersection, characterized in that: The method comprises: (1) Obtain information about multiple vehicles to be turned at an intersection and information about target objects that conflict with the turning; (2) using a computing unit to predict a motion trajectory of the target object based on information about the target object, and classifying the plurality of vehicles to be turned into vehicles that can safely complete the turn or vehicles that cannot safely complete the turn based at least on the predicted motion trajectory of the target object; (3) Based on the calculation results of the calculation unit, an assisted driving instruction is sent to the multiple vehicles to be steered.

9. The method according to claim 8, characterized in that In (3), the assisted driving instruction includes: sending a prompt of one or more of the target speed, target acceleration, target steering angle, target position and target transverse and longitudinal trajectory to the driver of the vehicle that can safely complete the turn or the vehicle that cannot safely complete the turn, and / or sending a signal of one or more of the target speed, target acceleration, target steering angle, target position and target transverse and longitudinal trajectory to the control system of the vehicle that can safely complete the turn or the vehicle that cannot safely complete the turn.

10. The method according to claim 8 or 9, characterized in that In (1), the information is obtained by any one or a combination of any two or more of the following sensors installed on the vehicle to be steered: a camera, a laser radar, a millimeter wave radar, and an ultrasonic sensor.

11. The method according to claim 8 or 9, characterized in that In (1), information about multiple vehicles waiting to turn at an intersection is obtained through vehicle-to-vehicle communication.

12. The method according to claim 8 or 9, characterized in that In (2), the computing unit is also used to determine one or more of a target speed, a target acceleration, a target steering angle, a target position, and a target transverse and longitudinal trajectory of the vehicle that can safely complete the turn, and in (3), the target speed, target acceleration, target steering angle, target position, and target transverse and longitudinal trajectory are sent to the vehicle that can safely complete the turn.

13. The method according to claim 8 or 9, characterized in that In (1), the vehicles communicate with each other via wireless means, and the wireless means at least includes Wi-Fi and / or mobile network.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the computer program implements the method according to any one of claims 8 to 13.

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