Assisted driving system, vehicle and method

Abstract

This application relates to the field of assisted driving technology, and particularly to an assisted driving system, vehicle, and method. The system includes a perception module, an assistance module, an execution module, and a control module. The perception module provides environmental information of one or more perception types around the vehicle; the assistance module provides one or more auxiliary information required for the assisted driving function; the execution module executes the assisted driving actions corresponding to the assisted driving function; and the control module determines the actual road conditions of the vehicle based on the environmental information and / or the auxiliary information, provides corresponding assisted driving functions according to the actual road conditions, and controls the execution module to execute the corresponding assisted driving actions to assist the vehicle in driving under actual road conditions. This solves the problems of limited coverage of assisted driving functions and the inability to adapt assisted driving functions to different road conditions in related technologies.

Description

Technical Field

[0001] This application relates to the field of driver assistance technology, and in particular to a driver assistance system, vehicle and method. Background Technology

[0002] With the rapid development of artificial intelligence and new energy vehicles, assisted driving technology has become a highly anticipated research field. Assisted driving, through the use of various sensors and vehicle-to-everything (V2X) functions, helps drivers operate vehicles more easily, reduces the risk of traffic accidents, and improves driving safety and convenience. Furthermore, the widespread adoption of assisted driving can reduce traffic congestion and energy consumption, thus having significant social and economic implications.

[0003] Current automotive driver assistance functions only function when the driver activates the corresponding feature. This limitation means that drivers may not be able to activate certain functions or may not be able to do so in a timely manner, leading to driver distraction and compromising safety. Furthermore, different road conditions require different driver assistance functions, and the buttons for these functions are located in different places, making operation complex for drivers.

[0004] Related technologies propose a method to analyze the position and distance of obstacles based on image sampling information from cameras and automatically control the vehicle to brake and steer autonomously. However, this method only samples image information from cameras, which has limitations in low visibility road conditions, and the coverage of the driver assistance function is relatively small. Summary of the Invention

[0005] One objective of this invention is to provide a driver assistance system that addresses the problem that driver assistance functions in related technologies have a limited coverage area and cannot be adapted to different road conditions. Another objective is to provide a vehicle. A third objective is to provide a driver assistance method.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] An assisted driving system includes: a perception module for providing one or more types of environmental information about the vehicle's surroundings; an assistance module for providing one or more types of assistance information required for assisted driving functions; an execution module for executing assisted driving actions corresponding to the assisted driving functions; and a control module for determining the actual road conditions currently in which the vehicle is located based on the environmental information and / or the assistance information, providing corresponding assisted driving functions based on the actual road conditions, and controlling the execution module to execute the corresponding assisted driving actions to assist the vehicle in driving under the actual road conditions.

[0008] Based on the above technical means, the embodiments of this application can identify the environmental information around the vehicle through the perception module and provide it to the control module. The auxiliary module provides the control module with the auxiliary information required for the assisted driving function. The control module performs different controls on the execution module according to the identified different road conditions, providing different assisted driving functions. The assisted driving function is adaptively adjusted according to the road conditions, with a wide coverage, improving driving comfort and safety, and meeting the assisted driving needs of the vehicle under different road conditions.

[0009] Furthermore, the assisted driving functions include one or more of the following: high-speed driving assistance, lane change assistance, urban road driving assistance, narrow road driving assistance, and low visibility driving assistance.

[0010] Based on the above-mentioned technical means, the embodiments of this application can realize a variety of assisted driving functions, with a wide coverage, and meet the needs of drivers for different assisted driving functions under different road conditions.

[0011] Furthermore, the control module is further configured to: construct an environmental model based on the environmental information of one or more perception types, plan the optimal route of the vehicle based on the one or more auxiliary information, and determine the actual road conditions where the vehicle is currently located based on the environmental model and the optimal route.

[0012] Based on the above technical means, the embodiments of this application can model the surrounding environment based on the environmental information collected by the perception module, plan the optimal route based on the auxiliary information collected by the auxiliary module, and use the environmental model and the optimal route to determine the current actual road conditions of the vehicle, so as to match the corresponding assisted driving functions according to different road conditions in the future.

[0013] Furthermore, the perception module includes: a camera for acquiring digital image information of the environment surrounding the vehicle; and / or a lidar for acquiring point cloud information of the environment surrounding the vehicle; and / or a millimeter-wave radar for acquiring detection information of the environment surrounding the vehicle.

[0014] Based on the above-mentioned technical means, the embodiments of this application can accurately collect environmental information by integrating cameras, lidar and millimeter-wave radar, providing accurate data for the control module and further improving the accuracy of the assisted driving system.

[0015] Furthermore, the auxiliary module includes: a map submodule for providing the driving route of the vehicle; and / or a positioning submodule for providing the current location and / or current road conditions of the vehicle; and / or a switching submodule for obtaining traffic information sent by other vehicles and / or base stations through vehicular wireless communication technology.

[0016] Based on the above technical means, the embodiments of this application can collect the auxiliary information required by the assisted driving system through the map, positioning, and exchange sub-modules.

[0017] Furthermore, the execution module includes: a power system for performing one or more of acceleration, braking, and steering actions according to the control instructions of the control module; and / or a chassis control system for performing vehicle posture adjustment and / or traction adjustment actions according to the control instructions of the control module; and / or a screen display system for displaying one or more of the vehicle's status information, the environmental model, the optimal route, and prompt information; and / or a lighting system for controlling one or more interior and / or exterior lights to perform target actions according to the control instructions of the control module.

[0018] Based on the above technical means, in this embodiment, the power system of the execution module can control various actions of the vehicle, the chassis control system can adjust the vehicle body posture and traction to ensure the comfort and stability of the vehicle on different road sections, the screen display system can display some vehicle information to the driver and provide prompts to assist the driver in driving, and the headlight system can control the headlights to remind the driver to drive carefully.

[0019] Furthermore, it also includes: a storage module for storing driver assistance functions corresponding to different road conditions, and / or, for operating habits when the driver assistance functions are executed.

[0020] Based on the above technical means, the embodiments of this application can store the assisted driving functions used under different road conditions and the driver's operating habits in the storage module, so as to facilitate the driver's operation in the future.

[0021] Furthermore, the control module is further used to optimize the assisted driving actions of the corresponding assisted driving function according to the operating habits.

[0022] Based on the above technical means, in this application embodiment, the assisted driving function under different road conditions can be continuously optimized according to the driver's operating habits, providing the driver with more adaptable and more stable assisted driving function.

[0023] A vehicle includes a driver assistance system as described in the above embodiments.

[0024] A driving assistance method is disclosed, wherein the method utilizes a driving assistance system as described in the above embodiments to assist driving, and the method includes the following steps: acquiring one or more types of environmental information of perception around the vehicle, and one or more types of auxiliary information required for the driving assistance function; determining the actual road conditions of the vehicle based on the environmental information and / or the auxiliary information, and providing corresponding driving assistance functions based on the actual road conditions; controlling the execution module to execute the corresponding driving assistance action to assist the vehicle in driving under the actual road conditions.

[0025] The beneficial effects of this invention are:

[0026] (1) In this embodiment, the sensing module can identify the environmental information around the vehicle and provide it to the control module. The auxiliary module provides the control module with the auxiliary information required for the assisted driving function. The control module performs different controls on the execution module according to the identified different road conditions, providing different assisted driving functions. The assisted driving function is adaptively adjusted according to the road conditions, with a wide coverage, improving driving comfort and safety, and meeting the assisted driving needs of the vehicle under different road conditions.

[0027] (2) The embodiments of this application can realize a variety of driving assistance functions, with a wide coverage, and meet the needs of drivers for different driving assistance functions under different road conditions.

[0028] (3) In this embodiment, the surrounding environment can be modeled based on the environmental information collected by the perception module, the optimal route can be planned based on the auxiliary information collected by the auxiliary module, and the actual road conditions of the vehicle can be determined using the environmental model and the optimal route so that the corresponding assisted driving functions can be matched according to different road conditions.

[0029] (4) The embodiments of this application can accurately collect environmental information by using cameras, lidar and millimeter-wave radar together, provide accurate data for the control module, and further improve the accuracy of the driver assistance system.

[0030] (5) The embodiments of this application can collect the auxiliary information required by the assisted driving system through the map, positioning and exchange sub-modules.

[0031] (6) In the embodiments of this application, the power system of the execution module can control various actions of the vehicle. The chassis control system can adjust the vehicle posture and traction to ensure the comfort and stability of the vehicle on different road sections. The screen display system can display some information of the vehicle to the driver and provide prompts to the driver to assist the vehicle in driving. The headlight system can control the headlights to remind the driver to drive carefully.

[0032] (7) The embodiments of this application can store the assisted driving functions and driver operating habits used under different road conditions in the storage module, so that the driver can operate them in the future.

[0033] (8) In this embodiment of the application, the assisted driving function under different road conditions can be continuously optimized according to the driver's operating habits, so as to provide the driver with more adaptable and more stable assisted driving function.

[0034] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0035] Figure 1 This is a block diagram of an assisted driving system according to an embodiment of this application;

[0036] Figure 2 This is a system framework diagram of the driver assistance system provided according to an embodiment of this application;

[0037] Figure 3 This is a schematic diagram of the assisted driving control logic provided according to an embodiment of this application;

[0038] Figure 4 This is a flowchart of an assisted driving method provided according to an embodiment of this application. Detailed Implementation

[0039] 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.

[0040] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0041] Specifically, Figure 1 This is a block diagram of a driver assistance system provided in an embodiment of this application.

[0042] like Figure 1As shown, the driver assistance system 10 includes: a perception module 11, an assistance module 12, an execution module 13, and a control module 14.

[0043] The sensing module 11 is used to provide one or more types of environmental information around the vehicle; the auxiliary module 12 is used to provide one or more auxiliary information required for the assisted driving function; the execution module 13 is used to execute the assisted driving action corresponding to the assisted driving function; and the control module 14 is used to determine the actual road conditions of the vehicle based on the environmental information and / or auxiliary information, provide the corresponding assisted driving function based on the actual road conditions, and control the execution module to execute the corresponding assisted driving action to assist the vehicle in driving under actual road conditions.

[0044] It is understood that in the embodiments of this application, the sensing module can obtain environmental information, the auxiliary module can obtain auxiliary information, the control module can make judgments on different road conditions based on the information obtained by the sensing module and the auxiliary module, and the control execution module can provide corresponding assisted driving functions and execute corresponding assisted driving actions under different road conditions, thereby improving the comfort and safety of vehicle driving and meeting the assisted driving needs of the vehicle under different road conditions.

[0045] In this embodiment of the application, the sensing module 11 may include one or more of a camera, a lidar, and a millimeter-wave radar.

[0046] Among them, the camera is used to collect digital image information of the environment around the vehicle; the lidar is used to collect point cloud information of the environment around the vehicle; and the millimeter-wave radar is used to collect detection information of the environment around the vehicle.

[0047] Specifically, cameras can identify, locate, and track objects around the vehicle, collect data about the vehicle's surroundings, and provide identifiable digital image information to the control module. LiDAR can use laser pulses to measure the distance to the surrounding environment, thereby providing environmental and distance information to the control module. The point cloud information provided by LiDAR can help the perception model achieve higher accuracy in object detection, target behavior prediction, and vehicle positioning, significantly improving the accuracy of assisted driving. Millimeter-wave radar detects targets using electromagnetic waves and transmits the collected environmental information to the control module. Because of different transmission frequencies, millimeter-wave radars have different detection ranges. Vehicle-mounted millimeter-wave radars can be categorized as short-range (SRR) radars (e.g., less than 60 meters), medium-range (MRR) radars (e.g., around 100 meters), and long-range (LRR) radars (e.g., around 250 meters). Therefore, embodiments of this application can use these three types of millimeter-wave radars in different locations within the vehicle to enhance the safety of assisted driving.

[0048] It is understood that the perception module in this application embodiment can integrate the use of cameras, lidar and millimeter-wave radar, which can provide accurate environmental information to the control module under different road conditions, and provide accurate data for the control module to model the surrounding environment.

[0049] In this embodiment of the application, the auxiliary module 12 may include one or more of the following: a map submodule, a positioning submodule, and a switching submodule.

[0050] The map submodule is used to provide the vehicle's driving route; the positioning submodule is used to provide the vehicle's current location and / or current road conditions; and the switching submodule is used to obtain traffic information sent by other vehicles and / or base stations through vehicle wireless communication technology.

[0051] Specifically, the map submodule can provide the control module with the vehicle's driving route; the positioning submodule can accurately provide the vehicle's location and current road conditions to the control module; the switching submodule can use V2X (vehicle to everything) technology to obtain a series of traffic information such as real-time road conditions, road information, and pedestrian information and transmit them to the control module through communication and interaction between vehicles, between vehicles and base stations, and between base stations.

[0052] In this embodiment, the control module 14 is further configured to: construct an environmental model based on one or more types of environmental information, plan the optimal route for the vehicle based on one or more auxiliary information, and determine the actual road conditions currently in which the vehicle is located based on the environmental model and the optimal route.

[0053] It is understood that in this embodiment of the application, the control module receives data sent by the perception module and the auxiliary module, stores the data in the corresponding database, models the vehicle's surrounding environment based on the environmental information collected by the perception module, plans the optimal route based on the auxiliary information collected by the auxiliary module, and determines the vehicle's current actual road conditions based on the environmental model and the optimal route.

[0054] In this embodiment, the execution module 13 may include one or more of the following: a power system, a chassis control system, a screen display system, and a vehicle lighting system.

[0055] The powertrain system is used to execute one or more of acceleration, braking and steering actions according to the control instructions of the control module; the chassis control system is used to execute vehicle posture adjustment and / or traction adjustment actions according to the control instructions of the control module; the screen display system is used to display one or more of the following: vehicle status information, environmental model, optimal route and prompt information; and the lighting system is used to control one or more interior and / or exterior lights to perform target actions according to the control instructions of the control module.

[0056] Furthermore, the prompts can be driving suggestions or warnings; the target action can be turning on the headlights, etc.

[0057] Specifically, the powertrain system can control the vehicle's acceleration, braking, and steering according to the driving commands from the control module; the chassis control system can adjust the vehicle's posture to improve driving comfort on bumpy roads, increase traction and reduce wheel spin on smooth or wet surfaces, and improve the stability of vehicle acceleration and handling according to the driving commands from the control module; the screen display system can display the vehicle's basic performance, show the environment model and optimal route trajectory of the vehicle from the control module to the driver, and provide driving suggestions and warnings to the driver through the display screen or voice; the headlight system can turn on the corresponding headlights according to the commands from the control module for different road conditions, and the interior ambient lights act as risk warning lights when there is a collision warning, reminding the driver to drive carefully by changing the ambient light in the vehicle's cab according to the location of the obstacle.

[0058] In this embodiment of the application, the assisted driving system 10 further includes a storage module.

[0059] The storage module is used to store the assisted driving functions corresponding to different road conditions, and / or to store the operating habits when the assisted driving functions are executed.

[0060] It should be noted that, in this embodiment of the application, the assisted driving functions used under different road conditions during each trip and the driver's operating habits are stored in the storage module.

[0061] In this embodiment, the control module is further configured to optimize the assisted driving actions of the corresponding assisted driving function according to operating habits.

[0062] It is understood that in the embodiments of this application, the control module can perform deep learning on the stored data in the storage module to continuously optimize the assisted driving functions applied under different road conditions, and provide the driver with more adaptable and more stable assisted driving functions.

[0063] The assisted driving functions described in the above embodiments include one or more of the following: high-speed driving assistance, lane change assistance, urban road driving assistance, narrow road driving assistance, and low visibility driving assistance. Different assisted driving functions will be described in detail below through specific embodiments.

[0064] In summary, the system block diagram of the assisted driving system of this application embodiment is as follows: Figure 2 As shown, it mainly consists of a perception module, an auxiliary module, a control module, and an execution module. The perception module includes cameras, LiDAR, and millimeter-wave radar; the auxiliary module includes high-precision maps, satellite positioning, and V2X technology; the execution module is divided into a power system, a chassis control system, a screen display system, and a lighting system.

[0065] The perception module identifies the surrounding environment and obstacles and transmits information to the control module. The auxiliary module provides the control module with real-time road conditions. The control module performs different controls on the execution module based on the identified different road conditions to ensure driving comfort and safety. The control module determines the vehicle's road condition based on the information collected from the perception module and the auxiliary module. Figure 3 This is a schematic diagram of the control logic for assisted driving under various road conditions. Assisted driving helps the driver control the vehicle system, and its principle varies depending on different road conditions.

[0066] The following describes the implementation methods of the driver assistance system under different assistance functions (i.e., different driver assistance modes):

[0067] 1. High-speed driving assistance function (straight-line high-speed driving mode)

[0068] The control module, by acquiring information from the perception module and auxiliary module, identifies that the vehicle is currently traveling on a straight highway, and the vehicle enters a straight highway driving mode. The control module activates ACC (Adaptive Cruise Control), continuously acquiring information from the perception module to determine the movement and distance of the vehicle in front. By controlling the power system of the execution module, it controls the throttle opening to maintain a certain speed and distance from the vehicle in front, and will control the vehicle to decelerate or automatically brake when necessary. The control module also activates LKAS (Lane Keeping Assist). The system (lane keeping assist system) controls the powertrain and chassis control systems to keep the vehicle centered in the lane to prevent deviation. The control module monitors the movement, speed, and distance of surrounding vehicles by acquiring information from the sensing module. The sensing module detects the distance to the vehicle in front or obstacles. The control module analyzes and compares the collected distance with the first warning distance and safe distance. If the distance is less than the first warning distance, a collision warning is issued: the control module controls the screen display system to show the direction of the obstacle and sounds an audible warning of the risk of collision; at the same time, the control module controls the vehicle lighting system to remind the driver to be careful of collisions at the corresponding location by changing the ambient light in the vehicle's cabin according to the location of the obstacle; if the distance analyzed and collected by the control module is less than the safe distance and the driver has not had time to press the brake pedal, automatic emergency braking is activated. The control module controls the powertrain to perform emergency braking, controls the chassis control system to adjust the vehicle's posture, and tightens the seat belts to ensure the driver's safety.

[0069] 2. Lane change assist function (lane change mode)

[0070] When the vehicle is traveling at a speed greater than 65 km / h, and the driver presses the left or right turn signal stalk, the vehicle enters lane change mode, and the control module activates the ALC (Auto Lane Change) function. After the turn signal is activated, the control module assesses the environment by acquiring information from the perception and assistance modules. If the conditions for lane change are met, a blue lane change indicator is displayed on the screen, and the control module guides the vehicle to change lanes to the target lane. If the conditions for lane change are not met, the control system displays obstacle / vehicle information on the screen, the ambient lighting inside the vehicle corresponding to the obstacle's location changes, and a red lane change indicator appears on the screen, indicating "Currently not suitable for lane change." If the driver deactivates the turn signal before the vehicle crosses the lane markings, the control module displays "Lane change cancelled," the blue lane change indicator disappears, and the control module activates LKAS to keep the vehicle stable and centered in the current lane.

[0071] 3. Urban road driving assistance function (urban road mode)

[0072] The control module collects information from the sensing and auxiliary modules, compares the vehicle's location with the map, and determines that the vehicle has entered urban road mode when driving on city roads. Through V2X technology, the control module enables data interaction between vehicles, between vehicles and base stations, and between base stations. Based on high-precision maps and satellite positioning, the control module plans the optimal route and displays it on the screen to reduce congestion. Simultaneously, the control module processes images captured by cameras and point cloud information collected by LiDAR and millimeter-wave radar to synthesize a model of the surrounding environment, which is then displayed on the screen. When the distance to an obstacle is less than the second warning distance, the control module controls the screen display system to show the obstacle's direction and provides an audible warning of a collision risk. At the same time, the control module controls the vehicle's lighting system to alert the driver to potential collisions by changing the ambient lighting in the driver's cabin corresponding to the obstacle's location. It is worth noting that the second warning distance is less than the first warning distance depending on the vehicle speed.

[0073] 4. Narrow road driving function (narrow road mode)

[0074] The control module compares the vehicle's location with map information and analyzes the data from the perception module to determine if the vehicle is traveling on a narrow road. Upon entering narrow road mode, the control module activates automatic 360-degree surround view display. The control module uses the vehicle's cameras to capture images of the surrounding area and transmits them to the screen, allowing the driver to view real-time road conditions. When an obstacle is within the second warning distance, the control module controls the screen to display the obstacle's direction and provides an audible warning of a collision risk. Simultaneously, the control module controls the vehicle's lighting system to change the ambient lighting inside the driver's cabin, corresponding to the obstacle's location, to warn the driver of potential collisions.

[0075] 5. Low Visibility Driving Assist (Low Visibility Driving Mode)

[0076] If the control module determines that the vehicle is driving in poor lighting conditions at night, or in low visibility conditions such as fog, rain, snow, sandstorms, or hail, the vehicle enters a low visibility driving mode. When the perception module detects visibility of less than 50 meters, the control module activates the fog lights, low beam headlights, side marker lights, front and rear position lights, and hazard warning flashers, and reminds the driver not to exceed 20 km / h. When the perception module detects visibility of less than 100 meters, the control module activates the fog lights, low beam headlights, side marker lights, front and rear position lights, and hazard warning flashers, and reminds the driver not to exceed 40 km / h. It also monitors the distance to the vehicle in front via radar; if the distance is less than 50 meters and the driver has not had time to apply the brakes... The control module maintains a distance of at least 50 meters from the vehicle in front by controlling the throttle opening or applying the brakes. When the perception module detects visibility of less than 200 meters, the control module activates the fog lights, low beam headlights, side marker lights, and front and rear position lights, and reminds the driver not to exceed 60 km / h. It also monitors the distance to the vehicle in front via radar; if the distance is less than 100 meters and the driver has not had time to apply the brakes, the control module again maintains a distance of at least 100 meters by controlling the throttle opening or applying the brakes. The radar sensor, unaffected by light, can still collect information about the vehicle's surroundings in low-visibility conditions and transmit the data to the control module. Based on the vehicle network information from the auxiliary module, the control module synthesizes a model of the surrounding environment and displays it on the screen. When the distance to an obstacle is less than the second warning distance, the control module controls the screen display system to show the obstacle's direction and provides an audible warning of a collision risk. Simultaneously, the control module controls the vehicle lighting system to alert the driver to potential collisions by changing the ambient lighting inside the vehicle corresponding to the obstacle's location.

[0077] In addition, the driver assistance module stores the driver assistance functions used under different road conditions and the driver's operating habits in the storage module during each trip. The control module will perform deep learning on the stored data each time to continuously optimize the driver assistance functions applied under different road conditions, providing the driver with more adaptable and more stable driver assistance functions.

[0078] According to the assisted driving system proposed in the embodiments of this application, the sensing module can identify the environmental information around the vehicle and send it to the control module. The auxiliary module provides the control module with the auxiliary information required for the assisted driving function. The control module performs different controls on the execution module according to the identified different road conditions, providing different assisted driving functions. The assisted driving function is adaptively adjusted according to the road conditions, with a wide coverage, improving driving comfort and safety, and meeting the assisted driving needs of the vehicle under different road conditions.

[0079] This application also provides a vehicle including a driver assistance system as described in the above embodiments.

[0080] Next, the assisted driving method proposed according to the embodiments of this application is described with reference to the accompanying drawings.

[0081] Figure 4 This is a flowchart of an embodiment of the assisted driving method of this application.

[0082] like Figure 4 As shown, this assisted driving method utilizes the assisted driving system of the above embodiment to perform assisted driving, and includes the following steps:

[0083] In step S101, one or more types of environmental information about the vehicle’s surroundings, as well as one or more types of auxiliary information required for the driver assistance function, are acquired.

[0084] Among them, environmental information includes data on objects around the vehicle and distance information; auxiliary information includes the vehicle's driving route, vehicle position, current road conditions at the vehicle's location, road information, pedestrian information, and a series of other traffic information.

[0085] In step S102, the actual road conditions of the vehicle are determined based on environmental information and / or auxiliary information, and corresponding assisted driving functions are provided according to the actual road conditions.

[0086] It is understood that the embodiments of this application can determine the actual road conditions of the vehicle based on environmental information and / or auxiliary information, and provide corresponding assisted driving functions according to different actual road conditions to improve the comfort and safety of driving.

[0087] In step S103, the control execution module performs the corresponding assisted driving action to assist the vehicle in driving under actual road conditions.

[0088] It is understood that the embodiments of this application are based on the assisted driving function obtained from the actual road conditions in the above embodiments, and control the execution module of the assisted driving system to control the vehicle to perform corresponding assisted driving actions to assist the vehicle in driving.

[0089] It should be noted that the foregoing explanation of the embodiments of the assisted driving system also applies to the assisted driving method of this embodiment, and will not be repeated here.

[0090] The assisted driving method proposed in the embodiments of this application can provide different assisted driving functions according to different road conditions of the vehicle. The assisted driving functions are adaptively adjusted according to road conditions, with a wide coverage, improving driving comfort and safety, and meeting the assisted driving needs of the vehicle under different road conditions.

[0091] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0092] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0093] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0094] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0095] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware, and the program can be stored in a computer-readable storage medium. When executed, the program includes one or a combination of the steps of the method embodiments.

[0096] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A driver assistance system, characterized in that, include: The perception module is used to provide environmental information of one or more perception types around the vehicle; An auxiliary module is used to provide one or more types of auxiliary information required for assisted driving functions; The execution module is used to execute the assisted driving actions corresponding to the assisted driving function; The control module is used to determine the actual road conditions of the vehicle based on the environmental information and / or the auxiliary information, provide corresponding assisted driving functions based on the actual road conditions, and control the execution module to execute the corresponding assisted driving actions to assist the vehicle in driving under the actual road conditions. Also includes: The storage module is used to store the assisted driving functions corresponding to different road conditions, and the operating habits used when the assisted driving functions are executed; The driver assistance functions and driver operating habits used under different road conditions during each trip are stored in the storage module; The control module is further used to optimize the assisted driving actions of the corresponding assisted driving function according to the operating habits; the control module performs deep learning on the stored data in the storage module to continuously optimize the assisted driving function applied under different road conditions.

2. The driver assistance system according to claim 1, characterized in that, The driver assistance functions include one or more of the following: high-speed driving assistance, lane change assistance, urban road driving assistance, narrow road driving assistance, and low visibility driving assistance.

3. The driver assistance system according to claim 1, characterized in that, The control module is further used for: An environmental model is constructed based on environmental information of one or more perception types, an optimal route for the vehicle is planned based on one or more auxiliary information, and the actual road conditions where the vehicle is currently located are determined based on the environmental model and the optimal route.

4. The driver assistance system according to claim 1, characterized in that, The sensing module includes: A camera is used to collect digital image information of the environment surrounding the vehicle; And / or, lidar, for acquiring point cloud information of the environment surrounding the vehicle; And / or, millimeter-wave radar, used to collect detection information about the environment surrounding the vehicle.

5. The driver assistance system according to claim 1, characterized in that, The auxiliary module includes: The map submodule is used to provide the driving route for the vehicle; And / or, a positioning submodule, for providing the current location and / or current road conditions of the vehicle; And / or, a switching submodule, used to acquire traffic information transmitted by other vehicles and / or base stations via vehicular wireless communication technology.

6. The driver assistance system according to claim 3, characterized in that, The execution module includes: The power system is used to perform one or more of acceleration, braking and steering actions according to the control commands of the control module; And / or, a chassis control system, used to perform vehicle posture adjustment actions and / or traction adjustment actions according to the control commands of the control module; And / or, a screen display system for displaying one or more of the following: vehicle status information, the environment model, the optimal route, and prompt information; And / or, a vehicle lighting system, used to control one or more vehicle lights inside and / or outside the vehicle to perform a target action according to the control instructions of the control module.

7. A vehicle, characterized in that, Includes the driver assistance system as described in any one of claims 1-6.

8. A driving assistance method, characterized in that, The method utilizes the driver assistance system as described in any one of claims 1-6 to perform driver assistance, wherein the method includes the following steps: Acquire one or more types of environmental information about the vehicle’s surroundings, as well as one or more types of auxiliary information required for driver assistance functions; The vehicle's current road conditions are determined based on the environmental information and / or the auxiliary information, and corresponding assisted driving functions are provided based on the actual road conditions. The execution module is controlled to perform the corresponding assisted driving action to assist the vehicle in driving under the actual road conditions; Also includes: The storage module is used to store the assisted driving functions corresponding to different road conditions, and the operating habits used when the assisted driving functions are executed; The control module is further used to optimize the assisted driving actions of the corresponding assisted driving functions based on the operating habits.

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