A driving assistance method, device, vehicle-mounted equipment and vehicle

Abstract

The present application relates to an assisted driving method, device, vehicle-mounted equipment and vehicle. The method obtains the target signal light color, the duration corresponding to the target signal light color, the width value and the stop line position information of the vehicle at the intersection in front of the vehicle, and the current speed value and the current position information of the vehicle. Based on the width value, the stop line position information and the current position information, the method calculates the driving distance of the vehicle through the intersection, which is recorded as the first driving distance. In combination with the current speed value and the duration, the method calculates the driving distance of the vehicle within the duration of the target signal light color, which is recorded as the second driving distance. According to the comparison result of the first driving distance and the second driving distance, the assisted driving strategy is determined to assist the vehicle driving through the assisted driving strategy. The present application can accurately determine the assisted driving strategy, improve the reliability of the intelligent driving assistance system, and reduce traffic accidents caused by inaccurate assisted driving strategies.

Description

Technical Field

[0001] The present application relates to the field of assisted driving technology, and in particular to an assisted driving method, device, vehicle-mounted equipment and vehicle. Background Art

[0002] With the continuous advancement of science and technology, intelligent driving assistance systems have become an important part of the modern automobile industry. This driving assistance system mainly relies on on-board sensors to perceive the environment around the vehicle in real time, and with the help of multiple advanced technologies such as perception fusion technology, high-precision positioning technology, and actuator response technology, it provides drivers with a wealth of driving assistance functions, such as adaptive cruise control (ACC). These functions not only greatly improve the convenience of driving, but also significantly improve driving safety, bringing drivers a new driving experience.

[0003] However, despite the many advantages of intelligent driving assistance systems, their performance is not satisfactory in certain specific scenarios. Take the adaptive cruise control system (ACC) as an example. When a vehicle passes through an intersection with the ACC mode turned on, the sensing equipment in the relevant technology, such as millimeter-wave radar, cannot accurately identify the status information of the traffic lights. As a result, the intelligent driving assistance system cannot make accurate assisted driving decisions based on the status information of the traffic lights. This can easily lead to the vehicle passing through the intersection directly without slowing down, or problems such as mistakenly following a vehicle or running a red light, thus causing serious traffic accidents and posing a great threat to the safety of drivers and pedestrians. At the same time, this problem will also reduce the reliability of the intelligent driving assistance system and seriously affect the driving experience.

[0004] Therefore, how to improve the performance of intelligent driving assistance systems in specific scenarios, especially how to enable intelligent driving assistance systems to make accurate assisted driving decisions based on the status information of traffic lights, has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] In view of the above-mentioned shortcomings of the prior art, the present application provides an assisted driving method, device, on-board equipment and vehicle to solve the above-mentioned technical problems.

[0006] The present application provides an assisted driving method, the method comprising: obtaining a target signal light color, a duration corresponding to the target signal light color, a width value and stop line position information, and a current speed value and current position information of the vehicle at an intersection ahead of a vehicle, the target signal light corresponding to the type of lane currently traveled by the vehicle; based on the width value, the stop line position information and the current position information, calculating a driving distance of the vehicle through the intersection, recorded as a first driving distance; combining the current speed value and the duration, calculating a driving distance of the vehicle within the duration of the target signal light color, recorded as a second driving distance; determining an assisted driving strategy based on a comparison result of the first driving distance and the second driving distance, so as to assist the driving of the vehicle through the assisted driving strategy.

[0007] In one embodiment of the present application, according to the comparison result of the first driving distance and the second driving distance, the process of determining the assisted driving strategy includes: if the color of the target signal light is green, and if the second driving distance is greater than the first driving distance, it is determined that the vehicle can pass through the intersection, and the vehicle is guided to pass through the intersection as the assisted driving strategy; if the color of the target signal light is green, and if the second driving distance is less than or equal to the first driving distance, it is determined that the vehicle cannot pass through the intersection, and the vehicle is guided to stop as the assisted driving strategy; if the color of the target signal light is red, and if the second driving distance is greater than the first driving distance, it is determined that the vehicle cannot pass through the intersection, and the vehicle is guided to stop as the assisted driving strategy; if the color of the target signal light is red, and if the second driving distance is less than or equal to the first driving distance, it is determined that the vehicle can pass through the intersection, and the vehicle is guided to pass through the intersection as the assisted driving strategy; if the color of the target signal light is yellow, the vehicle is guided to decelerate as the assisted driving strategy.

[0008] In one embodiment of the present application, after determining the assisted driving strategy, the method includes: updating the target signal light color, the duration, the width value, the stop line position information, the current speed value and the current position information; calculating an updated first driving distance based on the updated width value, the updated stop line position information and the updated current position information; calculating an updated second driving distance in combination with the updated current speed value and the updated duration; redetermining the assisted driving strategy based on the comparison result of the updated first driving distance with the updated second driving distance, and assisting the driving of the vehicle with the redetermined assisted driving strategy.

[0009] In one embodiment of the present application, the calculation formula of the first driving distance includes: D0=L road +L car-stopline , where D0 represents the first driving distance, L road Indicates the width value, L car-stopline Represents the distance between the vehicle and the stop line; the calculation formula for the distance between the vehicle and the stop line includes: Among them, L car-stopline represents the distance between the vehicle and the stop line, R represents the radius of the earth, a represents the difference between the latitude coordinate in the stop line position information and the latitude coordinate in the current position information, b represents the difference between the longitude coordinate in the stop line position information and the longitude coordinate in the current position information, rLat0 represents the latitude coordinate in the stop line position information, and rLat1 represents the latitude coordinate in the current position information; the calculation formula of the second driving distance includes: D=V car ·T tra-light , where D represents the second driving distance, V car Indicates the current speed value, T tra-light Indicates duration.

[0010] In one embodiment of the present application, before obtaining the target signal light color at the intersection ahead of the vehicle, the duration, width value and stop line position information corresponding to the target signal light color, and the current speed value and current position information of the vehicle, the method includes: obtaining the indication information and the current driving lane of the vehicle, the traffic signal phase information of the intersection ahead of the vehicle, the traffic signal phase information including different types of signal light colors and durations of different types of signal light colors; judging whether the indication information includes lane change indication information; if the indication information does not include the lane change indication information, determining the width value based on the type of the current driving lane; matching the type of the current driving lane with different types of signal lights to obtain the target signal light, and based on the target signal light, Determine a target signal light color and a duration corresponding to the target signal light color; collect the stop line position information, the current speed value and the current position information; the type of the current driving lane includes a straight lane, a left turn lane and a right turn lane; if the indication information includes the lane change indication information, guide the vehicle to change lanes based on the lane change indication information; determine the width value based on the type of the driving lane after the lane change; match the type of the driving lane after the lane change with different types of signal lights to obtain the target signal light, and determine the target signal light color and the duration corresponding to the target signal light color based on the target signal light; collect the stop line position information, the current speed value and the current position information, and the type of the driving lane after the lane change has a mapping relationship with the width value.

[0011] In one embodiment of the present application, the process of determining whether the indication information includes lane change indication information includes: if the indication information includes navigation indication information, then obtaining the driving lane within a preset distance range in front of the vehicle in the navigation indication information, and recording it as the target driving lane; if the current driving lane is inconsistent with the target driving lane, then determining that the indication information includes the lane change indication information, and taking driving to the target driving lane as the lane change indication information; if the indication information includes navigation indication information, then obtaining the driving lane within a preset distance range in front of the vehicle in the navigation indication information, and recording it as the target driving lane; if the current driving lane is consistent with the target driving lane, then determining that the indication information does not include the lane change indication information.

[0012] In one embodiment of the present application, the process of determining whether the indication information includes lane change indication information includes: if the indication information includes turn signal indication information, and the turn signal indication information is a left turn, then if the type of the current driving lane is a right turn lane or a straight lane, it is determined that the indication information includes the lane change indication information, and driving to the left turn lane is used as the lane change indication information; if the indication information includes turn signal indication information, and the turn signal indication information is a left turn, then if the type of the current driving lane is a left turn lane, it is determined that the indication information does not include the lane change indication information; if the indication information includes turn signal indication information, and the turn signal indication information is a right turn, then if the type of the current driving lane is a left turn lane or a straight lane, it is determined that the indication information includes the lane change indication information, and driving to the right turn lane is used as the lane change indication information; if the indication information includes turn signal indication information, and the turn signal indication information is a right turn, then if the type of the current driving lane is a right turn lane, it is determined that the indication information does not include the lane change indication information.

[0013] According to one aspect of an embodiment of the present application, an assisted driving device is provided, the device comprising: an information acquisition module, used to acquire a target signal light color, a duration corresponding to the target signal light color, a width value and a stop line position information, and a current speed value and current position information of the vehicle at an intersection ahead of the vehicle, the target signal light corresponding to the type of the current driving lane in which the vehicle is located; a first distance calculation module, used to calculate the driving distance of the vehicle through the intersection based on the width value, the stop line position information and the current position information, recorded as a first driving distance; a second distance calculation module, used to calculate the driving distance of the vehicle within the duration of the target signal light color in combination with the current speed value and the duration, recorded as a second driving distance; a strategy determination module, used to determine an assisted driving strategy based on a comparison result of the first driving distance and the second driving distance, so as to assist the driving of the vehicle through the assisted driving strategy.

[0014] According to one aspect of an embodiment of the present application, a vehicle-mounted device is provided, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the vehicle-mounted device implements the assisted driving method as described above.

[0015] According to one aspect of an embodiment of the present application, a vehicle is provided, the vehicle comprising the auxiliary driving device as described above or the vehicle-mounted equipment as described above.

[0016] The beneficial effects of the present application are as follows: the present application obtains the target signal light color, the duration, width value and stop line position information corresponding to the target signal light color, and the current speed value and current position information of the vehicle at the intersection in front of the vehicle, and calculates the driving distance of the vehicle through the intersection based on the width value, stop line position information and current position information, which is recorded as the first driving distance. In combination with the current speed value and duration, the driving distance of the vehicle within the duration of the target signal light color is calculated, which is recorded as the second driving distance. According to the comparison result of the first driving distance and the second driving distance, an assisted driving strategy is determined to assist vehicle driving through the assisted driving strategy. In the above process, the target signal light color, the duration, width value and stop line position information corresponding to the target signal light color, and the current speed value and current position information of the vehicle are fully combined to accurately determine the assisted driving strategy, thereby improving the reliability of the intelligent driving assistance system, reducing traffic accidents caused by inaccurate assisted driving strategies, and improving the safety of drivers and passengers, as well as the driving experience of drivers and passengers.

[0017] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0019] Figure 1 is a schematic diagram of an exemplary system architecture shown in an exemplary embodiment of the present application;

[0020] Figure 2 is a flow chart of an assisted driving method shown in an exemplary embodiment of the present application;

[0021] Figure 3 is a flow chart of an assisted driving method shown in another exemplary embodiment of the present application;

[0022] Figure 4 is a flowchart of determining an assisted driving strategy shown in another exemplary embodiment of the present application;

[0023] Figure 5 is a block diagram of a driving assistance device shown in an exemplary embodiment of the present application;

[0024] Figure 6 A schematic diagram of the structure of a computer system of a vehicle-mounted device suitable for implementing an embodiment of the present application is shown. DETAILED DESCRIPTION

[0025] The following will describe the implementation methods of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, not for limiting the scope of protection of the present application.

[0026] It should be noted that the illustrations provided in the following embodiments are only used to illustrate the basic concept of the present application in a schematic manner. Therefore, the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0027] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present application difficult to understand.

[0028] Figure 1 It is a schematic diagram of an exemplary system architecture shown in an exemplary embodiment of the present application.

[0029] Reference Figure 1 As shown, the system architecture may include an acquisition device 101 and a vehicle controller 102. The vehicle controller 102 may be at least one of a desktop graphics processing unit (GPU) computer, a GPU computing cluster, a neural network computer, etc. Relevant technicians may use the vehicle controller 102 to obtain the target signal light color, the duration corresponding to the target signal light color, the width value and the stop line position information of the intersection in front of the vehicle, and the current speed value and the current position information of the vehicle, and calculate the driving distance of the vehicle through the intersection based on the width value, the stop line position information and the current position information, which is recorded as the first driving distance, and calculate the driving distance of the vehicle within the duration of the target signal light color in combination with the current speed value and the duration, which is recorded as the second driving distance, and determine the auxiliary driving strategy according to the comparison result of the first driving distance and the second driving distance, so as to assist the vehicle driving through the auxiliary driving strategy. The acquisition device 101 is used to collect the target signal light color, the duration, width value and stop line position information corresponding to the target signal light color, and the current speed value and current position information of the vehicle at the intersection in front of the vehicle. In this embodiment, the acquisition device 101 uses a road side unit (Road Side Unit, RSU) and other devices to collect the target signal light color, the duration, width value and stop line position information corresponding to the target signal light color at the intersection in front of the vehicle, and collects the current speed value and current position information of the vehicle through an on-board unit (On Board Unit, OBU) and other devices, and provides them to the on-board controller 102 for processing.

[0030] Schematically, after the on-board controller 102 obtains the target signal light color, the duration corresponding to the target signal light color, the width value and the stop line position information of the intersection in front of the vehicle from the acquisition device 101, the vehicle controller 102 calculates the driving distance of the vehicle through the intersection based on the width value, the stop line position information and the current position information, which is recorded as the first driving distance, and calculates the driving distance of the vehicle within the duration of the target signal light color in combination with the current speed value and the duration, which is recorded as the second driving distance. According to the comparison result of the first driving distance and the second driving distance, the assisted driving strategy is determined to assist the vehicle driving through the assisted driving strategy. The above process fully combines the target signal light color, the duration corresponding to the target signal light color, the width value and the stop line position information, and the current speed value and the current position information of the vehicle to accurately determine the assisted driving strategy, thereby improving the reliability of the intelligent driving assistance system, reducing traffic accidents caused by inaccurate assisted driving strategies, and improving the safety of drivers and passengers, as well as the driving experience of drivers and passengers.

[0031] It should be noted that the assisted driving method provided in the embodiment of the present application is generally executed by the vehicle-mounted controller 102 , and accordingly, the assisted driving device is generally arranged in the vehicle-mounted controller 102 .

[0032] The implementation details of the technical solution of the embodiment of the present application are described in detail below:

[0033] Figure 2 is a flowchart of an assisted driving method shown in an exemplary embodiment of the present application. The assisted driving method can be executed by a computing and processing device. The computing and processing device can be Figure 1 The vehicle controller 102 shown in FIG. Figure 2 As shown, the assisted driving method at least includes steps S210 to S240, which are described in detail as follows:

[0034] In step S210, the target signal light color at the intersection ahead of the vehicle, the duration, width value and stop line position information corresponding to the target signal light color, and the current speed value and current position information of the vehicle are acquired.

[0035] In one embodiment of the present application, the target signal light corresponds to the type of the current driving lane in which the vehicle is located, and the type of the current driving lane includes a straight lane, a left turn lane, and a right turn lane. When the type of the current driving lane is a straight lane, the target signal light is the straight lane signal light. When the type of the current driving lane is a left turn lane, the target signal light is the left turn lane signal light. When the type of the current driving lane is a right turn lane, the target signal light is the right turn lane signal light.

[0036] In this embodiment, a road side unit (RSU) and other equipment are used to collect the target signal light color at the intersection in front of the vehicle, the duration, width value and stop line position information corresponding to the target signal light color, and the current speed value and current position information of the vehicle are collected through an on-board unit (OBU) and other equipment.

[0037] In this embodiment, the on-board unit includes a speed sensor, a distance sensor, a satellite positioning device, a camera, a laser radar, etc.

[0038] In step S220, based on the width value, the stop line position information and the current position information, the driving distance of the vehicle passing through the intersection is calculated and recorded as the first driving distance.

[0039] In this embodiment, the calculation formula of the first driving distance is as follows:

[0040] D0=L road +L car-stopline Formula (1)

[0041] Where D0 represents the first driving distance, L road Indicates the width of the intersection, L car-stopline Indicates the distance between the vehicle and the stop line.

[0042] In this embodiment, there is a mapping relationship between the current driving lane type and the width value of the intersection. Based on the current driving lane type, the process of determining the width value includes: if the current driving lane type is a straight lane, the width value is the width value of the vehicle going straight through the intersection; if the current driving lane type is a left turn lane, the width value is the width value of the vehicle turning left through the intersection; if the current driving lane type is a right turn lane, the width value is the width value of the vehicle turning right through the intersection.

[0043] The distance between the vehicle and the stop line is calculated using the following formula:

[0044]

[0045] Among them, L car-stopline represents the distance between the vehicle and the stop line, R represents the radius of the earth, a represents the difference between the latitude coordinate in the stop line position information and the latitude coordinate in the current position information, b represents the difference between the longitude coordinate in the stop line position information and the longitude coordinate in the current position information, rLat0 represents the latitude coordinate in the stop line position information, and rLat1 represents the latitude coordinate in the current position information.

[0046] In this embodiment, the stop line position information and the current position information are both represented by longitude and latitude information, and the longitude and latitude information is represented in radians.

[0047] In step S230, the driving distance of the vehicle within the target signal light color duration is calculated in combination with the current speed value and the duration, and recorded as the second driving distance.

[0048] In this embodiment, the calculation formula of the second driving distance includes:

[0049] D=V car ·T tra-light Formula (3)

[0050] Where D represents the second driving distance, V car Indicates the current speed value, T tra-light Indicates duration.

[0051] In step S240, an assisted driving strategy is determined according to a comparison result between the first driving distance and the second driving distance, so as to assist vehicle driving through the assisted driving strategy.

[0052] In this embodiment, by obtaining the target signal light color, the duration, width value and stop line position information corresponding to the target signal light color, and the current speed value and current position information of the vehicle at the intersection in front of the vehicle, the driving distance of the vehicle through the intersection is calculated based on the width value, the stop line position information and the current position information, and recorded as the first driving distance. In combination with the current speed value and the duration, the driving distance of the vehicle within the duration of the target signal light color is calculated and recorded as the second driving distance. According to the comparison result of the first driving distance and the second driving distance, the assisted driving strategy is determined to assist the driving of the vehicle through the assisted driving strategy. In the above process, the target signal light color, the duration, width value and stop line position information corresponding to the target signal light color, and the current speed value and current position information of the vehicle are fully combined to accurately determine the assisted driving strategy, thereby improving the reliability of the intelligent driving assistance system, reducing traffic accidents caused by inaccurate assisted driving strategies, and improving the safety of drivers and passengers, as well as the driving experience of drivers and passengers.

[0053] In this embodiment, the first driving distance is used as the safe passing distance of the vehicle, and the safe passing distance of the vehicle is used as a determination means for assisted driving, so that it can be more intuitive to determine whether the vehicle can safely pass through the intersection.

[0054] In this embodiment, the first driving distance includes the width value of the intersection. The width value of the intersection is incorporated into the judgment criteria of the assisted driving, and the impact of the width value of the intersection on the safe passage of vehicles is fully considered. This effectively solves the problem of the driver blindly rushing to rush for the green light when passing through a super-large intersection because he cannot accurately judge whether he can safely pass through the intersection, thereby effectively improving the safety of vehicles passing through intersections.

[0055] In one embodiment of the present application, the process of determining the assisted driving strategy according to the comparison result of the first driving distance and the second driving distance includes:

[0056] If the target signal light color is green, and if the second driving distance is greater than the first driving distance, it is determined that the vehicle can pass through the intersection, and the vehicle will be guided to pass through the intersection as an auxiliary driving strategy.

[0057] In this embodiment, the process of guiding the vehicle to drive through the intersection includes: appropriately adjusting the current speed value and the current driving lane according to factors such as the distance to the vehicle in front, so that the adjusted current speed value can ensure safety during driving and pass the intersection.

[0058] If the target signal light is green, and if the second driving distance is less than or equal to the first driving distance, it is determined that the vehicle cannot pass through the intersection, and the vehicle is guided to stop as an auxiliary driving strategy.

[0059] In this embodiment, the process of guiding the vehicle to stop includes: if there are no other vehicles at the stop line of the intersection ahead, guiding the vehicle to the stop line and waiting for the color of the target signal light to change; if there are other vehicles at the stop line of the intersection ahead, guiding the vehicle to the rear of the other vehicles and waiting for the color of the target signal light to change.

[0060] In this embodiment, the process of guiding the vehicle to stop includes: if there are no other vehicles at the stop line of the intersection ahead, the current speed value of the vehicle is used as the initial speed, and the distance between the current position of the vehicle and the stop line position is used as the driving distance, the deceleration of the vehicle is calculated, and the current speed value is adjusted according to the deceleration until the vehicle stops at the stop line; if there are other vehicles at the stop line of the intersection ahead, the current speed value of the vehicle is used as the initial speed, and the distance between the current position of the vehicle and the other vehicles is used as the driving distance, the deceleration of the vehicle is calculated, and the current speed value is adjusted according to the deceleration until the vehicle stops behind the other vehicles.

[0061] If the target signal light is red and if the second driving distance is greater than the first driving distance, it is determined that the vehicle cannot pass through the intersection and the vehicle is guided to stop as an auxiliary driving strategy.

[0062] In this embodiment, the process of guiding the vehicle to stop includes: if there are no other vehicles at the stop line of the intersection ahead, guiding the vehicle to the stop line and waiting for the color of the target signal light to change; if there are other vehicles at the stop line of the intersection ahead, guiding the vehicle to the rear of the other vehicles and waiting for the color of the target signal light to change.

[0063] In this embodiment, the process of guiding the vehicle to stop includes: if there are no other vehicles at the stop line of the intersection ahead, the current speed value of the vehicle is used as the initial speed, and the distance between the current position of the vehicle and the stop line position is used as the driving distance, the deceleration of the vehicle is calculated, and the current speed value is adjusted according to the deceleration until the vehicle stops at the stop line; if there are other vehicles at the stop line of the intersection ahead, the current speed value of the vehicle is used as the initial speed, and the distance between the current position of the vehicle and the other vehicles is used as the driving distance, the deceleration of the vehicle is calculated, and the current speed value is adjusted according to the deceleration until the vehicle stops behind the other vehicles.

[0064] If the target signal light color is red, and if the second driving distance is less than or equal to the first driving distance, it is determined that the vehicle can pass through the intersection, and the vehicle is guided to pass through the intersection as an auxiliary driving strategy.

[0065] In this embodiment, the process of guiding the vehicle to drive through the intersection includes: appropriately adjusting the current speed value and the current driving lane according to factors such as the distance to the vehicle in front, so that the adjusted current speed value can ensure safety during driving and pass the intersection.

[0066] If the target traffic light is yellow, the vehicle will be guided to slow down as an auxiliary driving strategy.

[0067] In this embodiment, if the color of the target traffic light is yellow and if there are no other vehicles at the stop line of the intersection ahead, the current speed value of the vehicle is used as the initial speed, and the distance between the current position of the vehicle and the stop line position is used as the driving distance. The deceleration of the vehicle is calculated, and the current speed value is adjusted according to the deceleration until the vehicle stops at the stop line or the duration of the yellow light ends; if there are other vehicles at the stop line of the intersection ahead, the current speed value of the vehicle is used as the initial speed, and the distance between the current position of the vehicle and the other vehicles is used as the driving distance. The deceleration of the vehicle is calculated, and the current speed value is adjusted according to the deceleration until the vehicle stops behind the other vehicles or the duration of the yellow light ends.

[0068] In this embodiment, when the duration of the yellow light ends and the target signal light color switches from yellow to red, the target signal light color, the duration corresponding to the target signal light color, the width value and the stop line position information, as well as the current speed value and the current position information of the vehicle are re-acquired, and the assisted driving strategy is re-determined based on the re-acquired target signal light color, the re-acquired duration, the re-acquired width value, the re-acquired stop line position information, the re-acquired current speed value, and the re-acquired current position information.

[0069] In this embodiment, the assisted driving strategy can be flexibly determined according to different signal light colors and the comparison results of the first driving distance and the second driving distance, so that the assisted driving strategy meets the vehicle safety driving requirements.

[0070] In one embodiment of the present application, after determining the assisted driving strategy, the assisted driving method includes:

[0071] The target signal light color, duration, width value, stop line position information, current speed value and current position information are updated.

[0072] In this embodiment, the target traffic light color, duration, width value, stop line position information, current speed value and current position information may be updated in real time or in a periodic manner, which is not specifically limited herein.

[0073] An updated first travel distance is calculated based on the updated width value, the updated stop line position information, and the updated current position information.

[0074] In this embodiment, the calculation method of the updated first driving distance is the same as the calculation method of the first driving distance, which will not be described in detail herein.

[0075] The updated second travel distance is calculated by combining the updated current speed value and the updated duration.

[0076] In this embodiment, the calculation method of the updated second driving distance is the same as the calculation method of the second driving distance, which will not be described in detail herein.

[0077] The assisted driving strategy is re-determined according to the comparison result of the updated first driving distance and the updated second driving distance, and the vehicle driving is assisted by the re-determined assisted driving strategy.

[0078] In this embodiment, by redetermining the assisted driving strategy and continuously correcting the previous assisted driving strategy with the redetermined assisted driving strategy, the accuracy of the assisted driving strategy is effectively improved, ensuring that the vehicle can be safely and reliably guided through the intersection.

[0079] In one embodiment of the present application, before obtaining the target signal light color, the duration, width value and stop line position information corresponding to the target signal light color, and the current speed value and current position information of the vehicle at the intersection ahead of the vehicle, the assisted driving method includes:

[0080] Obtain the vehicle's indication information and current driving lane, as well as traffic signal phase information at the intersection ahead of the vehicle.

[0081] In this embodiment, the traffic signal phase information includes the colors of different types of signal lights and the duration of the colors of different types of signal lights. The different types of signal lights include through lane signal lights, left turn lane signal lights, and right turn lane signal lights.

[0082] It is determined whether the instruction information includes lane change instruction information.

[0083] In this embodiment, if the indication information is navigation indication information, it is determined whether the navigation indication information includes lane change indication information; if the indication information is turn signal indication information, it is determined whether the turn signal indication information includes lane change indication information; if the indication information includes navigation indication information and turn signal indication information, it is determined whether the navigation indication information includes lane change indication information and whether the turn signal indication information includes lane change indication information.

[0084] In the present embodiment, if the navigation instruction information includes lane change instruction information and the turn signal instruction information includes lane change instruction information, and the lane change instruction information included in the navigation instruction information is inconsistent with the lane change instruction information included in the turn signal instruction information, then the vehicle is guided to change lanes based on the lane change instruction information included in the navigation instruction information; if the navigation instruction information includes lane change instruction information and the turn signal instruction information includes lane change instruction information, and the lane change instruction information included in the navigation instruction information is consistent with the lane change instruction information included in the turn signal instruction information, then the vehicle is guided to change lanes based on the lane change instruction information included in the navigation instruction information or the lane change instruction information included in the turn signal instruction information; if the navigation instruction information includes lane change instruction information and the turn signal instruction information does not include lane change instruction information, then the vehicle is guided to change lanes based on the lane change instruction information included in the navigation instruction information; if the navigation instruction information does not include lane change instruction information and the turn signal instruction information includes lane change instruction information, then the vehicle is guided to change lanes based on the lane change instruction information included in the turn signal instruction information; if the navigation instruction information does not include lane change instruction information and the turn signal instruction information does not include lane change instruction information, then the vehicle does not change lanes.

[0085] If the indication information does not include lane change indication information, the width value is determined based on the type of the current driving lane; the type of the current driving lane is matched with different types of signal lights to obtain the target signal light, and based on the target signal light, the target signal light color and the duration corresponding to the target signal light color are determined; the stop line position information, the current speed value and the current position information are collected.

[0086] In this embodiment, the type of the current driving lane includes a straight lane, a left turn lane, and a right turn lane. If the type of the current driving lane is a straight lane, the target signal light is the straight lane signal light, the target signal light color is the straight lane signal light color, and the duration corresponding to the target signal light color is the duration corresponding to the straight lane signal light color; if the type of the current driving lane is a left turn lane, the target signal light is the left turn lane signal light, the target signal light color is the left turn lane signal light color, and the duration corresponding to the target signal light color is the duration corresponding to the left turn lane signal light color; if the type of the current driving lane is a right turn lane, the target signal light is the right turn lane signal light, the target signal light color is the right turn lane signal light color, and the duration corresponding to the target signal light color is the duration corresponding to the right turn lane signal light color.

[0087] If the indication information includes lane change indication information, the vehicle is guided to change lanes based on the lane change indication information; the width value is determined based on the type of driving lane after the lane change; the type of driving lane after the lane change is matched with different types of signal lights to obtain the target signal light, and based on the target signal light, the target signal light color and the duration corresponding to the target signal light color are determined; the stop line position information, the current speed value and the current position information are collected.

[0088] In this embodiment, there is a mapping relationship between the driving lane type after the lane change and the width value. The process of determining the width value is based on the driving lane type after the lane change: if the driving lane type after the lane change is a straight lane, the width value is the width value of the vehicle going straight through the intersection; if the driving lane type after the lane change is a left turn lane, the width value is the width value of the vehicle turning left through the intersection; if the driving lane type after the lane change is a right turn lane, the width value is the width value of the vehicle turning right through the intersection.

[0089] In one embodiment of the present application, the process of determining whether the indication information includes lane change indication information includes:

[0090] If the indication information includes navigation indication information, the driving lane within a preset distance range in front of the vehicle in the navigation indication information is obtained and recorded as the target driving lane. If the current driving lane is inconsistent with the target driving lane, it is determined that the indication information includes lane change indication information, and driving to the target driving lane is used as the lane change indication information.

[0091] In this embodiment, the preset distance range can be set according to actual conditions. For example, the range of 5 meters to 10 meters is used as the preset distance range. The preset distance range can also be set to other distance ranges, which are not listed here one by one.

[0092] If the indication information includes navigation indication information, a driving lane within a preset distance range in front of the vehicle in the navigation indication information is obtained and recorded as a target driving lane. If the current driving lane is consistent with the target driving lane, it is determined that the indication information does not include lane change indication information.

[0093] In this embodiment, the method of acquiring the driving lane within a preset distance range in front of the vehicle in the navigation indication information may be a real-time acquisition method or a periodic acquisition method, which is not specifically limited here.

[0094] In this embodiment, when the current position of the vehicle does not allow lane change, the target driving lane is not acquired, and the vehicle continues to drive in the current driving lane.

[0095] In one embodiment of the present application, the process of determining whether the indication information includes lane change indication information includes:

[0096] If the indication information includes turn signal indication information, and the turn signal indication information is a left turn, then if the type of the current driving lane is a right turn lane or a straight lane, it is determined that the indication information includes lane change indication information, and driving to the left turn lane is used as the lane change indication information.

[0097] In this embodiment, the process of guiding the vehicle to change lanes based on the lane change instruction information includes: taking the left turn lane as the target driving lane, and guiding the vehicle to drive to the target driving lane when the surrounding area of ​​the vehicle is safe.

[0098] If the indication information includes turn signal indication information, and the turn signal indication information is a left turn, then if the type of the current driving lane is a left turn lane, it is determined that the indication information does not include lane change indication information.

[0099] In this embodiment, after determining that the instruction information does not include the lane change instruction information, the vehicle is guided to travel in the current driving lane.

[0100] If the indication information includes turn signal indication information, and the turn signal indication information is a right turn, then if the type of the current driving lane is a left turn lane or a straight lane, it is determined that the indication information includes lane change indication information, and driving to the right turn lane is used as the lane change indication information.

[0101] In this embodiment, the process of guiding the vehicle to change lanes based on the lane change instruction information includes: taking the right turn lane as the target driving lane, and guiding the vehicle to drive to the target driving lane when the surrounding area of ​​the vehicle is safe.

[0102] If the indication information includes turn signal indication information, and the turn signal indication information is a right turn, then if the type of the current driving lane is a right turn lane, it is determined that the indication information does not include lane change indication information.

[0103] In this embodiment, after determining that the instruction information does not include the lane change instruction information, the vehicle is guided to travel in the current driving lane.

[0104] Figure 3 is a flowchart of an assisted driving method shown in another exemplary embodiment of the present application, such as Figure 3 As shown, the assisted driving method includes: (1) obtaining traffic data information of the intersection in front of the vehicle through a road side unit (RSU), the traffic data information including: traffic light phase, traffic light duration, width value, and stop line position information; (2) obtaining the current speed value and current position information of the vehicle through an on-board unit; (3) calculating a first driving distance in combination with the width value, current position information, and stop line position information; (4) calculating a second driving distance in combination with the current speed value and traffic light duration; (5) determining an assisted driving strategy in combination with a comparison result of the traffic light color, the first driving distance, and the second driving distance.

[0105] In this embodiment, the traffic light phase includes different types of signal light colors, and the different types of signal lights include straight lane signal lights, left turn lane signal lights, and right turn lane signal lights. If the signal light color is green, signal-0 is used to represent it, and if the signal light color is non-green, signal-1 is used to represent it.

[0106] In this embodiment, when the traffic light color of the current lane in which the vehicle is located is green, the second driving distance is calculated during the duration of the green light, and the comparison result of the first driving distance and the second driving distance is used to determine the assisted driving strategy when the green light is on.

[0107] In this embodiment, when the traffic light color of the current lane where the vehicle is located is red, the second driving distance is calculated during the duration of the red light, and the comparison result of the first driving distance and the second driving distance is used to determine the assisted driving strategy when the red light is on.

[0108] Figure 4 is a flowchart of determining an assisted driving strategy shown in another exemplary embodiment of the present application, such as Figure 4As shown, the process of determining the assisted driving strategy includes: S01: the on-board unit uses the vehicle to everything (V2X) technology to receive the traffic data information of the intersection in front of the vehicle broadcast by the roadside equipment, and the traffic data information includes: traffic light phase, signal light duration, width value, stop line position information; S02: using the on-board unit to obtain the current speed value and current position information of the vehicle;

[0109] S03: Calculate the first driving distance in combination with the width value, current position information and stop line position information; S04: If the traffic light color of the current driving lane where the vehicle is located is green; S05: Calculate the second driving distance in combination with the current speed value and the duration of the green light, and determine whether the second driving distance is greater than the first driving distance; S06: If the second driving distance is greater than the first driving distance, guide the vehicle to pass through the intersection normally; S07: If the second driving distance is less than or equal to the first driving distance, guide the vehicle to the stop line; S08: If the traffic light color of the current driving lane where the vehicle is located is red; S09: Calculate the second driving distance in combination with the current speed value and the duration of the red light, and determine whether the second driving distance is greater than the first driving distance; S10: If the second driving distance is greater than The first driving distance is less than or equal to the first driving distance, then guide the vehicle to the stop line; S11: if the second driving distance is less than or equal to the first driving distance, guide the vehicle to pass through the intersection normally; S12: if the traffic light color of the current driving lane where the vehicle is located is yellow; S13: guide the vehicle to slow down until the duration of the yellow light ends or the vehicle stops; S14: re-acquire the target signal light color, the duration corresponding to the target signal light color, the width value and the stop line position information, as well as the current speed value and current position information of the vehicle at the intersection in front of the vehicle, and redetermine the assisted driving strategy according to the re-acquired target signal light color, the re-acquired duration, the re-acquired width value, the re-acquired stop line position information, the re-acquired current speed value, and the re-acquired current position information.

[0110] In this embodiment, the roadside unit directly publishes the traffic data information of the intersection in the form of V2X messages. When the vehicle is within the effective distance of the roadside unit, the on-board unit can quickly and accurately obtain and process the traffic data information of the intersection.

[0111] It is worth noting that the V2X technical specification requires that the effective distance of short-range wireless communication be no less than 300 meters, which means that the vehicle can obtain and process the traffic data information of the intersection when it is about 300 meters away from the intersection, so that the on-board unit can obtain the traffic data information of the intersection earlier, which allows the driver or the vehicle driving assistance system to have enough time to adjust the vehicle's driving status. At the same time, it can repeatedly obtain traffic data information and correct the assisted driving decision during the passage, thereby improving the accuracy of the determined assisted driving decision. In addition, the V2X technical specification has clear provisions for end-to-end message delay, thereby ensuring the real-time nature of the message data, thereby improving the timeliness of determining the assisted driving strategy.

[0112] This application uses V2X technology to obtain traffic data information at intersections. Since V2X messages have the characteristics of high reliability and low latency, assisted driving decisions are determined based on traffic data information, current speed values ​​and current location information, greatly improving the reliability of the driving assistance system and the safety of vehicles passing through intersections.

[0113] The following describes an embodiment of the device of the present application, which can be used to execute the assisted driving method in the above embodiment of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the assisted driving method in the above embodiment of the present application.

[0114] Figure 5 is a block diagram of an assisted driving device shown in an exemplary embodiment of the present application. The device can be applied to Figure 1 The implementation environment shown is specifically configured in the vehicle controller 102. The device may also be applicable to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment to which the device is applicable.

[0115] like Figure 5 As shown, the exemplary driving assistance device includes:

[0116] The information acquisition module 501 is used to acquire the target signal light color at the intersection ahead of the vehicle, the duration, width value and stop line position information corresponding to the target signal light color, as well as the current speed value and current position information of the vehicle, wherein the target signal light corresponds to the type of the current driving lane in which the vehicle is located;

[0117] The first distance calculation module 502 is used to calculate the driving distance of the vehicle passing through the intersection based on the width value, the stop line position information and the current position information, which is recorded as the first driving distance;

[0118] The second distance calculation module 503 is used to calculate the driving distance of the vehicle within the duration of the target signal light color by combining the current speed value and the duration, which is recorded as the second driving distance;

[0119] The strategy determination module 504 is used to determine the assisted driving strategy according to the comparison result of the first driving distance and the second driving distance, so as to assist the vehicle driving through the assisted driving strategy.

[0120] In one embodiment of the present application, the target signal light corresponds to the type of the current driving lane in which the vehicle is located, and the type of the current driving lane includes a straight lane, a left turn lane, and a right turn lane. When the type of the current driving lane is a straight lane, the target signal light is the straight lane signal light. When the type of the current driving lane is a left turn lane, the target signal light is the left turn lane signal light. When the type of the current driving lane is a right turn lane, the target signal light is the right turn lane signal light.

[0121] In this embodiment, a road side unit (RSU) and other equipment are used to collect the target signal light color at the intersection in front of the vehicle, the duration, width value and stop line position information corresponding to the target signal light color, and the current speed value and current position information of the vehicle are collected through an on-board unit (OBU) and other equipment.

[0122] In this embodiment, the on-board unit includes a speed sensor, a distance sensor, a satellite positioning device, a camera, a laser radar, etc.

[0123] In this embodiment, the calculation formula for the first driving distance is shown in formula (1), and the calculation formula for the second driving distance is shown in formula (3), which will not be described in detail here.

[0124] In this embodiment, by obtaining the target signal light color, the duration, width value and stop line position information corresponding to the target signal light color, and the current speed value and current position information of the vehicle at the intersection in front of the vehicle, the driving distance of the vehicle through the intersection is calculated based on the width value, the stop line position information and the current position information, and recorded as the first driving distance. In combination with the current speed value and the duration, the driving distance of the vehicle within the duration of the target signal light color is calculated and recorded as the second driving distance. According to the comparison result of the first driving distance and the second driving distance, the assisted driving strategy is determined to assist the driving of the vehicle through the assisted driving strategy. In the above process, the target signal light color, the duration, width value and stop line position information corresponding to the target signal light color, and the current speed value and current position information of the vehicle are fully combined to accurately determine the assisted driving strategy, thereby improving the reliability of the intelligent driving assistance system, reducing traffic accidents caused by inaccurate assisted driving strategies, and improving the safety of drivers and passengers, as well as the driving experience of drivers and passengers.

[0125] In this embodiment, the first driving distance is used as the safe passing distance of the vehicle, and the safe passing distance of the vehicle is used as a determination means for assisted driving, so that it can be more intuitive to determine whether the vehicle can safely pass through the intersection.

[0126] In this embodiment, the first driving distance includes the width value of the intersection. The width value of the intersection is incorporated into the judgment criteria of the assisted driving, and the impact of the width value of the intersection on the safe passage of vehicles is fully considered. This effectively solves the problem of the driver blindly rushing to rush for the green light when passing through a super-large intersection because he cannot accurately judge whether he can safely pass through the intersection, thereby effectively improving the safety of vehicles passing through intersections.

[0127] It should be noted that the assisted driving device provided in the above embodiment and the assisted driving method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment, and will not be repeated here. In practical applications, the assisted driving device provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0128] An embodiment of the present application also provides a vehicle-mounted device, including: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by one or more processors, the vehicle-mounted device implements the assisted driving method provided in the above-mentioned embodiments.

[0129] An embodiment of the present application further provides a vehicle, the vehicle comprising a driving assistance device as provided in each of the above embodiments or a vehicle-mounted device as provided in each of the above embodiments.

[0130] Figure 6 The structure diagram of the computer system of the vehicle-mounted device suitable for implementing the embodiment of the present application is shown. It should be noted that: Figure 6 The computer system 600 of the vehicle-mounted device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0131] like Figure 6As shown, the computer system 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 602 or the program loaded from the storage part 608 to the random access memory (RAM) 603, such as executing the method in the above embodiment. In the RAM 603, various programs and data required for system operation are also stored. The CPU 601, ROM 602 and RAM 603 are connected to each other through a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0132] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed so that a computer program read therefrom is installed into the storage section 608 as needed.

[0133] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 609, and / or installed from a removable medium 611. When the computer program is executed by a central processing unit (CPU) 601, various functions defined in the system of the present application are executed.

[0134] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable medium or any combination of the above two. Computer-readable media can be, for example, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples of computer-readable media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer-readable signal medium may also be any computer-readable medium other than a computer-readable medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The computer program contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0135] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0136] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not constitute limitations on the units themselves in some cases.

[0137] Another aspect of the present application further provides a computer-readable medium having a computer program stored thereon, which, when executed by a processor of a computer, causes the computer to execute the aforementioned assisted driving method. The computer-readable medium may be included in the vehicle-mounted device described in the above embodiment, or may exist independently without being assembled into the vehicle-mounted device.

[0138] Another aspect of the present application further provides a computer program product or computer program, which includes computer instructions stored in a computer-readable medium. A processor of a computer device reads the computer instructions from the computer-readable medium, and the processor executes the computer instructions, so that the computer device executes the assisted driving method provided in each of the above embodiments.

[0139] The above embodiments are merely illustrative of the principles and effects of the present application, and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A driving assistance method, characterized in that: The method comprises: Acquire the color of a target signal light at the intersection ahead of the vehicle, the duration, width value, and stop line position information corresponding to the color of the target signal light, as well as the current speed value and current position information of the vehicle, wherein the target signal light corresponds to the type of the current driving lane of the vehicle; Based on the width value, the stop line position information and the current position information, calculating the driving distance of the vehicle passing through the intersection, and recording it as a first driving distance; Combining the current speed value and the duration, calculating the travel distance of the vehicle within the target signal light color duration, and recording it as a second travel distance; Determining an assisted driving strategy according to a comparison result of the first driving distance and the second driving distance, so as to assist driving of the vehicle by using the assisted driving strategy; Before acquiring the target signal light color at the intersection ahead of the vehicle, the duration, width value and stop line position information corresponding to the target signal light color, and the current speed value and current position information of the vehicle, the method includes: Acquire the indication information and current driving lane of the vehicle, and the traffic signal phase information of the intersection ahead of the vehicle, wherein the traffic signal phase information includes the colors of different types of signal lights and the duration of the colors of different types of signal lights; determining whether the instruction information includes lane change instruction information; If the indication information does not include the lane change indication information, the width value is determined based on the type of the current driving lane; the type of the current driving lane is matched with different types of signal lights to obtain the target signal light, and based on the target signal light, the color of the target signal light and the duration corresponding to the color of the target signal light are determined; the stop line position information, the current speed value and the current position information are collected; If the indication information includes the lane change indication information, the vehicle is guided to change lanes based on the lane change indication information; the width value is determined based on the type of the driving lane after the lane change; the type of the driving lane after the lane change is matched with different types of signal lights to obtain the target signal light, and based on the target signal light, the target signal light color and the duration corresponding to the target signal light color are determined; the stop line position information, the current speed value and the current position information are collected.

2. The assisted driving method according to claim 1, characterized in that: The process of determining the assisted driving strategy according to the comparison result of the first driving distance and the second driving distance includes: If the color of the target signal light is green, and if the second driving distance is greater than the first driving distance, it is determined that the vehicle can pass through the intersection, and the vehicle is guided to pass through the intersection as the auxiliary driving strategy; If the color of the target signal light is green, and if the second driving distance is less than or equal to the first driving distance, it is determined that the vehicle cannot pass through the intersection, and the vehicle is guided to stop as the auxiliary driving strategy; If the color of the target signal light is red, and if the second driving distance is greater than the first driving distance, it is determined that the vehicle cannot pass through the intersection, and the vehicle is guided to stop as the auxiliary driving strategy; If the color of the target signal light is red, and if the second driving distance is less than or equal to the first driving distance, it is determined that the vehicle can pass through the intersection, and the vehicle is guided to pass through the intersection as the auxiliary driving strategy; If the color of the target signal light is yellow, the vehicle will be guided to slow down as the auxiliary driving strategy.

3. The assisted driving method according to claim 1 or 2, characterized in that: After determining the assisted driving strategy, the method includes: updating the target signal light color, the duration, the width value, the stop line position information, the current speed value and the current position information; Calculating an updated first driving distance based on the updated width value, the updated stop line position information, and the updated current position information; Calculate an updated second driving distance by combining the updated current speed value and the updated duration; The assisted driving strategy is re-determined according to the comparison result of the updated first driving distance and the updated second driving distance, and the vehicle driving is assisted by the re-determined assisted driving strategy.

4. The assisted driving method according to claim 1 or 2, characterized in that: The calculation formula of the first driving distance is include: D0=L road +L car-stopline , Where D0 represents the first driving distance, L road Indicates the width value, L car-stopline Indicates the distance between the vehicle and the stop line; The calculation formula for the distance between the vehicle and the stop line includes: Among them, L car-stopline represents the distance between the vehicle and the stop line, R represents the radius of the earth, a represents the difference between the latitude coordinate in the stop line position information and the latitude coordinate in the current position information, b represents the difference between the longitude coordinate in the stop line position information and the longitude coordinate in the current position information, rLat0 represents the latitude coordinate in the stop line position information, and rLat1 represents the latitude coordinate in the current position information; The calculation formula of the second driving distance includes: D=V car ·T tra-light , Where D represents the second driving distance, V car Indicates the current speed value, T tra-light Indicates duration.

5. The assisted driving method according to claim 1 or 2, characterized in that: The type of the current driving lane includes a straight lane, a left-turn lane, and a right-turn lane; the type of the driving lane after the lane change has a mapping relationship with the width value.

6. The assisted driving method according to claim 5, characterized in that: The process of determining whether the instruction information includes lane change instruction information includes: If the indication information includes navigation indication information, a driving lane within a preset distance range in front of the vehicle in the navigation indication information is obtained and recorded as a target driving lane; if the current driving lane is inconsistent with the target driving lane, it is determined that the indication information includes the lane change indication information, and driving to the target driving lane is used as the lane change indication information; If the indication information includes navigation indication information, a driving lane within a preset distance range in front of the vehicle in the navigation indication information is obtained and recorded as a target driving lane. If the current driving lane is consistent with the target driving lane, it is determined that the indication information does not include the lane change indication information.

7. The assisted driving method according to claim 5, characterized in that: The process of determining whether the instruction information includes lane change instruction information includes: If the indication information includes turn signal indication information, and the turn signal indication information is a left turn, then if the type of the current driving lane is a right turn lane or a straight lane, it is determined that the indication information includes the lane change indication information, and driving to the left turn lane is used as the lane change indication information; If the indication information includes turn signal indication information, and the turn signal indication information is a left turn, then if the type of the current driving lane is a left turn lane, it is determined that the indication information does not include the lane change indication information; If the indication information includes turn signal indication information, and the turn signal indication information is a right turn, then if the type of the current driving lane is a left turn lane or a straight lane, it is determined that the indication information includes the lane change indication information, and driving to the right turn lane is used as the lane change indication information; If the indication information includes turn signal indication information, and the turn signal indication information is a right turn, then if the type of the current driving lane is a right turn lane, it is determined that the indication information does not include the lane change indication information.

8. A driving assistance device, characterized in that: The device is used to execute the assisted driving method according to any one of claims 1 to 7, and the device comprises: An information acquisition module, used to acquire the color of a target signal light at an intersection ahead of the vehicle, the duration, width value and stop line position information corresponding to the color of the target signal light, and the current speed value and current position information of the vehicle, wherein the target signal light corresponds to the type of the current driving lane of the vehicle; A first distance calculation module, used for calculating the driving distance of the vehicle passing through the intersection based on the width value, the stop line position information and the current position information, recorded as a first driving distance; A second distance calculation module, used to calculate the travel distance of the vehicle within the target signal light color duration by combining the current speed value and the duration, recorded as a second travel distance; A strategy determination module is used to determine an assisted driving strategy according to a comparison result of the first driving distance and the second driving distance, so as to assist the driving of the vehicle through the assisted driving strategy.

9. A vehicle-mounted device, characterized in that: include: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the vehicle-mounted device to implement the assisted driving method as described in any one of claims 1 to 7.

10. A vehicle, characterized in that: The vehicle includes the auxiliary driving device as claimed in claim 8 or the on-vehicle equipment as claimed in claim 9.

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