Method, device and vehicle for assisting drivers in passing toll booths

Abstract

The present application provides a method, device, and vehicle for assisting a driver in passing through a toll station. The method for assisting a driver in passing through a toll station, applied to a vehicle, includes: obtaining the channel type of the channel corresponding to the toll station in front of the vehicle; when the channel type is a manual channel, obtaining the drivable area of ​​the channel, and constructing a target driving area of ​​the target side edge of the vehicle within the drivable area according to a preset driving interval condition; obtaining the current position information of the vehicle; controlling the display of the vehicle to display the target driving area, and simultaneously displaying an image of the vehicle according to the position information. The method, device, and vehicle for assisting a driver in passing through a toll station provided in the present application are simple and convenient, can assist the driver in accurately determining whether the distance between the vehicle and the channel is appropriate, and can help the driver pass through the toll station safely and conveniently, providing a high user experience.

Description

Technical Field

[0001] The present application relates to the field of vehicle assistance technology, and in particular to a method, device and vehicle for assisting a driver in passing a toll station. Background Art

[0002] With the development of the vehicle industry, vehicles are increasingly involved in our daily lives and work. It is inevitable that vehicles will pass through toll booths. Toll booths are equipped with manual channels and ETC (Electronic Toll Collection) channels. When a vehicle passes through the manual channel, the driver needs to extend his hand to the left side of the vehicle to pick up the card, which requires the vehicle to maintain a certain distance from the left shoulder of the channel. However, currently the driver judges the distance based on experience and then adjusts the vehicle, which may result in the distance being too far to pick up the card or the distance being too close to cause a safety accident. Therefore, there is an urgent need for a method that can help drivers pass through toll booths conveniently and safely. Summary of the Invention

[0003] In view of this, the purpose of this application is to propose a method, device and vehicle for assisting drivers in passing through toll booths to solve the technical problem of inaccurate time distance judgment when passing through manual channels.

[0004] In a first aspect of the present application, a method for assisting a driver in passing through a toll station is provided, which is applied to a vehicle. The method for assisting a driver in passing through a toll station includes: obtaining the channel type of the channel of the toll station corresponding to the front of the vehicle; when the channel type is a manual channel, obtaining the drivable area of ​​the channel, and constructing a target driving area of ​​the target side edge of the vehicle within the drivable area according to a preset driving interval condition; obtaining the current position information of the vehicle; controlling the display of the vehicle to display the target driving area, and displaying the image of the vehicle according to the position information.

[0005] Furthermore, obtaining the channel type of the channel of the toll station corresponding to the front of the vehicle includes: obtaining a first distance between the vehicle and the toll station in front; when the first distance is less than or equal to a preset distance, obtaining image information of the channel of the toll station corresponding to the vehicle, and identifying the channel type based on the image information.

[0006] Furthermore, obtaining the first distance between the vehicle and the toll station ahead includes: using the vehicle's electronic horizon reconstructor to reconstruct the map to obtain the first distance between the vehicle and the toll station ahead; when the first distance is less than or equal to a preset distance, it also includes: sending a first prompt message, wherein the first prompt message is used to remind the driver to reduce the speed.

[0007] Furthermore, obtaining the drivable area of ​​the channel includes: obtaining image information and radar information of the channel; identifying obstacles in the channel based on the image information and radar information; and constructing the drivable area based on the obstacles.

[0008] Furthermore, the driving interval condition includes: a distance between the target side edge and a boundary corresponding to the drivable area is greater than or equal to a first length and less than or equal to a second length.

[0009] Furthermore, the method for assisting a driver to pass through a toll station also includes: obtaining a first position of the target side edge of the vehicle within the drivable area; when the first position is outside the target driving area, sending a second prompt message, wherein the second prompt message is used to remind the driver that the vehicle has currently deviated from the target driving area.

[0010] Furthermore, the method for assisting a driver to pass through a toll station also includes: when the first position is within the target driving area, obtaining the current steering angle of the vehicle; generating a simulated driving trajectory according to the steering angle, and controlling the display to display the simulated driving trajectory.

[0011] Furthermore, the method for assisting a driver to pass through a toll station also includes: when the steering angle is not equal to 0, determining whether the intersection of the simulated driving trajectory and the target driving area is within a preset range; when the intersection is within the preset range, sending a third prompt message, and the third prompt message is used to remind the driver that the vehicle is about to deviate from the target driving area.

[0012] Furthermore, the preset range is the area where the drivable area is located between the first position and the second position, and the second position is the position of the gate railing of the channel within the drivable area.

[0013] Furthermore, when the intersection point is within the preset range, the method further includes: sending steering restriction information, where the steering restriction information is used to increase the damping of the vehicle's wheels rotating in a direction away from the target driving area.

[0014] According to a second aspect of the present application, there is provided a device for assisting a driver in passing through a toll station, which is applied to a vehicle. The device for assisting a driver in passing through a toll station comprises: a first acquisition module, configured to obtain the channel type of the channel of the toll station corresponding to the front of the vehicle; a construction module, configured to obtain the drivable area of ​​the channel when the channel type is a manual channel, and construct a target driving area of ​​the target side edge of the vehicle within the drivable area according to a preset driving interval condition; a second acquisition module, configured to obtain the current position information of the vehicle; and a display module, configured to control the display of the vehicle to display the target driving area, and at the same time display an image of the vehicle according to the position information.

[0015] In a third aspect of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for assisting a driver in passing a toll station as described in the first aspect above is implemented.

[0016] In a fourth aspect of the present application, a vehicle is provided, comprising: a controller, wherein the controller is configured to execute the method for assisting a driver in passing a toll station as described in the first aspect above.

[0017] In a fifth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the method of assisting a driver to pass through a toll booth as described in the first aspect above.

[0018] As can be seen from the above, the present application provides a method, device and vehicle for assisting a driver in passing through a toll station, obtaining the channel type of the channel of the toll station corresponding to the vehicle in front, not all types of channels require helping the driver to grasp the distance, and by determining the type of channel the vehicle is to pass through, a judgment basis is provided for initiating subsequent construction steps; when the channel type is a manual channel, the driver needs to take the card, and then the driver needs to be assisted in judging the appropriate distance between the vehicle and the shoulder of the road, at this time, the drivable area of ​​the channel is obtained, and the target driving area of ​​the target side edge of the vehicle is constructed within the drivable area according to the preset driving interval conditions, and the target driving area is the boundary between the target side edge of the vehicle and the corresponding drivable area. The method, device and vehicle for assisting the driver in passing through a toll station are simple and convenient, can assist the driver in accurately judging whether the distance between the vehicle and the channel is appropriate, and help the driver pass through the toll station safely and conveniently, with a high user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in this application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are merely embodiments of this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 This is a flow chart of a method for assisting a driver in passing a toll station according to an embodiment of the present application;

[0021] Figure 2 This is a schematic diagram showing the display of the first target driving area and vehicle image in an embodiment of the present application;

[0022] Figure 3 This is a schematic diagram showing the display of the second target driving area and vehicle image in an embodiment of the present application;

[0023] Figure 4 This is a schematic diagram showing the display of the third target driving area and vehicle image in an embodiment of the present application;

[0024] Figure 5 This is a schematic diagram showing the first simulated driving trajectory in an embodiment of the present application;

[0025] Figure 6This is a schematic diagram showing the second simulated driving trajectory in an embodiment of the present application;

[0026] Figure 7 This is a schematic diagram showing the third simulated driving trajectory in an embodiment of the present application;

[0027] Figure 8 This is a schematic structural diagram of a device for assisting a driver in passing a toll station in an embodiment of the present application;

[0028] Figure 9 This is a structural diagram of an electronic device in an embodiment of the present application.

[0029] Figure numerals: 1. Vehicle; 1-1. First position; 2. Driving area; 2-1. Preset range; 2-2. Second position; 3. Target driving area; 3-1. Intersection. DETAILED DESCRIPTION

[0030] In order to make the objectives, technical solutions and advantages of this application more clear, this application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0031] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should have the usual meanings understood by people with ordinary skills in the field to which the present application belongs. "Include" or "comprising" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect.

[0032] With the development of the automotive industry, vehicles are increasingly involved in our daily lives and work, and it is inevitable that vehicles will pass through toll booths. With the rapid development and popularization of Electronic Toll Collection (ETC), the efficiency of toll booths has been greatly improved. However, for various reasons, a large proportion of drivers still insist on manually collecting cards and paying tolls. Corresponding toll booths also have manual channels and ETC channels. When passing through the manual channel, the driver needs to reach out to the left side of the vehicle to collect the card, which requires a certain distance between the vehicle and the left shoulder. If the distance is too far, it is inconvenient for the driver to collect the card. If the distance is too close, the vehicle is prone to friction and collision with the shoulder, reducing the safety factor. However, currently, drivers judge the distance based on experience and then adjust the vehicle. Manual judgment of whether the distance is appropriate is not accurate. Especially for novice drivers, it is difficult to judge whether the distance is appropriate when passing through the manual channel, resulting in failure to collect the card or safety accidents, which reduces the user experience. Therefore, a method is urgently needed to help drivers pass through toll booths conveniently and safely.

[0033] Below, through specific embodiments and combined Figures 1 to 9 To describe the technical solution of this application in detail.

[0034] In some embodiments of the present application, a method for assisting a driver to pass a toll booth is provided, which is applied to a vehicle 1, such as Figure 1 As shown, the method includes the following steps:

[0035] S1. Obtain the channel type of the channel of the toll station corresponding to the front of the vehicle 1.

[0036] The channel type is, for example, an ETC channel, a manual channel, etc., and is not specifically limited; the VCU (Vehicle Control Unit) of vehicle 1 can obtain the channel type of the channel at the toll station corresponding to the front of vehicle 1. Not all types of channels need to help the driver judge whether the spacing is appropriate. For example, the driver does not need to take the card for the ETC channel, and vehicle 1 can pass directly, so there is no need to assist the driver in making judgments. By determining the type of channel that vehicle 1 is to pass through, a judgment basis is provided for starting subsequent construction steps.

[0037] S2. When the channel type is a manual channel, obtain a drivable area 2 of the channel, and construct a target driving area 3 of a target side edge of the vehicle 1 within the drivable area 2 according to a preset driving interval condition.

[0038] When the channel type is a manual channel, the driver needs to pick up the card, which means that the driver needs to be helped to judge the appropriate distance between the vehicle 1 and the road shoulder. At this time, the VCU can obtain the drivable area 2 of the channel and construct the target driving area 3 of the target side edge of the vehicle 1 within the drivable area 2 according to the preset driving interval conditions; the target side edge is, for example, the left edge of the vehicle 1, because the driving seat in China is usually on the left, and the corresponding card picking position is also on the left side of the vehicle 1; according to needs, the target side edge can also be the right edge of the vehicle 1, which will not be repeated here; the target driving area 3 is an area where the distance between the target side edge and the boundary corresponding to the drivable area is maintained appropriately. Constructing the target driving area 3 provides a basis for helping the driver to judge whether the distance is appropriate.

[0039] S3. Obtain the current location information of the vehicle 1.

[0040] The positioning module of vehicle 1 can determine the current position information of vehicle 1, and VCU can obtain the position information to provide a basis for helping the driver to judge whether the distance is appropriate.

[0041] S4. Control the display of the vehicle to display the target driving area 3 and display the image of the vehicle 1 according to the position information.

[0042] like Figures 2 to 4 As shown, the VCU can control the display's human-machine interface (HMI) to simultaneously display the images of the target driving area 3 and the vehicle 1. In this way, the driver can directly determine whether the distance between the vehicle 1 and the road shoulder is appropriate by observing the relative position relationship between the target driving area 3 and the vehicle 1, and then adjust the position of the vehicle 1.

[0043] For example, when the relative positions of the target driving area 3 and the vehicle 1 are as follows Figure 2 As shown, the target side edge of vehicle 1 is located within the target driving area 3, indicating that the distance between vehicle 1 and the road shoulder is appropriate and the position of vehicle 1 does not need to be adjusted; when the relative position of target driving area 3 and vehicle 1 is as shown Figure 3 As shown, the target side edge of vehicle 1 is located on the right side of target driving area 3, which means that the distance between vehicle 1 and the road shoulder is too far, making it inconvenient for the driver to take the card, and the position of vehicle 1 needs to be adjusted to the left; when the relative position of target driving area 3 and vehicle 1 is as shown Figure 4 As shown, the target side edge of the vehicle 1 is located on the left side of the target driving area 3, which means that the distance between the vehicle 1 and the road shoulder is too close, and a friction collision may occur. The position of the vehicle 1 needs to be adjusted to the right.

[0044] The method, device and vehicle for assisting a driver in passing through a toll station are simple and convenient, can assist the driver in determining whether the distance between the vehicle 1 and the channel is appropriate, and help the driver pass through the toll station safely and conveniently, with a high user experience.

[0045] In some embodiments, the driving interval condition includes: a distance between the target side edge and a boundary corresponding to the drivable area is greater than or equal to a first length and less than or equal to a second length.

[0046] like Figure 2 As shown, the target side edge is the left edge of the vehicle 1, and the boundary corresponding to the drivable area is the left boundary. In the figure, D1 is the first length, for example, 10 cm, and D2 is the second length, for example, 15 cm. There is no specific limitation. When the left edge of the vehicle 1 is driven within this range, it can ensure safety and facilitate card retrieval. According to the driving interval condition, the following is constructed: Figure 2 The target driving area 3 shown provides a basis for helping the driver determine whether the distance between the vehicle 1 and the road shoulder is appropriate.

[0047] In some embodiments, step S1 includes:

[0048] S101. Obtain a first distance between the vehicle 1 and the toll station ahead.

[0049] The VCU can obtain the first distance between the vehicle 1 and the toll booth ahead, providing a judgment basis for starting the step of obtaining the channel type.

[0050] S102: When the first distance is less than or equal to a preset distance, obtain image information of the channel of the toll station corresponding to the vehicle 1, and identify the channel type according to the image information.

[0051] Setting the subsequent steps to be started when the first distance is ≤ the preset distance can greatly improve resource utilization and avoid vehicle 1 constantly acquiring image information, which wastes resources; the preset distance is, for example, 100m, 200m or 300m, and there is no specific limitation. When the preset distance is too close, for example, it is set to less than 100m, because the subsequent construction of the target driving area 3 requires processing time, it will not be able to display the image in time; when the preset distance is too far, for example, it is set to greater than 300m, the data processing volume will be greatly increased, wasting resources.

[0052] The channel of the toll station will be equipped with a channel type signboard or electronic display screen. For a vehicle 1 with intelligent driving function, the image information of the channel in front of the vehicle 1 can be obtained through the camera. The channel type can be obtained by analyzing the image information using the relevant image recognition algorithm, providing a basis for subsequent judgment.

[0053] In some embodiments, step S101 includes:

[0054] S1011. Reconstruct a map using the electronic horizon reconstructor of the vehicle 1 to obtain a first distance between the vehicle 1 and the toll station ahead.

[0055] By utilizing the map reconstruction function of the EHR (Electronic Horizon ReConstructor) of the vehicle 1 , the toll station information within 2 km ahead of the vehicle 1 can be identified in advance, and the first distance between the vehicle 1 and the toll station can be obtained based on the toll station information and the vehicle information.

[0056] In some embodiments, when the first distance is less than or equal to a preset distance, the method further includes:

[0057] S103: Send a first prompt message, where the first prompt message is used to remind the driver to reduce the speed.

[0058] The first prompt information can be text or image prompt information, and is not specifically limited. The VCU can send the first prompt information to the audio of vehicle 1 for voice broadcast, or can send the first prompt information to the display for interface display to remind the driver to slow down and avoid danger, and can more stably obtain the image information of the channel for processing.

[0059] In some embodiments, obtaining the drivable area 2 of the channel includes:

[0060] S201, acquiring image information and radar information of the channel;

[0061] S202: Identify obstacles in the passage based on the image information and radar information;

[0062] S203: Construct the drivable area 2 according to the obstacle.

[0063] Obstacles such as shoulders higher than the road surface will be set up on both sides of the toll station channel. For a vehicle 1 with intelligent driving function, the image information of the channel can be obtained through the camera, and the radar information of the channel can be obtained through ultrasonic radar, etc. The relevant recognition algorithm can be used to identify the obstacles in the channel in the information. According to the location of the obstacle, the vehicle 1 mapping function can be used to construct the drivable area of ​​the vehicle 1 in the channel, such as Figure 2 As shown, the drivable area 2 is a rectangular area.

[0064] In some embodiments, the method for assisting a driver in passing a toll booth further includes:

[0065] S5 . Obtain a first position 1 - 1 of the target side edge of the vehicle 1 within the drivable area 2 .

[0066] The positioning module of the vehicle 1 can determine the first position 1-1 of the target side edge of the vehicle 1 within the drivable area 2, such as Figure 2As shown, the target side edge is the left edge of the vehicle 1 , and the first position 1 - 1 is the position of the outer side of the left front wheel of the vehicle 1 .

[0067] S6. When the first position 1 - 1 is outside the target driving area 3 , a second prompt message is sent, where the second prompt message is used to remind the driver that the vehicle 1 has currently deviated from the target driving area 3 .

[0068] The second prompt information can be text or image prompt information, and is not specifically limited. The VCU can send the second prompt information to the audio of vehicle 1 for voice broadcast, or can send the second prompt information to the display for interface display to remind the current vehicle 1 that the vehicle 1 has deviated from the target driving area 3 and needs to adjust the vehicle 1 and the road shoulder to maintain an appropriate distance.

[0069] like Figure 3 As shown, the first position 1-1 is located on the right side of the target driving area 3, indicating that the distance between the vehicle 1 and the road shoulder is too far. A second prompt message can be sent to remind the driver that the position of the vehicle 1 is off to the right and the position of the vehicle 1 needs to be adjusted to the left. Figure 4 As shown, the first position 1-1 is located on the left side of the target driving area 3, indicating that the distance between the vehicle 1 and the road shoulder is too close. A second prompt message can be sent to remind the driver that the vehicle 1 is positioned to the left and the position of the vehicle 1 needs to be adjusted to the right.

[0070] In some embodiments, the method for assisting a driver in passing a toll booth further includes:

[0071] S7. When the first position 1-1 is located within the target driving area 3, obtain a current steering angle of the vehicle 1.

[0072] like Figure 2 As shown, the first position 1-1 is located in the target driving area 3, indicating that the distance between the vehicle 1 and the road shoulder is appropriate. At this time, the steering angle of the vehicle 1 can be determined by the rotation direction of the wheels, and the steering angle is usually between -40° and 40°.

[0073] S8. Generate a simulated driving trajectory according to the steering angle, and control the display to display the simulated driving trajectory.

[0074] The relevant vehicle simulation trajectory algorithm can be used to generate a simulated driving trajectory of vehicle 1 based on the obtained steering angle. The VCU can control the human-machine interface of the display to display the simulated driving trajectory on the basis of displaying the image of the target driving area 3 and vehicle 1, so that the driver can understand the movement of vehicle 1 at the next moment and facilitate further adjustment of vehicle 1.

[0075] like Figure 5 As shown in the figure, the dotted line is the simulated driving trajectory when the steering angle is 0°, and the trajectory shape is a straight line, such as Figure 6As shown in the figure, the dotted line is the simulated driving trajectory when the steering angle is 10°, and the trajectory shape is a curve, such as Figure 7 As shown, the dotted line in the figure is the simulated driving trajectory when the steering angle is -5°, and the trajectory shape is a curve; the starting point of the simulated driving trajectory is the first position 1-1, and the end point is the boundary of the drivable area.

[0076] In some embodiments, the method for assisting a driver in passing a toll booth further includes:

[0077] S9. When the steering angle is not equal to 0, determine whether the intersection point 3-1 between the simulated driving trajectory and the target driving area 3 is within a preset range 2-1.

[0078] When the steering angle is equal to 0°, Figure 5 As shown, the first position 1-1 is within the target driving area 3, then the vehicle 1 will always maintain an appropriate distance from the road shoulder, and there is no need to adjust the vehicle 1; when the steering angle is not equal to 0°, as shown Figure 6 and Figure 7 As shown, vehicle 1 will move away from the target driving area 3 at some point in the future, that is, vehicle 1 will move away from the target driving area 3 after the simulated driving trajectory intersects with the target driving area 3. At this time, the position of intersection 3-1 can be judged according to needs to facilitate further adjustment of vehicle 1.

[0079] The preset range 2-1 is, for example, an area between the first position 1-1 and the second position 2-2 of the drivable area 2. The second position 2-2 is, for example, a position of a gate railing of a passage within the drivable area 2. Figure 6 and Figure 7 As shown, the second position 2-2 is the center position of the barrier railing on the artificial channel, and the corresponding preset range 2-1 is the rectangular area with thick lines in the figure. It is judged whether the intersection 3-1 is within the preset range 2-1, that is, whether the vehicle 1 can pass through the channel smoothly, providing a basis for subsequent prompting the driver.

[0080] S10 . When the intersection point 3 - 1 is within the preset range 2 - 1 , a third prompt message is sent, where the third prompt message is used to remind the driver that the vehicle 1 is about to deviate from the target driving area 3 .

[0081] When the intersection point 3-1 is outside the preset range 2-1, as Figure 7 As shown, when the vehicle 1 travels to the second position at the current steering angle, the target side edge of the vehicle 1 is still located within the target driving area 3, that is, the distance between the vehicle 1 and the road shoulder when passing through the channel is still appropriate, and the vehicle 1 does not need to be adjusted.

[0082] When the intersection point 3-1 is within the preset range 2-1, as Figure 6As shown, when the vehicle 1 drives to the position of the barrier gate at the current steering angle, the target side edge of the vehicle 1 is outside the target driving area 3, that is, the distance between the vehicle 1 and the shoulder when passing through the channel is not appropriate, which may be too close or too far, and the vehicle 1 needs to be adjusted.

[0083] When the intersection 3-1 is within the preset range 2-1, a third prompt message is sent. The third prompt message can be a text or image prompt message, and is not specifically limited. The VCU can send the third prompt message to the audio of vehicle 1 for voice broadcast, or can send the third prompt message to the display for interface display to remind the current vehicle 1 that it is about to deviate from the target driving area 3 and needs to adjust the vehicle 1 and the road shoulder to maintain an appropriate distance.

[0084] When the intersection point 3-1 is located at the right edge of the target driving area 3, as shown in FIG. Figure 6 As shown, it means that the distance between vehicle 1 and the road shoulder is too far, and a third prompt message can be sent to remind the driver that vehicle 1 is turning to the right and needs to turn left; when the intersection 3-1 is located at the left edge of the target driving area 3, it means that the distance between vehicle 1 and the road shoulder is too close, and a third prompt message can be sent to remind the driver that vehicle 1 is turning to the left and needs to turn right.

[0085] In some embodiments, when the intersection point 3-1 is within the preset range 2-1, the method further includes:

[0086] S1001 : Send steering restriction information, where the steering restriction information is used to increase the damping of the wheels of the vehicle 1 rotating in a direction away from the target driving area 3 .

[0087] When the intersection 3-1 is within the preset range 2-1, steering restriction information can also be sent. The wheel controller can receive the steering restriction information and then increase the damping of turning in the direction away from the target driving area 3, hindering the driver from turning the steering wheel in the direction away from the target driving area 3, and helping the driver to pass the toll station smoothly.

[0088] For example, when the intersection 3-1 is located at the right edge of the target driving area 3, it means that the vehicle 1 is turning to the right. Steering restriction information can be sent to increase the damping of the wheel turning to the right, hindering the driver from continuing to turn right, and preventing the vehicle 1 from being too far away from the road shoulder. When the intersection 3-1 is located at the left edge of the target driving area 3, it means that the vehicle 1 is turning to the left. Steering restriction information can be sent to increase the damping of the wheel turning to the left, hindering the driver from continuing to turn left, and preventing the vehicle 1 from being too close to the road shoulder.

[0089] In some embodiments of the present application, a device for assisting a driver in passing a toll station is provided, which is applied to a vehicle 1, with reference to Figure 8The device includes: a first acquisition module 81, configured to obtain the channel type of the channel of the toll station corresponding to the front of the vehicle 1; a construction module 82, configured to obtain the drivable area 2 of the channel when the channel type is a manual channel, and construct a target driving area 3 of the target side edge of the vehicle 1 within the drivable area 2 according to a preset driving interval condition; a second acquisition module 83, configured to obtain the current position information of the vehicle 1; a display module 84, configured to control the display of the vehicle to display the target driving area 3, and at the same time display the image of the vehicle 1 according to the position information.

[0090] In some embodiments, the first acquisition module 81 is further configured to obtain a first distance between the vehicle 1 and the toll station in front; when the first distance is less than or equal to a preset distance, obtain image information of the channel of the toll station corresponding to the vehicle 1, and identify the channel type based on the image information.

[0091] In some embodiments, the first acquisition module 81 is further configured to send a first prompt message when the first distance is less than or equal to a preset distance, where the first prompt message is used to remind the driver to reduce the speed.

[0092] In some embodiments, the construction module 82 is further configured to obtain image information and radar information of the channel; identify obstacles in the channel based on the image information and radar information; and construct the drivable area 2 based on the obstacles.

[0093] In some embodiments, the second acquisition module 83 is further configured to acquire a first position 1 - 1 of a target side edge of the vehicle 1 currently within the drivable area 2 .

[0094] In some embodiments, the device for assisting the driver to pass through the toll station also includes: a first judgment module, configured to send a second prompt message when the first position 1-1 is located outside the target driving area 3, and the second prompt message is used to remind the driver that the current vehicle 1 has deviated from the target driving area 3.

[0095] In some embodiments, the first judgment module is further configured to obtain the current steering angle of the vehicle 1 when the first position 1-1 is located within the target driving area 3; generate a simulated driving trajectory according to the steering angle, and control the display to display the simulated driving trajectory.

[0096] In some embodiments, the device for assisting the driver in passing through a toll station further includes: a second judgment module, configured to judge whether the intersection 3-1 of the simulated driving trajectory and the target driving area 3 is within a preset range 2-1 when the steering angle is not equal to 0; when the intersection 3-1 is within the preset range 2-1, send a third prompt message, and the third prompt message is used to remind the driver that the vehicle 1 is about to deviate from the target driving area 3.

[0097] In some embodiments, the second judgment module is further configured to send steering restriction information when the intersection 3-1 is located within the preset range 2-1, and the steering restriction information is used to increase the damping of the wheels of the vehicle 1 rotating away from the target driving area 3.

[0098] The device of the above embodiment is used to implement the corresponding method of assisting a driver to pass through a toll station in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0099] In some embodiments of the present application, a vehicle is provided, comprising: a controller, wherein the controller is configured to execute the method for assisting a driver in passing a toll booth as described in any of the above embodiments.

[0100] The vehicle can assist drivers in passing through toll booths safely and conveniently, providing a good user experience.

[0101] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and runnable on the processor, wherein when the processor executes the program, the method of assisting a driver to pass through a toll station as described in any of the above embodiments is implemented.

[0102] Figure 9 10. A more specific hardware structure diagram of an electronic device provided in this embodiment is shown. The device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are communicatively connected to each other within the device via the bus 1050.

[0103] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0104] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage devices, dynamic storage devices, etc. The memory 1020 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0105] The input / output interface 1030 is used to connect input / output modules to implement information input and output. The input / output modules can be configured as components within the device (not shown) or can be externally connected to the device to provide corresponding functions. Input devices can include a keyboard, mouse, touch screen, microphone, various sensors, etc., and output devices can include a display, speaker, vibrator, indicator light, etc.

[0106] The communication interface 1040 is used to connect to a communication module (not shown) to enable communication between the device and other devices. The communication module can communicate via wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WiFi, Bluetooth, etc.).

[0107] The bus 1050 comprises a path for transmitting information between the various components of the device (eg, the processor 1010 , the memory 1020 , the input / output interface 1030 , and the communication interface 1040 ).

[0108] It should be noted that although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040, and the bus 1050, in a specific implementation, the device may also include other components necessary for normal operation. In addition, it will be understood by those skilled in the art that the above device may only include the components necessary to implement the embodiments of this specification, and does not necessarily include all the components shown in the figure.

[0109] The electronic device of the above embodiment is used to implement the corresponding method of assisting a driver to pass through a toll station in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0110] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments, the present application also provides a computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable the computer to execute the method of assisting a driver to pass through a toll station as described in any of the above embodiments.

[0111] The computer-readable media of this embodiment include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0112] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the method of assisting a driver to pass through a toll station as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0113] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application (including the claims) is limited to these examples. Within the scope of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0114] In addition, to simplify the description and discussion, and in order not to make the embodiment of the application difficult to understand, the device can be shown in the form of a block diagram, so as to avoid making the embodiment of the application difficult to understand, and this also takes into account the following fact, that is, the details of the embodiment of the embodiment of the application about these block diagram devices are highly dependent on the platform to be implemented (that is, these details should be fully within the scope of understanding of those skilled in the art). When specific details are set forth to describe the exemplary embodiments of the application, it is obvious to those skilled in the art that the embodiment of the application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0115] While the present application has been described in conjunction with specific embodiments thereof, many alternatives, modifications and variations of these embodiments will be apparent to those skilled in the art in light of the foregoing description.

[0116] The embodiments of the present application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of this application.

Claims

1. A method for assisting a driver to pass through a toll booth, characterized in that: Applied to a vehicle, the method for assisting a driver in passing a toll booth includes: Obtaining the channel type of the toll station corresponding to the vehicle ahead; When the channel type is a manual channel, obtaining a drivable area of ​​the channel, and constructing a target driving area of ​​the target side edge of the vehicle within the drivable area according to a preset driving interval condition; Acquire the current position information of the vehicle; acquire the current first position of the target side edge of the vehicle within the drivable area; controlling a display of the vehicle to display the target driving area and displaying an image of the vehicle according to the position information; When the first position is within the target driving area, obtaining a current steering angle of the vehicle; generating a simulated driving trajectory according to the steering angle, and controlling the display to display the simulated driving trajectory; When the steering angle is not equal to 0, determine whether the intersection of the simulated driving trajectory and the target driving area is within a preset range, the preset range being the area where the drivable area is located between the first position and the second position, and the second position being the position of the gate railing of the channel within the drivable area; when the intersection is within the preset range, send a third prompt message, the third prompt message being used to remind the driver that the vehicle is about to deviate from the target driving area; and / or send a steering restriction message, the steering restriction message being used to increase the damping of the vehicle's wheels rotating in a direction away from the target driving area.

2. The method for assisting a driver to pass through a toll booth according to claim 1, characterized in that: The obtaining of the channel type of the channel of the toll station corresponding to the front of the vehicle includes: Obtaining a first distance between the vehicle and the toll station ahead; When the first distance is less than or equal to a preset distance, image information of a channel of the toll station corresponding to the vehicle is acquired, and a channel type is identified according to the image information.

3. The method for assisting a driver to pass through a toll booth according to claim 2, characterized in that: The obtaining of a first distance between the vehicle and the preceding toll station includes: Reconstructing a map using an electronic horizon reconstructor of the vehicle to obtain a first distance between the vehicle and the toll booth ahead; When the first distance is less than or equal to a preset distance, the method further includes: sending a first prompt message, where the first prompt message is used to remind the driver to reduce the speed.

4. The method for assisting a driver to pass through a toll booth according to claim 1, characterized in that: The obtaining of the drivable area of ​​the channel includes: Acquiring image information and radar information of the channel; identifying obstacles in the passage based on the image information and radar information; The drivable area is constructed according to the obstacles.

5. The method for assisting a driver to pass through a toll booth according to claim 1, characterized in that: The driving interval condition includes: a distance between the target side edge and a boundary corresponding to the drivable area is greater than or equal to a first length and less than or equal to a second length.

6. The method for assisting a driver to pass through a toll booth according to claim 1, characterized in that: Also includes: When the first position is outside the target driving area, a second prompt message is sent, where the second prompt message is used to remind the driver that the vehicle has currently deviated from the target driving area.

7. A device for assisting a driver to pass through a toll booth, characterized in that: Applied to a vehicle, the device for assisting a driver in passing a toll booth comprises: A first acquisition module is configured to acquire a channel type of a channel of a toll station corresponding to the vehicle in front; a construction module configured to, when the channel type is a manual channel, obtain a drivable area of ​​the channel and construct a target driving area of ​​a target side edge of the vehicle within the drivable area according to a preset driving interval condition; The second acquisition module is configured to acquire the current position information of the vehicle; acquire the first position of the target side edge of the vehicle in the drivable area; a display module configured to control a display of the vehicle to display the target driving area and simultaneously display an image of the vehicle according to the position information; a first judgment module configured to, when the first position is within the target driving area, obtain a current steering angle of the vehicle; generate a simulated driving trajectory according to the steering angle, and control the display to display the simulated driving trajectory; The second judgment module is configured to judge whether the intersection of the simulated driving trajectory and the target driving area is within a preset range when the steering angle is not equal to 0, the preset range being the area where the drivable area is located between the first position and the second position, and the second position being the position of the gate railing of the channel within the drivable area; when the intersection is within the preset range, send a third prompt message, the third prompt message is used to remind the driver that the vehicle is about to deviate from the target driving area; and / or send a steering restriction message, the steering restriction message is used to increase the damping of the vehicle's wheels rotating in the direction away from the target driving area.

8. A vehicle, characterized in that: include: A controller, wherein the controller is used to execute the method for assisting a driver to pass through a toll booth as described in any one of claims 1 to 6.

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