A method of and a system for assisting the driving of a vehicle

Abstract

The application discloses an assisting method and system for vehicle driving, which comprises the following steps: determining whether the vehicle speed is greater than a first speed threshold during the driving of the vehicle; if the vehicle speed is greater than the first speed threshold, determining whether the road ahead is rough; and selectively performing a safety operation in response to the rough road ahead.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle driving assistance, in particular to a vehicle driving assistance method and system. BACKGROUND

[0002] With the development of social economy, the automobile as one of the commonly used means of transportation occupies a very important position in people's daily travel.

[0003] With the popularity of home cars, the travel convenience of the elderly and children at home has been greatly improved. When the elderly and children use public transportation tools such as buses and subways, the passengers in the carriages are often very crowded, and the public transportation tools often start and brake suddenly. These situations are very easy to cause the elderly and children, who are not as good as young people in physical fitness and reaction ability, to fall down.

[0004] However, when the elderly and children travel by car, if they encounter a rough road with potholes and the like at a high speed, the driver can quickly avoid or straighten out with difficulty according to experience, but either choice will greatly affect the travel experience of the elderly and children in the car, and even the sudden change of direction will make the elderly or children hit the door frame, chair back and other objects in the car, and the sudden jolt will make the elderly or children feel uncomfortable inside, thereby causing dizziness, vomiting and other adverse reactions.

[0005] Of course, even if there are no children or elderly people in the car, when encountering a rough road with potholes or the like in front, quickly avoiding or straightening out will also cause some damage to the owner's car, such as damaging the chassis or tires, thereby causing economic losses.

[0006] In summary, a vehicle driving assistance method and system are needed to intelligently remind the driver of the rough road ahead and prepare the driver. SUMMARY

[0007] The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.

[0008] As described above, in the existing vehicle driving technology, when encountering a rough road section with potholes in front, the driver often chooses to quickly avoid or straighten out, but either choice will greatly affect the ride experience of the elderly and children in the vehicle, and even cause them to be injured externally or uncomfortable internally.

[0009] To solve the above problems, the present application provides a vehicle driving assistance method, which includes the following steps: determining whether the vehicle speed is greater than a first speed threshold during vehicle driving; if the vehicle speed is greater than the first speed threshold, determining whether the road ahead is rough; and selectively performing a safety operation in response to the road ahead being rough.

[0010] In an embodiment, the selectively performing a safety operation in response to the road ahead being rough includes: determining whether the vehicle speed is greater than a second speed threshold, the second speed threshold being greater than the first speed threshold; if the vehicle speed is greater than the first speed threshold and less than the second speed threshold, performing the safety operation in response to detecting an elderly person or a child in the vehicle, and not performing the safety operation in response to not detecting an elderly person or a child in the vehicle.

[0011] In an embodiment, if the vehicle speed is greater than the second speed threshold, determining whether the road ahead is rough, and performing the safety operation in response to the road ahead being rough.

[0012] In an embodiment, the safety operation includes: determining whether there are other lanes around the current lane; if there are other lanes around the current lane, and there are no other vehicles behind the other lanes, controlling the vehicle to perform a lane change operation.

[0013] In an embodiment, the safety operation includes: determining whether there are other lanes around the current lane; if there are no other lanes around the current lane or there are other lanes around the current lane, but there are other vehicles behind the other lanes, controlling the vehicle to perform a speed reduction operation.

[0014] In an embodiment, the speed reduction operation includes controlling the speed of the vehicle to be reduced to below the first speed threshold.

[0015] In an embodiment, it further includes: determining whether there are elderly persons or children in the vehicle through image recognition.

[0016] In an embodiment, the first speed threshold is 15 km / h, and the second speed threshold is 30 km / h.

[0017] In an embodiment, the judging whether the road ahead is rough includes judging whether there is a pothole in a preset distance range ahead, wherein the preset distance range is related to the current vehicle speed, and the greater the vehicle speed, the farther the preset distance range.

[0018] In an embodiment, the second distance range ahead is greater than the first distance range ahead, the first distance range ahead is 30 meters, and the second distance range ahead is 50 meters.

[0019] To solve the above problems, another aspect of the present application provides a vehicle driving assistance system, which comprises a processor, and the processor executes the vehicle driving assistance method of any one of the above.

[0020] To solve the above problems, another aspect of the present application also provides a computer readable storage medium, which stores computer instructions, and the computer instructions are executed by a processor to implement the vehicle driving assistance method of any one of the above.

[0021] The present application provides a vehicle driving assistance method, which selectively executes a safety operation by setting different vehicle speed thresholds and different standards for judging whether the road ahead is rough at different vehicle speed thresholds. In particular, the presence of an old person or a child in the vehicle can be detected by image recognition before the vehicle starts. When an old person or a child is detected in the vehicle, the vehicle preferentially executes a lane-changing safety operation when the vehicle speed is greater than a first speed threshold and less than a second speed threshold. When no old person or child is detected in the vehicle, the vehicle preferentially executes a speed-reducing safety operation when the vehicle speed is greater than the first speed threshold and less than the second speed threshold.

[0022] The vehicle driving assistance method and system provided by the present application can help the driver to make the optimal safety operation in time by judging the pothole condition of the road within a certain distance ahead in advance and providing the optimal safety operation to the driver, and are especially suitable for the case where there is an old person or a child in the vehicle, thereby avoiding the old person or the child in the vehicle from being bumped. BRIEF DESCRIPTION OF DRAWINGS

[0023] The above features and advantages of the present application can be better understood after reading the detailed description of embodiments of the present application in conjunction with the following drawings.

[0024] Figure 1 is a flowchart of an embodiment of a vehicle driving assistance method according to an aspect of the present application;

[0025] Figure 2 is a flowchart of another embodiment of a vehicle driving assistance method according to an aspect of the present application;

[0026] Figure 3is a flowchart of another embodiment of a vehicle driving assistance method according to an aspect of the present invention;

[0027] Figure 4 is a flowchart of yet another embodiment of a vehicle driving assistance method according to an aspect of the present invention; and

[0028] Figure 5 is a schematic diagram of a vehicle driving assistance system according to an aspect of the present invention. DETAILED DESCRIPTION

[0029] Other advantages and effects of the present application will be easily understood by those skilled in the art from the following description of specific embodiments of the present application. Although the description of the present application will be introduced in connection with preferred embodiments, this does not mean that the features of the present application are limited to those embodiments. On the contrary, the purpose of introducing the present application in connection with the embodiments is to cover other alternatives or modifications that can be extended based on the claims of the present application. In order to provide a deep understanding of the present application, many specific details will be included in the following description. The present application can also be implemented without using these details. In addition, in order to avoid confusion or obscure the focus of the present application, some specific details will be omitted in the description.

[0030] It is understood that although the terms "first", "second", "third", etc. can be used herein to describe various components, regions, layers and / or parts, these components, regions, layers and / or parts should not be limited by these terms, and these terms are only used to distinguish different components, regions, layers and / or parts. Therefore, the first components, regions, layers and / or parts discussed below can be referred to as the second components, regions, layers and / or parts without deviating from some embodiments of the present application.

[0031] In the prior art, when the car is fast driving with an old person or a child in the car, if a rough road section such as a pothole is encountered in front, the driver can quickly avoid or straighten out with difficulty according to experience. However, whichever option is chosen, the rapid change of direction or the sudden jolt will greatly affect the ride feeling of the old person or the child in the car, and even the rapid change of direction can make the old person or the child hit the door frame, chair back and other objects in the car, and the sudden jolt can easily cause the old person or the child to feel uncomfortable directly in the body, thereby causing adverse reactions such as car sickness and vomiting.

[0032] According to an aspect of the present application, the present application provides a vehicle driving assistance method that can solve the above-mentioned problems existing in the prior art and make the old person or the child safer during driving. For details, please refer to Figure 1 , Figure 1 is a flowchart of another embodiment of a vehicle driving assistance method according to an aspect of the present invention;

[0033] In Figure 1 In an embodiment of the vehicle driving assistance method 100, the vehicle driving assistance method 100 comprises:

[0034] S110: determining whether the vehicle speed is greater than a first speed threshold during the driving of the vehicle;

[0035] S120: in response to the vehicle speed being greater than the first speed threshold, determining whether the road ahead is rough;

[0036] S130: in response to the road ahead being rough, selectively performing a safety operation.

[0037] The vehicle driving assistance method 100 in this embodiment is mainly a method for intelligently reminding the driver of the rough road ahead. During the driving of the vehicle, the vehicle speed affects the intelligent judgment of many intelligent vehicle systems. For the vehicle driving assistance method 100 in this embodiment, the faster the vehicle speed, the more likely it is to cause problems due to the vehicle's inability to avoid in time when encountering a rough road or a pothole. Even in this case, the driver can quickly avoid it based on experience, but for passengers in the vehicle, especially the elderly or children, it will cause an uncomfortable driving experience, and even cause injuries such as bumps during driving.

[0038] In the first step S110 of the vehicle driving assistance method 100 in this embodiment, it is first determined whether the current vehicle speed is greater than a first speed threshold. The first speed threshold is a relatively safe driving speed that can respond in time even if some unexpected situations are encountered afterwards. In this embodiment, the first speed threshold is set to 15 km / h.

[0039] In the second step S120 of the vehicle driving assistance method 100 in this embodiment, when the vehicle speed at this time is greater than the first speed threshold, it is determined whether the road ahead is rough.

[0040] There are many methods for determining whether the road ahead is rough or has a pothole.

[0041] In this embodiment, a sensor and camera combined road pothole detection technology is used. This road pothole detection system uses sensors installed on the bottom of the vehicle to scan the road ahead. When a pothole or a significant mound or small slope is found, the system will analyze the severity of the pothole or protrusion to ensure that an optimal solution is obtained to allow the vehicle to pass smoothly.

[0042] In order to know the road conditions in front of the vehicle in advance, the road bump detection technology needs to determine whether there is a bump or other uneven road condition within a certain preset distance in front of the vehicle. The road bump detection system obtains the road conditions of the road section in front of the vehicle by installing a forward stereo digital camera at the front of the vehicle bottom. The camera can capture the road within a certain distance in front of the vehicle, and the road unevenness analysis algorithm in the vehicle driving assistance system analyzes the road image captured within a certain distance in front of the vehicle.

[0043] The road unevenness analysis algorithm in the vehicle driving assistance system displays different colors for different flatness regions of the road within a certain distance in front of the vehicle. When the obtained front road analysis diagram shows a pit, and the diameter of the pit is greater than a first width preset threshold and the depth of the pit is greater than a first depth preset threshold, the algorithm determines that there is a bump on the road within a certain distance in front of the vehicle, and recommends taking a risk-avoiding operation. When the obtained front road analysis diagram shows a protruding region, and the diameter of the protruding region is greater than a second width preset threshold and the height of the protruding region is greater than a second height preset threshold, the algorithm determines that there is a significant protruding region on the road within a certain distance in front of the vehicle, and recommends taking a risk-avoiding operation.

[0044] In this embodiment, the bump or protruding region of the road within a first distance range in front of the vehicle is determined, wherein the first distance range is 30 meters.

[0045] In other embodiments, road bump detection can also be performed based on high-speed line scanning digital cameras and laser illumination technology, road bump detection can also be performed based on thermal imaging technology, or road bump detection can also be performed based on 3D laser scanning technology.

[0046] The road rapid detection system based on high-speed line scanning digital cameras and laser illumination technology is used for road damage detection, bump detection, auxiliary lighting, image recognition, etc., and its main technical feature is the use of photography technology and infrared laser illumination technology, which can provide more stable image quality. Representative detection systems of this type include the LRIS system produced by the Canadian INO company and the multifunctional road condition detection system produced by the American ICC company. The LRIS system of the INO company uses two high-speed, high-resolution line array cameras and two sets of high-power line laser sources to perform synchronous acquisition according to a cross-symmetrical optical structure. The two line array cameras can cover a road surface nearly 4m wide, and at a working speed of 100km / h, the minimum horizontal resolution of the captured image can reach 0.5mm.

[0047] The road damage and pothole detection system based on thermal imaging technology adopts an infrared thermal imaging camera to collect images, and the main technical features are as follows: compared with the intact road surface, the pothole has a smaller reflectivity, and the surface temperature of the pothole is greatly different from that of the intact road surface, thus forming a strong contrast between the two images. Since the road texture information in the infrared image is weak, the image processing algorithm is relatively simple. The disadvantage is that the cost of the infrared thermal imaging camera is high, and the image collection rate and resolution need to be improved.

[0048] The road pothole detection system based on 3D laser scanning technology adopts 3D laser scanning technology to obtain the fine 3D profile of the road. The system uses a line laser to directly irradiate the road surface, uses a surface array camera to shoot the projection of the laser line on the road surface, and then obtains the height difference of each point on the road surface through an image processing algorithm. The 3D laser scanning technology has the characteristics that the obtained image is a point cloud set of the road surface, and does not contain complex texture or color information, which facilitates the subsequent image processing.

[0049] In addition to the above-mentioned methods, there are many methods for judging whether the road ahead is rough and uneven, and the method is not limited to the methods mentioned in the present application.

[0050] In the third step S130 of the vehicle driving assistance method 100 of the present embodiment, when it is detected that there is uneven road surface such as a pothole in a certain distance range ahead, the assistance system selectively performs an evasive operation.

[0051] For details, please refer to Figure 2 , Figure 2 is a flowchart of another embodiment of a vehicle driving assistance method according to an aspect of the present application.

[0052] Figure 2 The embodiment of Figure 1 further supplements and optimizes S130 in the vehicle driving assistance method 100 of the embodiment in

[0053] For S130 in the vehicle driving assistance method 100, in response to the roughness of the road ahead, an evasive operation is selectively performed, which specifically includes:

[0054] S131: determining whether the vehicle speed is greater than a second speed threshold;

[0055] S1320: in response to the vehicle speed being greater than the second speed threshold, determining whether the road ahead is rough;

[0056] S133: in response to the roughness of the road ahead, performing an evasive operation.

[0057] In Figure 2In the first step S131 of selectively performing the safety operation S130 of the embodiment, it is firstly determined whether the vehicle speed is greater than a second speed threshold. The second speed threshold is greater than the first speed threshold described above. The first speed threshold is a relatively safe driving speed. The second speed threshold is further increased on the basis of the first speed threshold. Because the user does not often encounter road emergencies in the daily driving process, or because of time constraints, it is often impossible to maintain a relatively slow driving speed of the first speed threshold 15 km / h. When encountering a generally flat road, the user often increases the driving speed.

[0058] The second speed threshold is a relatively safe driving speed in general conditions, but it is not easy to deal with emergencies. For the elderly or children, it is a relatively fast driving speed. That is, when the car is driving at the first speed threshold, if the driver finds that the road ahead has a pothole or protruding area and wants to take safety measures to suddenly turn, the elderly or children in the car will not feel uncomfortable or be bumped because of the sudden speed change. When the car is driving at the second speed threshold, if the driver finds that the road ahead has a pothole or protruding area and wants to take safety measures to suddenly turn, the elderly or children in the car may feel uncomfortable or be bumped because of the sudden speed change. In this embodiment, the second speed threshold is set to 30 km / h.

[0059] In the second step S1320 of selectively performing the safety operation S130 of the embodiment, when the vehicle speed is greater than the second speed threshold, it is determined whether the road in a certain distance ahead is rough. Figure 2 In the second step S1320 of selectively performing the safety operation S130 of the embodiment, when the vehicle speed is greater than the second speed threshold, it is determined whether the road in a certain distance ahead is rough.

[0060] In this embodiment, determining whether the road ahead is rough includes determining whether there is a pothole in a predetermined distance range ahead, wherein the predetermined distance range is related to the current vehicle speed. The greater the vehicle speed, the farther the predetermined distance range. Because the greater the vehicle speed, the shorter the reaction time left for the driver when encountering a pothole or protrusion ahead, and the more difficult it is for the driver to avoid these rough road sections, the farther the predetermined distance range is needed to give the driver enough time to choose the safety measures to be taken. When the vehicle speed is slow, under the same conditions, the slow speed leaves the driver a certain reaction time, and even if the driver chooses to take safety measures, it will not be a very sudden change in the current driving state.

[0061] In this embodiment, because the second speed threshold is a further expansion of the first speed threshold, the second speed threshold is greater than the first speed threshold. Therefore, when the vehicle speed is greater than the second speed threshold, it is necessary to determine whether the road in the second distance range ahead is rough. The second distance range corresponding to the second speed threshold is greater than the first distance range corresponding to the first speed threshold. In this embodiment, the first distance range is 30 km, and the second distance range is 50 km.

[0062] Therefore, when the vehicle speed is greater than the first speed threshold of 15 km / h, the road bump condition in the first distance range of 30 m ahead is determined; when the vehicle speed is greater than the first speed threshold of 15 km / h and also greater than the second speed threshold of 30 km / h, the road bump condition in the second distance range of 50 m ahead is determined for safety.

[0063] In Figure 2 In the third step S133 of selectively performing the risk avoidance operation S130 of the embodiment, the vehicle driving assistance system selects to perform the risk avoidance operation in response to the roughness of the road in the second distance range of 50 m ahead.

[0064] The risk avoidance operation mainly includes lane changing and deceleration avoidance. First, it is determined whether there are other lanes around the current lane. In this embodiment, the detection and determination of the nearby lanes are performed by the vehicle driving assistance system.

[0065] If it is determined that there are other lanes around the current lane, and there are no other vehicles in the rear of the other lanes within a preset distance range, the vehicle performs a lane changing operation.

[0066] The preset distance range here is related to the current vehicle speed. The greater the vehicle speed, the farther the preset distance range is set. Because when the vehicle performs a lane changing operation at the current vehicle speed, the greater the vehicle speed, if there is another vehicle in front within a certain distance range behind the other road, the reaction time left for the driver is less. Therefore, the greater the vehicle speed, the farther the preset distance range needs to be, so as to give the driver enough time to safely perform the lane changing operation.

[0067] The vehicle driving assistance system can determine multiple other lanes near the current lane and select an other lane with the shortest distance from the current lane and the shortest distance from the destination to turn into.

[0068] If it is determined that there are no other lanes around the current lane, or if there are other lanes around the current lane but other vehicles are within a preset distance range behind those other lanes, the vehicle cannot perform a lane change operation and instead performs a deceleration operation to avoid danger. This deceleration operation refers to the vehicle's driving assistance system controlling the vehicle's speed to decrease to below a first speed threshold. In this embodiment, the deceleration operation is to reduce the vehicle speed to below 15 km / h. Because the first speed threshold is a driving speed that can be responded to in time even in the event of an emergency, when the vehicle decelerates to below the first speed threshold in advance, it can slowly and smoothly pass through potholes within a second distance range of 50m ahead.

[0069] Please refer to Figure 3 , Figure 3 This is a flowchart illustrating another embodiment of a vehicle driving assistance method according to one aspect of the present invention.

[0070] Figure 3 The embodiments are Figure 1 S130 in the vehicle driving assistance method 100 of the embodiment is different from... Figure 2 Further optimizations to the embodiments.

[0071] In the vehicle driving assistance method 100, S130, in response to uneven road conditions ahead, selectively performs hazard avoidance operations, specifically including:

[0072] S131: Determine if the vehicle speed is greater than the second speed threshold;

[0073] S1321: In response to a vehicle speed greater than a first speed threshold and less than a second speed threshold, determine whether there are elderly people or children in the vehicle;

[0074] S133: In response to the presence of elderly people or children in the vehicle, perform evasive maneuvers.

[0075] Figure 3 The embodiment selectively executes the first step S131 of the risk avoidance operation S130 and Figure 2 The selective execution of the avoidance operation S130 in the embodiment is the same as the first step S131. If it is determined that the vehicle speed is greater than the first speed threshold of 15 km / h, it is further determined whether the vehicle speed is greater than the second speed threshold of 30 km / h.

[0076] exist Figure 3 In the second step S1321 of the selective execution of the avoidance operation S130 in the embodiment, when it is determined that the current vehicle speed is greater than the first speed threshold of 15 km / h but less than the second speed threshold of 30 km / h, it is necessary to determine whether there are elderly people or children in the vehicle.

[0077] Although the vehicle speed less than the second speed threshold 30km / h is still a relatively safe driving speed, when encountering sudden conditions such as potholes on the road section, the risk avoidance measures will be more sudden and urgent. Although such sudden driving is acceptable for young people with good physical fitness, if there are old people or children in the car, such sudden driving is easy to cause discomfort to the old people or children, and to cause bumping and other conditions.

[0078] The step of detecting and determining whether there are old people or children in the car is usually performed before the vehicle starts. However, according to different needs of actual users, it can also be performed during driving and at the same time as judging the pothole conditions of the road within a certain distance in front. The time point of the judgment operation of whether there are old people or children in the car is not limited to the embodiments mentioned in the present application.

[0079] Preferably, in the present embodiment, image recognition is used to detect and determine before the vehicle starts, especially involving face recognition technology in AI image recognition technology.

[0080] The face recognition system is composed of a front-end face snapshot collection subsystem, a network transmission subsystem and a back-end analysis management subsystem, and realizes the collection, transmission, processing, analysis and centralized management of the face information of the passing people.

[0081] In the system, the front-end face collection device is responsible for the collection of face images, and the access server mainly realizes the functions of receiving and forwarding pictures and information, can provide unified access services for snapshot machines of various models and multiple manufacturers, the received snapshot pictures are stored in a cloud storage unit, and the face structure analysis server is used to model the snapshot video and image and compare it with the list in the library in real time, and the face information and model data obtained by modeling are stored in a big data unit. The back-end analysis application platform supports real-time face snapshot, retrieval and other functions according to the application needs of users, and can compare the list provided by the user with the real-time comparison information of the snapshot pictures.

[0082] The front-end face snapshot collection subsystem is responsible for the collection of face information, including face photos, passing scene photos, video streams, etc. It is mainly composed of face image collection devices (video monitoring cameras or portrait snapshot machines with portrait recognition function), light supplementing lamps, switching power supplies and other devices and rods.

[0083] The network transmission subsystem is responsible for system networking and completes the transmission and exchange of data, pictures and video streams. Generally, a private network is established by renting an operator's optical fiber link, which can be networked by EPON method (single point upload bandwidth ≥20Mbps, which can be increased according to needs), including optical fiber transceivers or EPON devices.

[0084] The back-end analysis management subsystem is responsible for the collection, processing, storage, application, management and sharing of the data related to the front-end face snapshot collection subsystem, and is composed of a face structured analysis service, an application management and storage system. The central management platform is composed of servers carrying platform software modules, including a central management server, a video stream access processing server, a picture stream access processing server, etc.

[0085] In Figure 3 In the third step S1330 of selectively performing the safety operation S130 of the embodiment, when the face recognition system in the vehicle detects an old person or a child in the vehicle before the vehicle starts, the vehicle driving assistance system controls the selection of the safety operation.

[0086] The safety operation in the embodiment includes a lane changing safety operation and a speed reducing safety operation. First, it is determined whether there are other lanes around the current lane. In the embodiment, the detection and determination of the nearby lanes are performed by the vehicle driving assistance system.

[0087] If it is determined that there are other lanes around the current lane, and there are no other vehicles within a preset distance range behind the other lanes, the vehicle performs a lane changing operation.

[0088] The preset distance range is related to the current speed of the vehicle. The greater the speed, the farther the preset distance range is set. Because when the vehicle performs a lane changing operation at the current speed, the greater the speed, the less the reaction time left for the driver if there is another vehicle in front within a certain distance range behind the other lane. Therefore, the greater the speed, the farther the preset distance range needs to be, so as to give the driver enough time to safely perform the lane changing operation.

[0089] The vehicle driving assistance system can determine a plurality of other lanes near the current lane, and select an other lane with the shortest distance from the current lane and the shortest distance from the destination to turn into.

[0090] If it is determined that there are no other lanes around the current lane or there are other lanes around the current lane, but there are other vehicles within a preset distance range behind the other lanes, the vehicle cannot perform a lane changing operation, and instead performs a speed reducing operation to avoid danger. The speed reducing operation refers to reducing the speed of the vehicle to below the first speed threshold. In the embodiment, the speed reducing operation is to reduce the speed to below 15 km / h. Because the first speed threshold is a driving speed that can be responded to in time even in the event of an emergency, the vehicle can pass through the potholed road within the second distance range of 50 m in front slowly and smoothly when the vehicle is reduced to below the first speed threshold in advance.

[0091] Please refer to Figure 4 , Figure 4 is a flowchart of another embodiment of a vehicle driving assistance method according to an aspect of the present application.

[0092] Figure 4 The embodiments are Figure 1 S130 in the vehicle driving assistance method 100 of the embodiment is different from... Figure 3 Further optimizations to the embodiments.

[0093] In the vehicle driving assistance method 100, S130, in response to uneven road conditions ahead, selectively performs hazard avoidance operations, specifically including:

[0094] S131: Determine if the vehicle speed is greater than the second speed threshold;

[0095] S1321: In response to a vehicle speed greater than a first speed threshold and less than a second speed threshold, determine whether there are elderly people or children in the vehicle;

[0096] S133: If there are no elderly people or children in the vehicle, the control will not perform any evasive maneuvers.

[0097] Figure 4 In the embodiment, the first step S131 and the second step S1321 of selectively performing the risk avoidance operation S130 are both related to... Figure 3 The first step S131 and the second step S1321 in the embodiment are the same.

[0098] exist Figure 3 In the third step S1330 of selectively executing the avoidance operation S130 in the embodiment, when the in-vehicle facial recognition system detects that there are no elderly people or children in the vehicle, the vehicle driving assistance system can choose not to execute the avoidance operation.

[0099] Because when there are no elderly people or children in the car, if the vehicle is traveling at a speed greater than the first speed threshold of 15 km / h and less than the second speed threshold of 30 km / h, even if potholes or other uneven areas are detected on the road within 30 meters ahead, the driver and / or young people in good physical condition will not feel uncomfortable if the vehicle performs a sudden avoidance maneuver at the current speed or drives directly over them.

[0100] This invention provides a vehicle driving assistance method that predicts road potholes within a certain distance ahead and provides the driver with the best avoidance maneuvers, helping the driver to make timely and optimal avoidance actions. It is especially suitable for situations where there are elderly people or children in the vehicle, preventing them from being bumped or hit.

[0101] Although the above-described methods are illustrated and described as a series of acts for simplicity, it is to be understood that the methods are not limited by the order of acts, as some acts can occur in different orders or concurrently with other acts from that illustrated and described herein. In addition, not all illustrated acts can be required to implement the methods in accordance with one or more embodiments.

[0102] According to another aspect of the present application, the present application further provides an auxiliary system for vehicle driving. Please refer to Figure 5 , Figure 5 An auxiliary system for vehicle driving according to some embodiments of the present application is shown in the figure. The auxiliary system for vehicle driving 50 provided by the present application can include a memory 51 and a processor 52. The processor 52 is connected to the memory 51 and is configured to implement the control method provided by any one of the above-described embodiments to achieve the corresponding technical effects.

[0103] The auxiliary system includes a processor 52 which implements the auxiliary method for vehicle driving. The auxiliary method for vehicle driving has been explained in detail above, and will not be repeated here.

[0104] The auxiliary system for vehicle driving provided by the present application helps the driver to make the optimal evasive operation in time by judging the road bump situation in front of a certain distance in advance and providing the best evasive operation to the driver, especially suitable for the case where there are old people or children in the vehicle, avoiding the old people or children in the vehicle from being bumped.

[0105] According to still another aspect of the present application, the present application further provides a computer readable storage medium having computer instructions stored thereon. The computer instructions are executed by a processor to implement the above-described auxiliary method for vehicle driving.

[0106] Although the processor described in the above-described embodiments can be implemented by a combination of software and hardware, it can be understood that the processor can also be implemented in software and hardware. For hardware implementation, the processor can be implemented in one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, other electronic devices, or a selective combination thereof, for performing the above-described functions. For software implementation, the processor can be implemented by separate software modules such as procedures and functions, each of which performs one or more of the functions and operations described herein, running on a general-purpose chip.

[0107] Those skilled in the art will appreciate that information, signals, and data can be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that can be referenced throughout the above description can be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

[0108] Those skilled in the art will further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans can implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

[0109] The various illustrative logical blocks, modules, and circuits described in connection with the embodiments disclosed herein can be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (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 can be a microprocessor, but in the alternative, the processor can be any conventional processor, controller, microcontroller, or state machine. A processor can 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.

[0110] The steps of a method or algorithm described in connection with the embodiments disclosed herein can be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium can be integral to the processor. The processor and the storage medium can reside in an ASIC. The ASIC can reside in a user terminal. In the alternative, the processor and the storage medium can reside as discrete components in a user terminal.

[0111] In one or more exemplary embodiments, the functions described can be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions can be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media can be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Also, any connection is properly termed a computer-readable medium. For example, if the 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 microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk and disc, as used herein, includes compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0112] The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method of assisting driving of a vehicle, characterized by, The method comprises the following steps: determining whether the vehicle speed is greater than a first speed threshold during vehicle driving; if the vehicle speed is greater than the first speed threshold, determining whether the road ahead is rough; and in response to the road ahead being rough, determining whether the vehicle speed is greater than a second speed threshold, the second speed threshold being greater than the first speed threshold; if the vehicle speed is greater than the first speed threshold and less than the second speed threshold, and an old person or a child is detected in the vehicle, performing a lane-changing operation for safety; if the vehicle speed is greater than the first speed threshold and less than the second speed threshold, but no old person or child is detected in the vehicle, performing a speed-reducing operation for safety or not performing the operation for safety.

2. The assistance method of vehicle driving according to claim 1, wherein if the vehicle speed is greater than the second speed threshold, determining whether the road ahead is rough, and in response to the road ahead being rough, performing the operation for safety.

3. The assistance method of vehicle driving according to claim 1, wherein The lane-changing operation for safety comprises: determining whether there are other lanes around the current lane; if there are other lanes around the current lane, and no other vehicles are present within a preset distance range behind the other lanes, controlling the vehicle to perform a lane-changing operation.

4. The method of assisting the driving of a vehicle according to claim 3, wherein The lane-changing operation for safety comprises: determining whether there are other lanes around the current lane; if there are no other lanes around the current lane or there are other lanes around the current lane but other vehicles are present behind the other lanes, controlling the vehicle to perform a speed-reducing operation.

5. The method of assisting the driving of a vehicle according to claim 4, wherein The speed-reducing operation comprises controlling the speed of the vehicle to be reduced to below the first speed threshold.

6. The method of assisting the driving of a vehicle according to claim 1, wherein The method further comprises: determining whether an old person or a child is present in the vehicle through image recognition.

7. The method of assisting the driving of a vehicle according to claim 1, wherein The first speed threshold is 15 km / h, and the second speed threshold is 30 km / h.

8. The method of assisting the driving of a vehicle according to claim 2, wherein The determination of whether the road ahead is rough comprises determining whether there are potholes within a preset distance range ahead, wherein the preset distance range is related to the current vehicle speed, and the greater the vehicle speed, the farther the preset distance range.

9. The method of assisting the driving of a vehicle according to claim 8, wherein The second distance range ahead is greater than the first distance range ahead, the first distance range ahead is 30 meters, and the second distance range ahead is 50 meters.

10. An assistance system for the driving of a vehicle, characterized in that The vehicle driving assistance system comprises a processor, and the processor executes the vehicle driving assistance method according to any one of claims 1 to 9.

11. A computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are executed by the processor to implement the vehicle driving assistance method according to any one of claims 1 to 9.

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