An auxiliary driving method, device, equipment and medium applied to a vehicle

Abstract

The application discloses an auxiliary driving method, device and equipment applied to a vehicle and a medium, and relates to the technical field of vehicle driving assistance.

Description

Technical Field

[0001] This invention relates to the field of vehicle driving technology, and in particular to an assisted driving method, device, equipment and medium applied in vehicles. Background Technology

[0002] In the process of autonomous driving, it is crucial to accurately determine the target vehicle being followed.

[0003] Currently, when determining the target vehicle to follow, the method typically involves identifying it from among adjacent vehicles based on the lateral and longitudinal distances between them. However, this method is rather simplistic, and when faced with situations where a vehicle cutting in at a higher speed than the vehicle itself, or when a neighboring vehicle suddenly cuts in, the target vehicle's braking may be delayed. This results in the target vehicle not adjusting its speed to the vehicle's speed in a timely manner, thus reducing the driving experience for passengers.

[0004] To address these issues, improvements are needed in the methods used to assist vehicle driving. Summary of the Invention

[0005] This invention provides an assisted driving method, device, equipment, and medium for use in vehicles, to solve the problem that when a vehicle suddenly merges into another vehicle, the target vehicle switching is not timely, resulting in untimely adjustment of the vehicle driving parameters of the currently driven vehicle.

[0006] In a first aspect, embodiments of the present invention provide an assisted driving method applied in a vehicle, comprising:

[0007] Acquire at least one associated vehicle that is traveling in the same direction as the target vehicle, and determine the relative position information between the at least one associated vehicle and the target vehicle; wherein, the relative position information includes lateral spacing and longitudinal spacing, the longitudinal spacing corresponding to the travel direction, and the lateral spacing being the direction perpendicular to the longitudinal spacing on the horizontal plane;

[0008] Based on the relative position information, at least one vehicle to be merged into the road to which the target vehicle belongs is determined from the at least one associated vehicle;

[0009] The current relative position information of the at least one vehicle to be merged and the associated vehicle located on the road to which the target vehicle belongs, and the target vehicle is determined respectively; and the target following vehicle is determined based on the current relative position information.

[0010] Based on the vehicle driving parameters of the target vehicle being followed, the vehicle driving parameters of the target vehicle are adjusted.

[0011] Secondly, embodiments of the present invention also provide an assisted driving device applied in a vehicle, comprising:

[0012] A relative position information determination module is used to acquire at least one associated vehicle in the same driving direction as the target vehicle, and determine the relative position information between the at least one associated vehicle and the target vehicle; wherein, the relative position information includes lateral spacing and longitudinal spacing, the longitudinal direction corresponds to the driving direction, and the lateral direction is the direction perpendicular to the longitudinal direction on the horizontal plane;

[0013] The vehicle to be merged module is used to determine, from the at least one associated vehicle, at least one vehicle to be merged into the road to which the target vehicle belongs, based on the relative position information.

[0014] The target following vehicle determination module is used to determine the current relative position information of the at least one vehicle to be merged and the associated vehicles located on the road to which the target vehicle belongs, and to determine the target following vehicle based on the current relative position information.

[0015] The driving parameter adjustment module is used to adjust the driving parameters of the target vehicle based on the driving parameters of the target following vehicle.

[0016] Thirdly, embodiments of the present invention also provide an electronic device, comprising:

[0017] At least one processor; and

[0018] A memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the assisted driving method applied to a vehicle according to any embodiment of the present invention.

[0020] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing computer instructions, which are used to cause a processor to execute and implement the assisted driving method applied in a vehicle as described in any embodiment of the present invention.

[0021] The technical solution of this embodiment acquires at least one associated vehicle traveling in the same direction as the target vehicle and determines the relative position information between the at least one associated vehicle and the target vehicle. Based on the relative position information, at least one vehicle to be merged into the road belonging to the target vehicle is determined from the at least one associated vehicle. The current relative position information between the at least one vehicle to be merged into and the associated vehicle located on the road belonging to the target vehicle is determined, and the target following vehicle is determined based on the current relative position information. Based on the vehicle driving parameters of the target following vehicle, the vehicle driving parameters of the target vehicle are adjusted. This solves the problem that when a vehicle suddenly merges, the target following vehicle switching is not timely, resulting in untimely adjustment of the vehicle driving parameters of the currently driven vehicle. It achieves the effect of accurately determining the target following vehicle and adjusting the vehicle driving parameters of the currently driven vehicle based on the vehicle driving parameters of the target vehicle, thus intelligently assisting the driving of the currently driven vehicle.

[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart of an assisted driving method applied in a vehicle according to Embodiment 1 of the present invention;

[0025] Figure 2 This is a flowchart of an assisted driving method applied in a vehicle according to Embodiment 2 of the present invention;

[0026] Figure 3 This is a schematic diagram of a driver assistance device applied in a vehicle according to Embodiment 3 of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the driver assistance method applied in a vehicle according to an embodiment of the present invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in sequences other than those illustrated or described herein.

[0030] Before elaborating on this technical solution, a brief introduction to its application scenarios is provided to facilitate a clearer understanding. With the development of the automotive industry, most mid-to-high-end vehicles are equipped with adaptive cruise control systems to assist drivers and reduce driver fatigue. However, existing adaptive cruise control systems often experience unnecessary deceleration when a vehicle merges into the target vehicle ahead, such as when the merging vehicle's speed exceeds that of the target vehicle. Furthermore, when a vehicle is merging, it cannot predict in advance whether a vehicle in an adjacent lane intends to merge, leading to insufficient deceleration and braking lag when the target vehicle suddenly merges, impacting the driving experience. Therefore, this technical solution addresses this issue by identifying the target vehicle's following vehicle when a merging vehicle is present. The target vehicle's driving parameters are then adjusted based on the following vehicle's driving parameters to assist the driver.

[0031] Example 1

[0032] Figure 1 The present invention provides a flowchart of an assisted driving method applied to a vehicle in Embodiment 1. This embodiment is applicable to situations where, during the driving of a target vehicle, a target following vehicle is accurately determined, and the vehicle driving parameters of the target vehicle are adjusted according to the vehicle driving parameters of the target following vehicle. This method can be executed by an assisted driving device applied to the vehicle, which can be implemented in hardware and / or software. The assisted driving device applied to the vehicle can be configured in a computing device capable of executing the assisted driving method applied to the vehicle.

[0033] like Figure 1 As shown, the method includes:

[0034] S110. Obtain at least one associated vehicle that is traveling in the same direction as the target vehicle, and determine the relative position information of at least one associated vehicle and the target vehicle.

[0035] The target vehicle is the vehicle the user is driving. Typically, an adaptive cruise control system needs to be installed in the target vehicle; that is, a system or device for assisting driving needs to be installed in the target vehicle. Understandably, when assisting the driving of the target vehicle, it is necessary to determine the target following vehicle. The target following vehicle can be a vehicle traveling in the same direction as the target vehicle, such as a vehicle traveling in the same lane or an adjacent lane. Furthermore, determining the target following vehicle requires considering the relative position information of each associated vehicle. This relative position information includes lateral and longitudinal spacing. Longitudinal spacing corresponds to the direction of travel, while lateral spacing is the direction perpendicular to the longitudinal direction on the horizontal plane.

[0036] When providing assisted driving while the target vehicle is in motion, it is necessary to identify the target following vehicle corresponding to the target vehicle. Specifically, at least one associated vehicle related to the target vehicle is identified, and the target following vehicle is determined from among the associated vehicles based on the relative position information between each associated vehicle and the target vehicle. It can be understood that the target following vehicle can be a vehicle in the same lane and driving direction as the target vehicle, or a vehicle in an adjacent lane traveling in the same direction as the target vehicle.

[0037] It should be noted that, generally, vehicles in the same lane as the target vehicle are considered as target following vehicles. However, if there is a vehicle in an adjacent lane that wants to merge into the lane of the target vehicle, it is necessary to determine whether to switch the target following vehicle to the vehicle that is about to merge.

[0038] Optionally, at least one associated vehicle in the same driving direction as the target vehicle is acquired, and the relative position information of the at least one associated vehicle to the target vehicle is determined, including: scanning the vehicles in the same driving direction as the target vehicle based on the lidar installed on the target vehicle to obtain at least one associated vehicle; determining the lateral and longitudinal distances of each associated vehicle relative to the target vehicle to obtain the relative position information of each associated vehicle relative to the target vehicle.

[0039] In practical applications, LiDAR can be used to scan vehicle information in the same direction of travel as a target vehicle to identify at least one associated vehicle from the target vehicle's lane and adjacent lanes. Simultaneously, based on the LiDAR scanning results, the relative position information between each associated vehicle and the target vehicle is determined, specifically the lateral and longitudinal distances between each associated vehicle and the target vehicle.

[0040] S120. Based on the relative position information, determine at least one vehicle to be merged from at least one associated vehicle that belongs to the road to which the target vehicle belongs.

[0041] It should be noted that in this technical solution, if the associated vehicle A and the target vehicle are in the same lane, then there is only a longitudinal distance between the associated vehicle A and the target vehicle, and no lateral distance; if the associated vehicle B and the target vehicle are not in the same lane, then there is both a lateral distance and a longitudinal distance between the associated vehicle B and the target vehicle.

[0042] Among them, the vehicle to be merged usually refers to an associated vehicle that is not in the same lane as the target vehicle.

[0043] Specifically, from the relative position information of each associated vehicle and the target vehicle, the lateral and longitudinal distances between the corresponding associated vehicles and the target vehicle can be obtained, so as to determine at least one vehicle to be merged into from the associated vehicles based on the lateral and longitudinal distances. Optionally, determining at least one vehicle to be merged into the road to which the target vehicle belongs from at least one associated vehicle based on the relative position information includes: determining the longitudinal distance corresponding to the corresponding associated vehicle based on the relative position information; and identifying associated vehicles whose longitudinal distance is less than the longitudinal distance threshold and are not in the lane to which the target vehicle belongs as vehicles to be merged into the lane to which the target vehicle belongs.

[0044] In actual driving, a vehicle to be merged into typically refers to a vehicle in an adjacent lane within a certain distance range that is merging into the target vehicle's lane. In other words, if a vehicle is merging into the target vehicle's lane at a considerable distance in the same direction of travel, the distance is too great to affect the target vehicle's normal driving; therefore, it does not need to be considered a vehicle to be merged into. It is understandable that, in this technical solution, the longitudinal spacing threshold is the distance criterion for determining whether a vehicle merging from an adjacent lane can be considered a vehicle to be merged into.

[0045] It should be noted that the longitudinal distance threshold can be dynamically adjusted based on the target vehicle's speed. Generally speaking, when the target vehicle's speed is higher, such as greater than 60 km / h, the longitudinal distance threshold is larger; conversely, when the target vehicle's speed is lower, such as less than 50 km / h, the longitudinal distance threshold is smaller. The specific longitudinal distance threshold can be customized according to actual conditions and is not specifically limited in this technical solution.

[0046] Specifically, based on the target vehicle's current speed, a longitudinal distance threshold is determined, and the longitudinal distances of associated vehicles not in the same lane as the target vehicle are obtained from the relative position information. Further, each longitudinal distance is compared with the current longitudinal distance threshold; if the longitudinal distance is less than the threshold, the corresponding associated vehicle is identified as a vehicle to be merged into by the target vehicle.

[0047] S130. Determine the current relative position information of at least one vehicle to be merged and an associated vehicle located on the road to which the target vehicle belongs with the target vehicle, and determine the target following vehicle based on each current relative position information.

[0048] The current relative position information can be understood as the relative position information of the vehicle to be merged and the associated vehicles in the same lane as the target vehicle at the current moment. The target following vehicle can be understood as the vehicle that the target vehicle needs to follow; in other words, the target vehicle needs to make corresponding adjustments based on the driving status of the target following vehicle.

[0049] For example, when the target vehicle slows down, the target vehicle needs to reduce its own speed to prevent a collision; if the target vehicle increases its speed, the target vehicle can increase its speed accordingly or maintain its speed. Furthermore, if there is a vehicle waiting to merge into the target vehicle's lane in an adjacent lane, and if the vehicle waiting to merge is close to the target vehicle, that vehicle should be treated as the target vehicle, and the target vehicle's speed should be appropriately reduced to maintain a safe distance between the two vehicles.

[0050] Optionally, the current relative position information of at least one vehicle to be merged and an associated vehicle located on the road to which the target vehicle belongs, and the target vehicle are determined respectively, and the target following vehicle is determined based on each current relative position information, including: determining the minimum longitudinal distance from each current relative position information, and determining whether the associated vehicle corresponding to the minimum longitudinal distance belongs to the same lane as the target vehicle; if so, the vehicle closest to the target vehicle is determined as the target following vehicle; if not, the target following vehicle is determined from at least one vehicle to be determined.

[0051] Among them, the vehicles to be identified are related vehicles that are not in the same lane as the target vehicle but have the intention to merge into it.

[0052] Generally speaking, if there are no vehicles waiting to merge into the target vehicle while it is in motion, the vehicle traveling in the same direction as the target vehicle will be used as the target following vehicle. If there are vehicles waiting to merge into the lane of the target vehicle, it will be determined on a case-by-case basis whether to switch the target following vehicle to the vehicle waiting to merge into the lane of the target vehicle.

[0053] Specifically, based on the current location information of each associated vehicle, the longitudinal distance between the corresponding associated vehicles can be determined, and the minimum longitudinal distance can be identified. The purpose is that if the associated vehicle corresponding to the minimum longitudinal distance belongs to the same lane as the target vehicle, it indicates that associated vehicles in adjacent lanes cannot merge between the target vehicle and associated vehicles in the same lane. Therefore, the vehicle in the same lane as the target vehicle and corresponding to the minimum longitudinal distance can be considered the target following vehicle. Conversely, if the associated vehicle corresponding to the minimum longitudinal distance is not in the same lane as the target vehicle, it indicates that the longitudinal distance between the associated vehicles in the same lane as the target vehicle and the target vehicle is large, and there is a possibility that associated vehicles in adjacent lanes may merge into the target vehicle's lane. Therefore, the target following vehicle can be identified from the vehicles to be determined. Specifically, when identifying the target following vehicle from at least one vehicle to be determined, it is necessary to determine whether the vehicle to be determined intends to merge. If it does, it is considered the target following vehicle; otherwise, the vehicle in the same lane as the target vehicle is considered the target following vehicle.

[0054] Optionally, determining the target following vehicle from at least one vehicle to be determined includes: acquiring historical relative position information of each vehicle to be determined, and determining a set of historical lateral spacings corresponding to the corresponding vehicle based on the historical relative position information; determining spacing change information of the lateral spacings in each historical lateral spacing set, and determining at least one candidate following vehicle based on the spacing change information, so as to determine the target following vehicle from each candidate following vehicle.

[0055] To determine whether a vehicle intends to merge, the historical relative position information of each vehicle can be used. In this technical solution, the historical relative position information includes historical longitudinal spacing and historical lateral spacing. Based on the historical lateral spacing in the historical position information of each vehicle, a set of historical lateral spacings for each vehicle can be determined; in other words, each vehicle can correspond to a set of historical lateral spacings. Spacing change information refers to the increase or decrease in lateral spacing at each historical moment. In this technical solution, a candidate following vehicle is a vehicle whose spacing change information indicates a decrease in lateral spacing. That is, any vehicle whose lateral spacing is decreasing can be considered a candidate following vehicle, and the number of candidate following vehicles can be one or more.

[0056] Specifically, the historical relative position information of each vehicle to be determined within a preset time period is obtained. Based on at least one historical lateral distance in each historical relative position information, the historical lateral distance set of the corresponding vehicle to be determined is obtained. Based on each historical lateral distance set, it is determined whether the corresponding vehicle to be determined has the intention to merge. Furthermore, the vehicle to be determined with the intention to merge is selected as the candidate following vehicle of the target vehicle.

[0057] Optionally, the system detects the spacing change information of the lateral spacing in each historical lateral spacing set, and determines at least one candidate following vehicle based on the spacing change information, so as to determine the target following vehicle from each candidate following vehicle. This includes: if the spacing change information meets the spacing change detection condition, then the corresponding vehicle to be determined is determined as a candidate following vehicle; determining whether the number of candidate following vehicles is multiple; if so, then the candidate following vehicle with the closest longitudinal spacing to the target vehicle is determined as the target following vehicle; if not, then the candidate following vehicle is determined as the target following vehicle.

[0058] Among them, the detection condition for spacing change is the detection condition that the horizontal spacing continuously decreases.

[0059] During the target vehicle's movement, for each vehicle to be determined, if the historical lateral spacing in the current historical lateral spacing set continuously decreases, it can be considered a candidate following vehicle. It is understood that there may be one or more vehicles to be determined that meet the spacing change detection conditions. Therefore, it is necessary to further determine the target following vehicle based on the number of candidate following vehicles. Specifically, if there is only one candidate following vehicle, it can be directly used as the target following vehicle. If there are multiple candidate following vehicles, it is necessary to further determine the target following vehicle based on the longitudinal spacing of each candidate following vehicle relative to the target vehicle. Specifically, for each candidate following vehicle, the smaller the longitudinal spacing relative to the target vehicle, the closer it is to the target vehicle, and the candidate following vehicle with the smallest longitudinal spacing should be prioritized as the target following vehicle.

[0060] Taking vehicle A as an example, the historical lateral spacing set corresponding to vehicle A includes the historical lateral spacing of vehicle A relative to the target vehicle at at least one historical moment. Based on these historical lateral spacings, the spacing change information of vehicle A can be determined. For example, if the historical lateral spacings in the set continuously increase or remain unchanged, it indicates that vehicle A is moving away from the target vehicle, and in this case, vehicle A is not a candidate following vehicle. Conversely, if the historical lateral spacings continuously decrease, it indicates that vehicle A is moving closer to the target vehicle, meaning that vehicle A intends to merge, and in this case, it is considered a candidate following vehicle. If only vehicle A exists as a candidate following vehicle, then vehicle A is the target candidate following vehicle. If other candidate following vehicles exist besides vehicle A, then the candidate following vehicle with the smallest longitudinal spacing is selected as the target following vehicle based on the longitudinal spacing of each candidate following vehicle.

[0061] It should be noted that at least one historical moment in this technical solution is a historical moment that is relatively close to the current moment, such as at least one historical moment within one minute before the current moment.

[0062] The advantage of this setup is that it allows for the prediction of whether a vehicle intends to merge into another vehicle based on its historical location information. Vehicles with this intention can then be designated as target vehicles to follow. In other words, by anticipating the driving intentions of vehicles to be identified, it's possible to determine in advance whether to adjust the target vehicle's driving parameters. This adjustment method prevents braking lag in the target vehicle when it needs to decelerate, thus improving the driving experience for passengers.

[0063] S140. Based on the vehicle driving parameters of the target vehicle, adjust the vehicle driving parameters of the target vehicle.

[0064] In this technical solution, vehicle driving parameters mainly refer to vehicle speed parameters. For example, if the driving parameters of the target following vehicle are greater than those of the target vehicle, it indicates that even if the driving parameters of the target vehicle remain unchanged, a certain longitudinal distance can still be maintained between them, and no adjustment to the driving parameters of the target vehicle is required. If the driving parameters of the target following vehicle are less than those of the target vehicle, the driving parameters of the target vehicle need to be reduced to ensure the distance between them. Optionally, adjusting the driving parameters of the target vehicle based on its driving parameters includes: determining the speed of the target following vehicle to be determined; if the speed to be determined is less than the current speed of the target vehicle, then reducing the current speed of the target vehicle.

[0065] The advantage of this setting is that when the vehicle driving parameters of the target vehicle are greater than those of the target vehicle, the vehicle driving parameters of the target vehicle are not adjusted. This can effectively reduce the frequency of the target vehicle slowing down, so as to avoid affecting the normal driving of the target vehicle and thus not affecting the driving experience of the passengers in the target vehicle.

[0066] The technical solution of this embodiment involves acquiring at least one associated vehicle traveling in the same direction as the target vehicle and determining the relative position information of the at least one associated vehicle with the target vehicle. By scanning surrounding vehicles with a lidar on the target vehicle, at least one associated vehicle traveling in the same direction as the target vehicle and the relative position information of each associated vehicle relative to the target vehicle can be obtained. Based on the relative position information, the lateral and longitudinal distances of the corresponding associated vehicles relative to the target vehicle are determined. Based on the relative position information, at least one vehicle to merge into the road belonging to the target vehicle is determined from the at least one associated vehicle. By judging the longitudinal distance of each associated vehicle, the vehicle to merge into is determined from the associated vehicles whose longitudinal distance is less than a longitudinal distance threshold and which are not in the same lane as the target vehicle. Thus, the target following vehicle is determined from the vehicle to merge into and the associated vehicles in the same lane as the target vehicle. The current relative position information of the at least one vehicle to merge into and the associated vehicles in the road belonging to the target vehicle with the target vehicle is determined respectively. Based on the current relative position information, the target following vehicle is determined. The existence of a vehicle to merge into is determined based on the longitudinal distance of each associated vehicle. If no vehicle exists, the vehicle in front of the target vehicle in the same lane is taken as the target following vehicle. If there are vehicles waiting to merge, the vehicle with the smallest lateral distance is selected as a candidate vehicle to follow, and the candidate vehicle with the smallest longitudinal distance is selected as the target vehicle to follow. Based on the target vehicle's driving parameters, the target vehicle's driving parameters are adjusted. Specifically, if the target vehicle's speed is lower than the target vehicle's speed, the target vehicle's speed is reduced. This solves the problem of delayed target vehicle switching and subsequent delayed adjustment of the current vehicle's driving parameters when a vehicle suddenly merges. It achieves accurate identification of the target vehicle and intelligent assistance in adjusting the current vehicle's driving parameters based on the target vehicle's parameters.

[0067] Example 2

[0068] In a specific example, when using adaptive cruise control to assist driving, the nearest vehicle in the lane belonging to the target vehicle is typically identified as the target vehicle to follow. However, it is also necessary to monitor whether any vehicles around the target vehicle intend to merge, in order to determine whether to switch the target vehicle to a vehicle waiting to merge into the target vehicle's lane.

[0069] Taking the scenario of the target vehicle traveling at high speed as an example, if the target vehicle's speed is v self >60km / h, where v self This indicates the target vehicle's speed. During a turn or lane change, the sensors in the target vehicle may measure significant errors in the driving parameters of surrounding vehicles, potentially leading to misjudgments of following vehicles. To predict when vehicles not in the same lane as the target vehicle will merge into its lane, the target vehicle's yaw angle needs to be kept within a small range, such as θ. HeadingAngle <0.01rad, where θ HeadingAngle This indicates the yaw angle of the target vehicle.

[0070] like Figure 2 As shown, by measuring the lateral distance (i.e., lateral spacing) and longitudinal distance (i.e., longitudinal spacing) of each associated vehicle, the nearest and second nearest targets in the left lane, the nearest and second nearest targets in the right lane, and the nearest and second nearest targets in the right lane are determined from among the associated vehicles. Specifically, based on the lidar equipment installed in the target vehicle, vehicles traveling in the same direction as the target vehicle are scanned to obtain at least one associated vehicle, and the relative position information between each associated vehicle and the target vehicle is acquired. The relative position information includes lateral spacing and longitudinal spacing. First, the target following vehicle of the target vehicle is determined by the longitudinal spacing of each associated vehicle. For example, if the longitudinal spacing of the associated vehicles in the right lane is the smallest, then the nearest associated vehicle in the right lane is taken as the target following vehicle.

[0071] If the target vehicle's speed is determined to be greater than 60 km / h and its yaw angle less than 0.01 rad, candidate following vehicles are identified from among the associated vehicles not in the same lane as the target vehicle. Specifically, the lateral and longitudinal distances between the associated vehicles and the target vehicle, as well as their relative lateral speeds, can be used to determine whether any of the associated vehicles intend to merge. For example, if the longitudinal distance is less than 60 m (i.e., the longitudinal distance threshold), the lateral distance is less than 3 m, and the longitudinal relative speed is greater than 1 m / s and the relative lateral speed is greater than 0.45 m / s, it can be determined whether any of the associated vehicles not in the same lane intend to merge. If so, the relative lateral distances and speeds of the associated vehicles are then assessed. If the lateral distance is decreasing, it indicates that the vehicle is approaching the target vehicle. If the speed of the associated vehicle is less than that of the target vehicle, it indicates that the associated vehicle may affect the target vehicle's speed. In this case, the associated vehicle needs to be identified as the target following vehicle, and the target vehicle's driving parameters are adjusted based on the target following vehicle's driving parameters.

[0072] If the target vehicle's speed is no greater than 60 km / h, or its yaw angle is no less than 0.01 rad, then the lateral distance between the associated vehicles that are not in the same lane can be used to determine whether the associated vehicle is the target following vehicle. If the vehicle is the target following vehicle, then the vehicle's driving parameters can be adjusted based on the vehicle's driving parameters.

[0073] Specifically, when filtering based on horizontal distance, the following formula can be used for judgment:

[0074]

[0075] Where, d w Indicates the safe lateral distance, d lat w represents the actual lateral distance between a vehicle in a lane other than the target vehicle and the target vehicle. host This indicates the width of the target vehicle.

[0076] If d w As the distance gradually decreases, it can be determined that the associated vehicle has the intention to merge. The corresponding associated vehicle can be identified as a candidate following vehicle, and when its longitudinal distance is the closest, it can be identified as the target following vehicle.

[0077] After considering the lateral relative velocity, since the preceding vehicle's lateral movement distance is short during the merging process, it can be approximately equivalent to a process of uniform acceleration and uniform deceleration. That is, the preceding vehicle starts at a lateral speed of 0 km / h, accelerates to its maximum lateral speed with constant acceleration, and then decelerates to a lateral speed of 0 km / h with constant deceleration. In this case, the currently identified relative lateral distance is assumed to be the maximum lateral distance of this merging process. The lateral merging distance based on inertia is:

[0078]

[0079] Among them, W C v represents the lateral merging distance from the vehicle to be merged into the lane of the target vehicle. lateral a represents the lateral cutting speed of the vehicle to be merged. ymax This indicates the relative acceleration of the vehicle to be merged.

[0080] The following formula can be obtained by optimizing the above formula:

[0081]

[0082] Where, d w Indicates the safe lateral distance, d lat W represents the actual lateral distance between a vehicle in a lane other than the target vehicle and the target vehicle. C w represents the lateral merging distance from the vehicle to be merged into the lane of the target vehicle.host This indicates the width of the target vehicle.

[0083] For example, if d w A value less than 0 indicates that the associated vehicle has entered the danger zone of the target vehicle, and it is designated as the target following vehicle of the target vehicle. The vehicle driving parameters of the target vehicle are then adjusted based on the vehicle driving parameters of the target following vehicle.

[0084] The technical solution of this embodiment acquires at least one associated vehicle traveling in the same direction as the target vehicle and determines the relative position information between the at least one associated vehicle and the target vehicle. Based on the relative position information, at least one vehicle to be merged into the road belonging to the target vehicle is determined from the at least one associated vehicle. The current relative position information between the at least one vehicle to be merged into and the associated vehicle located on the road belonging to the target vehicle is determined, and the target following vehicle is determined based on the current relative position information. Based on the vehicle driving parameters of the target following vehicle, the vehicle driving parameters of the target vehicle are adjusted. This solves the problem that when a vehicle suddenly merges, the target following vehicle switching is not timely, resulting in untimely adjustment of the vehicle driving parameters of the currently driven vehicle. It achieves the effect of accurately determining the target following vehicle and adjusting the vehicle driving parameters of the currently driven vehicle based on the vehicle driving parameters of the target vehicle, thus intelligently assisting the driving of the currently driven vehicle.

[0085] Example 3

[0086] Figure 3 This is a schematic diagram of a driver assistance device applied in a vehicle, provided in Embodiment 3 of the present invention. Figure 3 As shown, the device includes: a relative position information determination module 210, a vehicle to be merged determination module 220, a target following vehicle determination module 230, and a driving parameter adjustment module 240.

[0087] The relative position information determination module 210 is used to acquire at least one associated vehicle in the same driving direction as the target vehicle, and determine the relative position information between the at least one associated vehicle and the target vehicle; wherein, the relative position information includes lateral spacing and longitudinal spacing, the longitudinal spacing corresponds to the driving direction, and the lateral spacing is the direction perpendicular to the longitudinal spacing on the horizontal plane.

[0088] The vehicle to be merged determination module 220 is used to determine, based on each relative position information, at least one vehicle to be merged from at least one associated vehicle on the road to which the target vehicle to be merged belongs;

[0089] The target following vehicle determination module 230 is used to determine the current relative position information of at least one vehicle to be merged and the associated vehicle located on the road to which the target vehicle belongs, and to determine the target following vehicle based on the current relative position information.

[0090] The driving parameter adjustment module 240 is used to adjust the driving parameters of the target vehicle based on the driving parameters of the target vehicle being followed.

[0091] The technical solution of this embodiment acquires at least one associated vehicle traveling in the same direction as the target vehicle and determines the relative position information between the at least one associated vehicle and the target vehicle. Based on the relative position information, at least one vehicle to be merged into the road belonging to the target vehicle is determined from the at least one associated vehicle. The current relative position information between the at least one vehicle to be merged into and the associated vehicle located on the road belonging to the target vehicle is determined, and the target following vehicle is determined based on the current relative position information. Based on the vehicle driving parameters of the target following vehicle, the vehicle driving parameters of the target vehicle are adjusted. This solves the problem that when a vehicle suddenly merges, the target following vehicle switching is not timely, resulting in untimely adjustment of the vehicle driving parameters of the currently driven vehicle. It achieves the effect of accurately determining the target following vehicle and adjusting the vehicle driving parameters of the currently driven vehicle based on the vehicle driving parameters of the target vehicle, thus intelligently assisting the driving of the currently driven vehicle.

[0092] Optionally, the relative position information determination module includes: an associated vehicle determination submodule, used to scan vehicles traveling in the same direction as the target vehicle based on the lidar installed on the target vehicle, to obtain at least one associated vehicle;

[0093] The relative position information determination submodule is used to determine the lateral and longitudinal distances of each associated vehicle relative to the target vehicle, thereby obtaining the relative position information of each associated vehicle relative to the target vehicle.

[0094] Optionally, the vehicle to be merged determination module includes: a longitudinal spacing determination submodule, used to determine the longitudinal spacing corresponding to the associated vehicles based on the relative position information;

[0095] The vehicle to be merged submodule is used to identify associated vehicles whose longitudinal spacing is less than the longitudinal spacing threshold and which are not in the lane to which the target vehicle belongs as vehicles to be merged into the lane to which the target vehicle belongs.

[0096] Optionally, the target following vehicle determination module includes: a lane determination submodule, used to determine the minimum longitudinal distance from each current relative position information, and to determine whether the associated vehicle corresponding to the minimum longitudinal distance belongs to the same lane as the target vehicle;

[0097] The first submodule is used to determine, if so, the vehicle in front that is closest to the target vehicle as the target vehicle;

[0098] The second submodule is used to determine the target following vehicle from at least one vehicle to be determined if not otherwise; wherein the vehicle to be determined is an associated vehicle that is not in the lane to which the target vehicle belongs.

[0099] Optionally, the second submodule includes: a spacing set determination unit, used to acquire historical relative position information of each vehicle to be determined, and based on the historical relative position information, determine the historical lateral spacing set corresponding to the corresponding vehicle to be determined; wherein, the historical relative position information includes historical longitudinal spacing and historical lateral spacing.

[0100] The target following vehicle determination unit is used to determine the spacing change information of the lateral spacing in each historical lateral spacing set, and to determine at least one candidate following vehicle based on the spacing change information, so as to determine the target following vehicle from each candidate following vehicle.

[0101] Optionally, the target following vehicle determination unit includes: a candidate following vehicle determination subunit, used to determine the corresponding vehicle to be determined as a candidate following vehicle if the spacing change information meets the spacing change detection condition; wherein, the spacing change detection condition is that the lateral spacing continuously decreases;

[0102] The quantity determination subunit is used to determine whether there are multiple candidate following vehicles.

[0103] The first unit is used to determine the candidate following vehicle with the closest longitudinal distance to the target vehicle as the target following vehicle if the condition is met.

[0104] The second unit is used to determine the candidate following vehicle as the target following vehicle if the condition is not met.

[0105] Optionally, the driving parameter adjustment module includes: a vehicle speed determination submodule, used to determine the speed to be determined of the target following vehicle;

[0106] The vehicle speed adjustment submodule is used to reduce the current speed of the target vehicle if the speed to be determined is less than the current speed of the target vehicle.

[0107] The driver assistance device for vehicles provided in the embodiments of the present invention can execute the driver assistance method for vehicles provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method execution.

[0108] Example 4

[0109] Figure 4A schematic diagram of the structure of an electronic device 10 according to an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0110] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0111] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0112] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as driver assistance methods applied in vehicles.

[0113] In some embodiments, the driver assistance method applied to a vehicle may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the driver assistance method applied to a vehicle described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the driver assistance method applied to a vehicle by any other suitable means (e.g., by means of firmware).

[0114] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0115] Computer programs for implementing the driver assistance methods of the present invention in vehicles can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs can be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0116] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0117] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0118] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0119] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0120] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0121] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A driving assistance method applied in a vehicle, characterized in that, include: Acquire at least one associated vehicle that is traveling in the same direction as the target vehicle, and determine the relative position information between the at least one associated vehicle and the target vehicle; wherein, the relative position information includes lateral spacing and longitudinal spacing, the longitudinal spacing corresponding to the travel direction, and the lateral spacing being the direction perpendicular to the longitudinal spacing on the horizontal plane; Based on the relative position information, at least one vehicle to be merged into the road to which the target vehicle belongs is determined from the at least one associated vehicle; The current relative position information of the at least one vehicle to be merged and the associated vehicle located on the road to which the target vehicle belongs, and the target vehicle is determined respectively; and the target following vehicle is determined based on the current relative position information. Based on the vehicle driving parameters of the target vehicle being followed, the vehicle driving parameters of the target vehicle are adjusted.

2. The method according to claim 1, characterized in that, The step of acquiring at least one associated vehicle traveling in the same direction as the target vehicle and determining the relative position information of the at least one associated vehicle to the target vehicle includes: Based on the lidar installed on the target vehicle, vehicles traveling in the same direction as the target vehicle are scanned to obtain at least one associated vehicle; The lateral and longitudinal distances of each associated vehicle relative to the target vehicle are determined to obtain the relative position information of each associated vehicle relative to the target vehicle.

3. The method according to claim 1, characterized in that, The step of determining at least one vehicle to be merged into the road to which the target vehicle belongs from the at least one associated vehicle based on the relative position information includes: Based on the relative position information, determine the longitudinal spacing of the corresponding associated vehicles; Vehicles whose longitudinal spacing is less than the longitudinal spacing threshold and are not in the lane to which the target vehicle belongs are identified as vehicles to be merged into the lane to which the target vehicle belongs.

4. The method according to claim 1, characterized in that, The step of determining the current relative position information of the at least one vehicle to be merged and the associated vehicles located on the road to which the target vehicle belongs, and determining the target following vehicle based on the current relative position information, includes: Determine the minimum longitudinal spacing from the current relative position information, and determine whether the associated vehicle corresponding to the minimum longitudinal spacing belongs to the same lane as the target vehicle; If so, then the vehicle closest to the target vehicle is identified as the target following vehicle; If not, then the target following vehicle is determined from at least one vehicle to be determined; wherein the vehicle to be determined is an associated vehicle that is not in the lane to which the target vehicle belongs.

5. The method according to claim 4, characterized in that, The step of determining the target following vehicle from at least one vehicle to be determined includes: The historical relative position information of each vehicle to be determined is obtained, and based on the historical relative position information, the historical lateral spacing set corresponding to the corresponding vehicle to be determined is determined; wherein, the historical relative position information includes historical longitudinal spacing and historical lateral spacing. Determine the spacing change information of the lateral spacing in each historical lateral spacing set, and determine at least one candidate following vehicle based on the spacing change information, so as to determine the target following vehicle from each candidate following vehicle.

6. The method according to claim 5, characterized in that, The step of determining the spacing change information of the lateral spacing in each historical lateral spacing set, and determining at least one candidate following vehicle based on the spacing change information, to determine the target following vehicle from each candidate following vehicle, includes: If the spacing change information meets the spacing change detection condition, then the corresponding vehicle to be determined is identified as a candidate following vehicle; wherein, the spacing change detection condition is that the lateral spacing continuously decreases; Determine whether the number of candidate following vehicles is multiple; If so, the candidate following vehicle with the closest longitudinal distance to the target vehicle is determined as the target following vehicle; If not, the candidate following vehicle will be determined as the target following vehicle.

7. The method according to claim 1, characterized in that, The step of adjusting the vehicle driving parameters of the target vehicle based on the vehicle driving parameters of the target vehicle being followed includes: Determine the speed to be determined for the target vehicle being followed; If the speed to be determined is less than the current speed of the target vehicle, then the current speed of the target vehicle is reduced.

8. A driver assistance device for use in a vehicle, characterized in that, include: A relative position information determination module is used to acquire at least one associated vehicle in the same driving direction as the target vehicle, and determine the relative position information between the at least one associated vehicle and the target vehicle; wherein, the relative position information includes lateral spacing and longitudinal spacing, the longitudinal direction corresponds to the driving direction, and the lateral direction is the direction perpendicular to the longitudinal direction on the horizontal plane; The vehicle to be merged module is used to determine, from the at least one associated vehicle, at least one vehicle to be merged into the road to which the target vehicle belongs, based on the relative position information. The target following vehicle determination module is used to determine the current relative position information of the at least one vehicle to be merged and the associated vehicles located on the road to which the target vehicle belongs, and to determine the target following vehicle based on the current relative position information. The driving parameter adjustment module is used to adjust the driving parameters of the target vehicle based on the driving parameters of the target following vehicle.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the assisted driving method applied to a vehicle as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the assisted driving method applied to a vehicle as described in any one of claims 1-7.

Images