An assisted driving method and device, vehicle and storage medium

Abstract

The application provides an assisted driving method and device, a vehicle and a storage medium, and relates to the technical field of vehicles. The application solves the problem of driver fatigue caused by long-time driving on a slope road section. The method comprises the following steps: determining an altitude change value and a horizontal position change value of a vehicle in a Pth period according to first positioning information of the vehicle at the beginning of the Pth period and second positioning information of the vehicle at the end of the Pth period; determining a slope of a road on which the vehicle is located in the Pth period according to the altitude change value and the horizontal position change value of the vehicle in the Pth period; determining that the vehicle is driving on a slope road section in the case that the slope of the road on which the vehicle is located in the Pth period is greater than or equal to a first preset slope, and the slope of the road on which the vehicle is located in a (P-1)th period is greater than or equal to the first preset slope; and determining a driving state of the vehicle on the slope road section, and performing an assisted driving operation corresponding to the driving state on the vehicle.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more specifically to an assisted driving method, device, vehicle, and storage medium. Background Technology

[0002] With the continuous development of the automotive industry, there are more and more vehicles on the road, and fatigued driving is becoming increasingly common. Traffic accidents caused by fatigued driving cause enormous harm to people and place a heavy burden and impact on society.

[0003] During vehicle operation, prolonged use of the accelerator and brake pedals can cause driver fatigue, distraction, and drowsiness, which can potentially lead to unexpected traffic accidents. Summary of the Invention

[0004] This application provides an assisted driving method, device, vehicle, and storage medium to address the problem of driver fatigue caused by prolonged driving on sloping roads.

[0005] In a first aspect, this application provides an assisted driving method, the method comprising: acquiring first positioning information of a vehicle at the beginning of a P-th cycle and second positioning information of the vehicle at the end of the P-th cycle; where P is an integer greater than 1; determining, based on the first positioning information and the second positioning information, the elevation change value and horizontal position change value of the vehicle within the P-th cycle; determining, based on the elevation change value and horizontal position change value of the vehicle within the P-th cycle, the slope of the road where the vehicle is located within the P-th cycle; determining that the vehicle is traveling on a sloped road section when it is determined that the slope of the road where the vehicle is located within the P-th cycle is greater than or equal to a first preset slope, and when it is determined that the slope of the road where the vehicle is located within the P-1-th cycle is greater than or equal to the first preset slope; determining the driving state of the vehicle on the sloped road section, and performing assisted driving operations corresponding to the driving state on the vehicle.

[0006] Based on the aforementioned technical means, this application determines whether a vehicle is on a slope by analyzing the changes in altitude and horizontal position over two consecutive cycles, thus avoiding misclassifying undulating road sections as slopes. Simultaneously, based on the vehicle's driving status on the slope, corresponding driver assistance operations are performed, preventing driver fatigue caused by prolonged driving on slopes.

[0007] In some embodiments, determining the driving state of a vehicle on a slope includes: when it is determined that the vehicle is driving on a slope, determining the first altitude of the vehicle at the beginning of the Pth cycle and the second altitude of the vehicle at the end of the Pth cycle based on the first positioning information and the second positioning information; if the first altitude is greater than the second altitude, determining the driving state of the vehicle as a downhill state; if the first altitude is less than the second altitude, determining the driving state of the vehicle as an uphill state.

[0008] As can be seen from the above, this application determines the vehicle's driving state as uphill or downhill based on the vehicle's first altitude at the beginning of the Pth cycle and the second altitude at the end of the Pth cycle, and controls the vehicle's acceleration or braking according to the driving state, thereby achieving the purpose of performing auxiliary operations on the vehicle corresponding to the driving state.

[0009] In some embodiments, the above-described assisted driving operation corresponding to the driving state of the vehicle includes: controlling the vehicle to brake when the vehicle is driving downhill; and controlling the vehicle to accelerate when the vehicle is driving uphill.

[0010] As can be seen from the above, this application controls the vehicle's braking or acceleration according to the vehicle's driving status, which plays a role in assisting the driver and avoiding driver fatigue caused by prolonged pressing of the accelerator or brake pedals.

[0011] In some embodiments, when the signal strength of the acquired vehicle positioning information does not reach a threshold, the electrical signal generated by the vehicle's slope detection module is monitored. The slope detection module generates electrical signals corresponding to different slopes when the vehicle is traveling on road sections with different slopes. If the slope detection module sequentially generates a first electrical signal, a second electrical signal, and a third electrical signal, and the duration of the third electrical signal is longer than a first preset duration, it is determined that the vehicle is traveling on a slope. The first electrical signal indicates that the vehicle is traveling on a road with a slope greater than a second preset slope, the second electrical signal indicates that the vehicle is traveling on a road with a slope greater than a third preset slope, and the third electrical signal indicates that the vehicle is traveling on a road with a slope greater than a first preset slope. The second preset slope is less than the third preset slope, and the third preset slope is less than the first preset slope.

[0012] As can be seen from the above, this application determines whether a vehicle is traveling on a slope section based on the electrical signal generated by the slope detection device when the signal strength of the vehicle's positioning information does not reach the threshold, thus avoiding the inability to accurately determine whether the vehicle is on a slope section due to the signal strength of the positioning information not reaching the threshold.

[0013] In some embodiments, after determining that the vehicle is traveling on a slope, if no third electrical signal is detected by the slope detection module within a second preset time period, it is determined that the vehicle has left the slope.

[0014] As can be seen from the above, this application determines that the vehicle has left the slope section when the slope detection module does not generate a third electrical signal within a second preset time period, thus avoiding misjudgment that the vehicle has left the slope section due to road bumps.

[0015] Secondly, this application provides an assisted driving device, comprising: an acquisition module, configured to acquire first positioning information of the vehicle at the beginning of a P-th cycle and second positioning information of the vehicle at the end of the P-th cycle; where P is an integer greater than 1; a determination module, configured to determine the elevation change value and horizontal position change value of the vehicle within the P-th cycle based on the first positioning information and the second positioning information; the determination module is further configured to determine the slope of the road where the vehicle is located within the P-th cycle based on the elevation change value and horizontal position change value of the vehicle within the P-th cycle; the determination module is further configured to determine that the vehicle is traveling on a slope section when it is determined that the slope of the road where the vehicle is located within the P-th cycle is greater than or equal to a first preset slope, and when it is determined that the slope of the road where the vehicle is located within the P-1-th cycle is greater than or equal to the first preset slope; and a function module, configured to determine the driving state of the vehicle on the slope section and perform assisted driving operations corresponding to the driving state.

[0016] In some embodiments, the determining module is further configured to, when it is determined that the vehicle is traveling on a slope, determine the first altitude of the vehicle at the beginning of the Pth cycle and the second altitude of the vehicle at the end of the Pth cycle based on the first positioning information and the second positioning information; the functional module is further configured to, when the first altitude is greater than the second altitude, determine that the vehicle's driving state is downhill; the functional module is further configured to, when the first altitude is less than the second altitude, determine that the vehicle's driving state is uphill.

[0017] In some embodiments, the functional module is further configured to control vehicle braking when the vehicle is traveling downhill; and to control vehicle acceleration when the vehicle is traveling uphill.

[0018] In some embodiments, the above-described apparatus further includes: a monitoring module, configured to monitor the electrical signals generated by the vehicle's slope detection module when the signal strength of the acquired vehicle positioning information does not reach a threshold; the slope detection module generates electrical signals corresponding to different slopes when the vehicle travels on road sections with different slopes; and a determination module, further configured to determine that the vehicle is traveling on a sloped road section when the slope detection module sequentially detects that a first electrical signal, a second electrical signal, and a third electrical signal are generated, and the duration of the third electrical signal is greater than a first preset duration; wherein the first electrical signal indicates that the vehicle is traveling on a road with a slope greater than a second preset slope, the second electrical signal indicates that the vehicle is traveling on a road with a slope greater than a third preset slope, the third electrical signal indicates that the vehicle is traveling on a road with a slope greater than a first preset slope, the second preset slope is less than the third preset slope, and the third preset slope is less than the first preset slope.

[0019] In some embodiments, the determining module is further configured to, after determining that the vehicle is traveling on a slope section, determine that the vehicle has left the slope section if the slope detection module does not detect the generation of a third electrical signal within a second preset time period.

[0020] Thirdly, this application provides a vehicle including a memory and a processor; the memory is used to store computer execution instructions; when the vehicle is running, the processor executes the computer execution instructions stored in the memory to enable the vehicle to implement the methods of any of the first aspects and any of their embodiments described above.

[0021] Fourthly, this application provides a computer-readable storage medium including computer instructions that, when executed on a vehicle, cause the vehicle to perform the methods described in the first aspect and any of its embodiments.

[0022] Fifthly, embodiments of the present invention provide a computer program product that can be directly loaded into a memory and contains software code. After being loaded and executed by a computer, the computer program product can implement the methods described in the first aspect and any of its embodiments.

[0023] Therefore, the above-mentioned technical features of this application have the following beneficial effects:

[0024] (1) Based on the changes in altitude and horizontal position of the vehicle in two consecutive cycles, determine whether the vehicle is on a slope. Based on the vehicle's driving status on the slope, perform auxiliary driving operations corresponding to the driving status. This avoids the vehicle being misjudged as having been going uphill for a long time when it is going uphill for a short time. At the same time, it can perform auxiliary operations corresponding to the driving status, thus avoiding the problem of driver fatigue due to driving on slopes for a long time.

[0025] (2) Based on the first altitude of the vehicle at the beginning of the Pth cycle and the second altitude at the end of the Pth cycle, the vehicle's driving state is determined to be uphill or downhill, and the vehicle is accelerated or braked according to the driving state, thereby achieving the purpose of performing auxiliary operations on the vehicle corresponding to the driving state.

[0026] (3) It controls the vehicle's braking or acceleration according to the vehicle's driving status, which helps the driver drive and avoids driver fatigue due to prolonged pressing of the accelerator or brake pedal.

[0027] (4) If the signal strength of the vehicle's positioning information does not reach the threshold, the vehicle is determined to be driving on a slope section based on the electrical signal generated by the slope detection device, thus avoiding the inability to accurately determine whether the vehicle is on a slope section due to the signal strength of the positioning information not reaching the threshold.

[0028] (5) If the slope detection module does not generate a third electrical signal within the second preset time period, it determines that the vehicle has left the slope section, thus avoiding misjudgment that the vehicle has left the slope section due to road bumps.

[0029] It should be noted that the aforementioned computer instructions may be stored, in whole or in part, on a computer-readable storage medium. This computer-readable storage medium may be packaged together with the controller's processor or may be packaged separately from the controller's processor; this application does not impose any limitations on this.

[0030] The beneficial effects described in aspects two through five of this application can be referred to the analysis of the beneficial effects of aspect one, and will not be repeated here. Attached Figure Description

[0031] Figure 1 A flowchart illustrating an assisted driving method provided in this application embodiment. Figure 1 ;

[0032] Figure 2 A flowchart illustrating an assisted driving method provided in this application embodiment. Figure 2 ;

[0033] Figure 3 This is a schematic diagram of the structure of a ramp detection device provided in an embodiment of this application;

[0034] Figure 4 This is a schematic diagram of the structure of an assisted driving device provided in an embodiment of this application;

[0035] Figure 5 This is a schematic diagram of the hardware structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0036] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0037] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0038] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application 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 this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0039] With the continuous development of the automotive industry, there are more and more vehicles on the road, and fatigued driving is becoming increasingly common. Traffic accidents caused by fatigued driving cause enormous harm to people and place a heavy burden and impact on society.

[0040] During vehicle operation, prolonged use of the accelerator and brake pedals can cause driver fatigue, distraction, and drowsiness, which can potentially lead to unexpected traffic accidents.

[0041] Based on this, this application proposes an assisted driving method, device, vehicle, and storage medium. In this application, the vehicle is determined to be on a slope based on the changes in altitude and horizontal position of the vehicle in two consecutive cycles. Based on the vehicle's driving state on the slope, assisted driving operations corresponding to the driving state are performed on the vehicle. This avoids the vehicle being misjudged as having been going uphill for a long time when it has only been going uphill for a short time. At the same time, assisted operations corresponding to the driving state can be performed on the vehicle to avoid the problem of driver fatigue caused by driving on slopes for a long time.

[0042] For ease of understanding, the assisted driving method provided in this application will be described in detail below with reference to the accompanying drawings.

[0043] Figure 1 This is a flowchart illustrating an assisted driving method according to an exemplary embodiment. See also: Figure 1 As shown, the assisted driving method includes the following steps:

[0044] S101. Obtain the first positioning information of the vehicle at the beginning of the Pth cycle and the second positioning information of the vehicle at the end of the Pth cycle.

[0045] Where P is an integer greater than 1. The Pth period can be the distance the vehicle has traveled or the duration the vehicle has traveled; this embodiment of the application does not impose any restrictions on this.

[0046] In some embodiments, the vehicle's location information may be its GPS location information. The vehicle receives signals from a base station via multiple GPS receiving antennas, thereby achieving positioning and speed measurement.

[0047] S102. Based on the first positioning information and the second positioning information, determine the altitude change value and horizontal position change value of the vehicle in the Pth cycle.

[0048] S103. Based on the changes in altitude and horizontal position of the vehicle during the Pth cycle, determine the slope of the road where the vehicle is located during the Pth cycle.

[0049] In some embodiments, the slope of the road where the vehicle is located in the Pth cycle can be determined based on the inverse trigonometric function, combined with the elevation change value and the horizontal position change value.

[0050] For example, if tanα = x / y, then α = arctan(x / y).

[0051] Where x represents the change in altitude and y represents the change in horizontal position.

[0052] S104. If it is determined that the slope of the road where the vehicle is located in the Pth cycle is greater than or equal to the first preset slope, and it is determined that the slope of the road where the vehicle is located in the P-1th cycle is greater than or equal to the first preset slope, then the vehicle is determined to be traveling on a sloped road section.

[0053] The first preset slope can be 8 degrees, 9 degrees or 10 degrees, and this application does not impose any specific restrictions on it.

[0054] For example, urban roads generally have a gradient of no more than 5 degrees, and roads with a gradient greater than 10 degrees are considered sloping roads. To ensure vehicle safety, the gradient of urban roads generally does not exceed 15 degrees; therefore, the first preset gradient can be 10 degrees.

[0055] In some embodiments, if the signal strength of the vehicle's positioning information does not reach a threshold, the electrical signal generated by the vehicle's slope detection module is detected; if the slope detection module generates a first electrical signal, a second electrical signal, and a third electrical signal in sequence, and the duration of the third electrical signal is longer than a first preset duration, it is determined that the vehicle is traveling on a slope section.

[0056] The slope detection module generates electrical signals corresponding to different slopes when the vehicle travels on road sections with varying gradients. The first electrical signal indicates the vehicle is traveling on a road with a gradient greater than a second preset gradient; the second electrical signal indicates the vehicle is traveling on a road with a gradient greater than a third preset gradient; the third electrical signal indicates the vehicle is traveling on a road with a gradient greater than the first preset gradient; the second preset gradient is less than the third preset gradient; and the third preset gradient is less than the first preset gradient. The number of electrical signals generated by the slope detection module can be three, four, or five, etc., and this application does not impose a specific limitation on this.

[0057] As can be seen from the above, in the method provided by the embodiments of this application, when multiple continuous electrical signals are detected by the slope detection module in sequence, and the duration of the last generated electrical signal is longer than the first preset duration, it is determined that the vehicle is traveling on a slope section, thus avoiding misjudgment of the vehicle traveling on a slope section due to road bumps.

[0058] In some embodiments, the first electrical signal indicates that the vehicle is traveling on an uphill section with a gradient greater than a second preset gradient; the second electrical signal indicates that the vehicle is traveling on an uphill section with a gradient greater than a third preset gradient; and the third electrical signal indicates that the vehicle is traveling on an uphill section with a gradient greater than the first preset gradient.

[0059] In other embodiments, the first electrical signal indicates that the vehicle is traveling on a downhill section with a gradient greater than a second preset gradient; the second electrical signal indicates that the vehicle is traveling on a downhill section with a gradient greater than a third preset gradient; and the third electrical signal indicates that the vehicle is traveling on a downhill section with a gradient greater than a first preset gradient.

[0060] As can be seen from the above, in the method provided in the embodiments of this application, when the signal strength of the vehicle's positioning information does not reach the threshold, the method determines whether the vehicle is driving on a slope section based on the electrical signal generated by the slope detection device, thus avoiding the inability to accurately determine whether the vehicle is on a slope section due to the signal strength of the positioning information not reaching the threshold.

[0061] S105. Determine the vehicle's driving status on a slope and perform auxiliary driving operations corresponding to the driving status.

[0062] The driving status includes uphill and downhill driving; the assisted driving operations include controlling vehicle acceleration and braking. When driving uphill, the vehicle accelerates; when driving downhill, the vehicle brakes.

[0063] As can be seen from the above, in the method provided in this application embodiment, the system determines whether the vehicle is on a slope based on the changes in altitude and horizontal position of the vehicle over two consecutive cycles, thus avoiding misclassifying undulating road sections as slopes. Simultaneously, based on the vehicle's driving state on the slope, the system performs corresponding driver assistance operations, preventing driver fatigue caused by prolonged driving on slopes.

[0064] In some embodiments, when it is determined that the vehicle is traveling on a slope, the first altitude of the vehicle at the beginning of the Pth cycle and the second altitude of the vehicle at the end of the Pth cycle are determined based on the first positioning information and the second positioning information; if the first altitude is greater than the second altitude, the vehicle is determined to be traveling in a downhill state and the vehicle is controlled to brake; if the first altitude is less than the second altitude, the vehicle is determined to be traveling in an uphill state and the vehicle is controlled to accelerate.

[0065] As can be seen from the above, in the method provided in the embodiments of this application, the vehicle's driving state is determined to be uphill or downhill based on the first altitude of the vehicle at the beginning of the Pth cycle and the second altitude at the end of the Pth cycle, and the vehicle is accelerated or braked according to the driving state, thereby achieving the purpose of performing auxiliary operations on the vehicle corresponding to the driving state.

[0066] In some embodiments, when the vehicle is traveling uphill, it is detected whether the vehicle speed is greater than a first preset speed; if the vehicle speed is less than or equal to the preset speed, an acceleration operation is performed on the vehicle.

[0067] As can be seen from the above, this application performs an acceleration operation on the vehicle when the vehicle speed is less than or equal to the preset speed, thus preventing the vehicle from rolling away due to excessively low speed.

[0068] In some embodiments, when the vehicle is traveling downhill, it is detected whether the vehicle speed is less than a second preset speed; if the vehicle speed is greater than or equal to the second preset speed, a braking operation is performed on the vehicle.

[0069] As can be seen from the above, this application performs braking operation on the vehicle when the vehicle speed is greater than or equal to the second preset speed, thereby preventing traffic accidents caused by excessive speed.

[0070] Figure 2This is a flowchart illustrating an assisted driving method according to an exemplary embodiment. See also: Figure 2 As shown, the assisted driving method also includes the following steps:

[0071] S201. After determining that the vehicle is traveling on a slope, obtain the third positioning information of the vehicle at the beginning of the Nth cycle and the fourth positioning information of the vehicle at the end of the Nth cycle.

[0072] Where N is an integer greater than 1.

[0073] S202. Based on the third and fourth positioning information, determine the vehicle's altitude change and horizontal position change values ​​in the Nth cycle.

[0074] S203. Based on the changes in altitude and horizontal position of the vehicle in the Nth cycle, determine the slope of the road where the vehicle is located in the Nth cycle.

[0075] S204. If it is determined that the slope of the road where the vehicle is located in the Nth cycle is less than the first preset slope, and it is also determined that the slope of the road where the vehicle is located in the P-1th cycle is less than the first preset slope, then the vehicle is determined to leave the slope section.

[0076] In some embodiments, if the signal strength of the vehicle's location information does not reach a threshold, after determining that the vehicle is traveling on a slope, if no third electrical signal is detected by the slope detection module within a second preset time period, it is determined that the vehicle has left the slope.

[0077] For example, if the signal strength of the vehicle's location information does not reach a threshold, the vehicle only generates a second electrical signal within a second preset time period and does not generate a third electrical signal, thus determining that the vehicle has left the slope section.

[0078] In another example, if the signal strength of the vehicle's location information does not reach a threshold, the vehicle generates a third electrical signal for a third preset duration within a second preset duration, thus determining that the vehicle has not left the slope section.

[0079] As can be seen from the above, in the method provided in the embodiments of this application, if the slope detection module does not generate a third electrical signal within a second preset time period, it is determined that the vehicle has left the slope section, thus avoiding misjudgment of the vehicle leaving the slope section due to road bumps.

[0080] S205. Stop performing driver assistance operations on the vehicle.

[0081] As can be seen from the above, in the method provided in this application embodiment, after determining that the vehicle is traveling on a slope, it is determined whether the vehicle has left the slope based on the changes in altitude and horizontal position of the vehicle over two consecutive cycles. If the vehicle has left the slope, assisted driving operations are stopped, thus avoiding the continued use of assisted driving methods for slope sections on normal road sections, which could affect the driver's normal driving.

[0082] See Figure 3 As shown, the ramp detection module 30 provided in this application embodiment may include a cylindrical container 301, liquid mercury 302, a conductive metal sheet 303, a conductive scale bar 304, a conductive scale bar 305, a conductive scale bar 306, a conductive scale bar 307, a conductive scale bar 308, and a conductive scale bar 309.

[0083] In some embodiments, the cylindrical container 301 is made of an insulating material.

[0084] In some embodiments, liquid mercury 302 is placed in a cylindrical container 301.

[0085] In some embodiments, a conductive metal sheet 303 is placed at the bottom of a cylindrical container 301 to power on the ramp detection module 30.

[0086] In some embodiments, the conductive scale bar 304 indicates a vehicle tilt angle of 6 degrees. When liquid mercury 302 tilts in the cylindrical container 301 onto the conductive scale bar 304, the slope detection module 30 issues a signal indicating that the vehicle is traveling on an uphill section with a slope of 6 degrees.

[0087] In some embodiments, the conductive scale bar 305 indicates that the vehicle tilt angle is 8 degrees. When the liquid mercury 302 tilts in the cylindrical container 301 to the conductive scale bar 304, the slope detection module 30 issues a signal indicating that the vehicle is traveling on an uphill section with a slope of 8 degrees.

[0088] In some embodiments, the conductive scale bar 306 indicates a vehicle tilt angle of 10 degrees. When liquid mercury 302 tilts in the cylindrical container 301 onto the conductive scale bar 304, the slope detection module 30 issues a signal indicating that the vehicle is traveling on an uphill section with a slope of 10 degrees.

[0089] In some embodiments, the conductive scale bar 307 indicates a vehicle tilt angle of -6 degrees. When liquid mercury 302 tilts in the cylindrical container 301 onto the conductive scale bar 304, the slope detection module 30 issues a signal indicating that the vehicle is traveling on a downhill section with a slope of 6 degrees.

[0090] In some embodiments, the conductive scale bar 308 indicates a vehicle tilt angle of -8 degrees. When liquid mercury 302 tilts in the cylindrical container 301 onto the conductive scale bar 304, the slope detection module 30 issues a signal indicating that the vehicle is traveling on a downhill section with a slope of 8 degrees.

[0091] In some embodiments, the conductive scale bar 309 indicates a vehicle tilt angle of -10 degrees. When liquid mercury 302 tilts in the cylindrical container 301 to the conductive scale bar 304, the slope detection module 30 issues a signal indicating that the vehicle is traveling on a downhill section with a slope of 10 degrees.

[0092] As can be seen from the above, this application provides a slope detection device that can still determine whether a vehicle is driving on a slope even when the signal strength of the vehicle's positioning information does not reach a threshold, thus avoiding the inability to properly determine whether a vehicle is driving on a slope due to weak positioning signals.

[0093] The foregoing primarily describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the aforementioned functions, the driver assistance device or vehicle includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0094] This application embodiment can, based on the above method, exemplarily divide an assisted driving device or vehicle into functional modules. For example, the assisted driving device or vehicle may include various functional modules corresponding to each functional division, or two or more functions may be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division; in actual implementation, there may be other division methods.

[0095] Figure 4 This is a schematic diagram of the structure of a driver assistance device according to an exemplary embodiment, with reference to... Figure 4 The driver assistance device includes: an acquisition module 401, a determination module 402, a function module 403, and a monitoring module 404.

[0096] The acquisition module is used to acquire the first positioning information of the vehicle at the beginning of the Pth cycle and the second positioning information of the vehicle at the end of the Pth cycle; P is an integer greater than 1.

[0097] The determination module is used to determine the altitude change value and horizontal position change value of the vehicle in the Pth cycle based on the first positioning information and the second positioning information.

[0098] The determination module is also used to determine the slope of the road where the vehicle is located in the Pth cycle based on the changes in altitude and horizontal position of the vehicle in the Pth cycle.

[0099] The determination module is further configured to determine that the vehicle is traveling on a sloped road section when it is determined that the slope of the road in which the vehicle is located during the Pth cycle is greater than or equal to the first preset slope, and the slope of the road in which the vehicle is located during the P-1th cycle is greater than or equal to the first preset slope.

[0100] The functional module is used to determine the vehicle's driving status on a slope and to perform assisted driving operations corresponding to the driving status.

[0101] In some embodiments, the determining module is further configured to, when determining that the vehicle is traveling on a slope, determine the first altitude of the vehicle at the beginning of the Pth cycle and the second altitude of the vehicle at the end of the Pth cycle based on the first positioning information and the second positioning information; the functional module is further configured to, when the first altitude is greater than the second altitude, determine that the vehicle's driving state is a downhill state and control the vehicle to brake; the functional module is further configured to, when the first altitude is less than the second altitude, determine that the vehicle's driving state is an uphill state and control the vehicle to accelerate.

[0102] In some embodiments, the above-described apparatus further includes: a monitoring module, configured to monitor the electrical signals generated by the vehicle's slope detection module when the signal strength of the acquired vehicle positioning information does not reach a threshold; the slope detection module generates electrical signals corresponding to different slopes when the vehicle travels on road sections with different slopes; and a determination module, further configured to determine that the vehicle is traveling on a sloped road section when the slope detection module sequentially detects that a first electrical signal, a second electrical signal, and a third electrical signal are generated, and the duration of the third electrical signal is greater than a first preset duration; wherein the first electrical signal indicates that the vehicle is traveling on a road with a slope greater than a second preset slope, the second electrical signal indicates that the vehicle is traveling on a road with a slope greater than a third preset slope, the third electrical signal indicates that the vehicle is traveling on a road with a slope greater than a first preset slope, the second preset slope is less than the third preset slope, and the third preset slope is less than the first preset slope.

[0103] In some embodiments, the determining module is further configured to, after determining that the vehicle is traveling on a slope section, determine that the vehicle has left the slope section if the slope detection module does not detect the generation of a third electrical signal within a second preset time period.

[0104] Figure 5 This is a schematic diagram illustrating the structure of a vehicle according to an exemplary embodiment. For example... Figure 5 As shown, vehicle 50 includes, but is not limited to, processor 501 and memory 502.

[0105] The aforementioned memory 502 is used to store the executable instructions of the aforementioned processor 501. It is understood that the aforementioned processor 501 is configured to execute instructions to implement the assisted driving method in the above embodiments.

[0106] It should be noted that those skilled in the art will understand that Figure 5 The vehicle structure shown does not constitute a limitation on the vehicle; a vehicle may include, but is not limited to, other types of vehicles. Figure 5 This may indicate more or fewer components, or combinations of certain components, or different component arrangements.

[0107] The processor 501 is the control center of the vehicle, connecting various parts of the vehicle through various interfaces and lines. It performs various vehicle functions and processes data by running or executing software programs and / or modules stored in the memory 502, and by calling data stored in the memory 502, thereby providing overall vehicle monitoring. The processor 501 may include one or more processing units. Optionally, the processor 501 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 501.

[0108] The memory 502 can be used to store software programs and various data. The memory 502 may primarily include a program storage area and a data storage area. The program storage area may store the operating system, application programs required by at least one functional module (such as a determination unit, processing unit, etc.), etc. Furthermore, the memory 502 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0109] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 502 including instructions, which can be executed by a processor 501 of a vehicle 50 to implement the assisted driving method in the above embodiments.

[0110] In actual implementation, Figure 4The acquisition module 401, determination module 402, function module 403, and monitoring module 404 can all be derived from... Figure 5 The processor 501 calls the computer program stored in the memory 502 to implement the process. The specific execution process can be found in the description of the assisted driving method section of the previous embodiment, and will not be repeated here.

[0111] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0112] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0113] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the classified units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0114] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0115] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, essentially, or the part that contributes to the prior art, or a complete or partial classification of the technical solution, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0116] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A driving assistance method, characterized in that, The method includes: Obtain the first positioning information of the vehicle at the beginning of the Pth cycle and the second positioning information of the vehicle at the end of the Pth cycle; P is an integer greater than 1; Based on the first positioning information and the second positioning information, the altitude change value and horizontal position change value of the vehicle in the Pth cycle are determined; Based on the changes in altitude and horizontal position of the vehicle in the Pth cycle, the slope of the road where the vehicle is located in the Pth cycle is determined. If it is determined that the slope of the road where the vehicle is located in the Pth cycle is greater than or equal to the first preset slope, and it is determined that the slope of the road where the vehicle is located in the P-1th cycle is greater than or equal to the first preset slope, then it is determined that the vehicle is traveling on a slope road section. Determine the driving status of the vehicle on the sloping road section, and perform assisted driving operations corresponding to the driving status on the vehicle; If the signal strength of the vehicle's location information does not reach a threshold, the electrical signal generated by the vehicle's slope detection module is monitored; the slope detection module generates electrical signals corresponding to different slopes when the vehicle is traveling on road sections with different slopes. If the slope detection module sequentially generates a first electrical signal, a second electrical signal, and a third electrical signal, and the duration of the third electrical signal is longer than a first preset duration, it is determined that the vehicle is traveling on a slope section; wherein, the first electrical signal indicates that the vehicle is traveling on a road with a slope greater than a second preset slope, the second electrical signal indicates that the vehicle is traveling on a road with a slope greater than a third preset slope, the third electrical signal indicates that the vehicle is traveling on a road with a slope greater than a first preset slope, the second preset slope is less than the third preset slope, and the third preset slope is less than the first preset slope.

2. The method according to claim 1, characterized in that, Determining the driving status of the vehicle on the sloping road section includes: If it is determined that the vehicle is traveling on a slope, the first altitude of the vehicle at the beginning of the Pth cycle and the second altitude of the vehicle at the end of the Pth cycle are determined based on the first positioning information and the second positioning information. If the first altitude is greater than the second altitude, the vehicle is determined to be in a downhill driving state. If the first altitude is less than the second altitude, the vehicle is determined to be in an uphill driving state.

3. The method according to claim 2, characterized in that, The step of performing assisted driving operations on the vehicle corresponding to the driving state includes: When the vehicle is traveling downhill, control the vehicle to brake; When the vehicle is traveling uphill, control the vehicle to accelerate.

4. The method according to claim 1, characterized in that, The method further includes: After determining that the vehicle is traveling on a slope, if the slope detection module does not generate the third electrical signal within a second preset time period, it is determined that the vehicle has left the slope.

5. A driver assistance device, characterized in that, include: The acquisition module is used to acquire the first positioning information of the vehicle at the beginning of the Pth cycle and the second positioning information of the vehicle at the end of the Pth cycle. P is an integer greater than 1; The determination module is used to determine the altitude change value and horizontal position change value of the vehicle in the P-th cycle based on the first positioning information and the second positioning information; The determining module is further configured to determine the slope of the road where the vehicle is located in the P-th cycle based on the elevation change value and horizontal position change value of the vehicle in the P-th cycle. The determining module is further configured to determine that the vehicle is traveling on a sloped road section when it is determined that the slope of the road where the vehicle is located in the Pth cycle is greater than or equal to the first preset slope, and the slope of the road where the vehicle is located in the P-1th cycle is greater than or equal to the first preset slope. The functional module is used to determine the driving status of the vehicle on the sloping road section and to perform assisted driving operations on the vehicle corresponding to the driving status. The monitoring module is used to monitor the electrical signals generated by the vehicle's slope detection module when the signal strength of the acquired vehicle's positioning information does not reach a threshold; the slope detection module generates electrical signals corresponding to different slopes when the vehicle is traveling on road sections with different slopes. The determining module is further configured to determine that the vehicle is traveling on a slope section when the slope detection module sequentially detects that it generates a first electrical signal, a second electrical signal, and a third electrical signal, and the duration of the third electrical signal is greater than a first preset duration; wherein the first electrical signal indicates that the vehicle is traveling on a road with a slope greater than a second preset slope, the second electrical signal indicates that the vehicle is traveling on a road with a slope greater than a third preset slope, the third electrical signal indicates that the vehicle is traveling on a road with a slope greater than a first preset slope, the second preset slope is less than the third preset slope, and the third preset slope is less than the first preset slope.

6. The apparatus according to claim 5, characterized in that, The determining module is further configured to, when it is determined that the vehicle is traveling on a slope, determine the first altitude of the vehicle at the beginning of the Pth cycle and the second altitude of the vehicle at the end of the Pth cycle based on the first positioning information and the second positioning information. The functional module is also used to determine that the vehicle's driving state is downhill when the first altitude is greater than the second altitude. The functional module is also used to determine that the vehicle's driving state is uphill when the first altitude is lower than the second altitude.

7. The apparatus according to claim 6, characterized in that, The functional module is also used to control the vehicle's braking when the vehicle is traveling downhill. The functional module is also used to control the vehicle to accelerate when the vehicle is traveling uphill.

8. The apparatus according to claim 5, characterized in that, The determining module is further configured to, after determining that the vehicle is traveling on a slope section, determine that the vehicle has left the slope section if the slope detection module does not generate the third electrical signal within a second preset time period.

9. A vehicle, characterized in that, It includes a memory and a processor; the memory is used to store computer execution instructions; when the vehicle is running, the processor executes the computer execution instructions stored in the memory to cause the vehicle to perform the method as described in any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that, When the computer-executable instructions stored in the computer-readable storage medium are executed by the vehicle's processor, the vehicle is able to perform the method as described in any one of claims 1 to 4.

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