Control methods, devices, vehicles and storage media for driver assistance systems

Abstract

This application relates to the field of vehicle technology, and in particular to a control method, device, vehicle, and storage medium for a driving assistance system. The method includes: acquiring the vehicle's current position; acquiring road condition information from a navigation system and perception information from the driving assistance system at the current position; fusing the road condition information and perception information to obtain fused information; and controlling the driving assistance system based on the fused information. This solves the problems of low safety and poor user experience in related technologies caused by the inherent perception limitations of the driving assistance system itself.

Description

Technical Field

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

[0002] Basic ADAS (Advanced Driver Assistance System) systems typically include functions such as ACC (Adaptive Cruise Control), TJA (Traffic Jam Assist), AEB (Autonomous Emergency Braking), FCW (Forward Collision Warning), TSR (Traffic Sign Recognition), SLA (Speed ​​Limit Assist), SCF (Smart Cruise Control with Stop), LDP (Lane Departure Prevention), LDW (Lane Departure Warning), and IHC (Intelligent High Beam Control). Basic ADAS systems generally consist of a single-V (or single-V plus angle radar), a SOC (System on a Chip) chip, and a MCU (Microcontroller Unit) chip, resulting in a simple architecture and low cost.

[0003] Limited by single-vehicle perception, the ability to recognize unclear signs, lane markings, and traffic lights at intersections is poor. This deficiency in some applications of current basic ADAS systems leads to functional defects. For example, in the SLA function, some unclear speed limit signs cannot be recognized or are misrecognized by the ADAS system; when TJA (Traffic Accelerator) is on a curve, single-vehicle perception can only control lateral acceleration based on lane line recognition, resulting in fluctuations in lateral acceleration control; when TJA passes through intersections, lane lines may disappear and reappear, causing TJA to exit and re-enter, affecting the vehicle's control experience; and the DAI (Departure Alert) function will not activate if no target vehicle is recognized ahead. In summary, due to the inherent perception limitations of ADAS systems, their safety is not high, and the user experience is negatively impacted. Summary of the Invention

[0004] This application provides a control method, device, vehicle, and storage medium for a driving assistance system to solve the problems of low safety and poor user experience caused by the inherent perception defects of the driving assistance system in the related art.

[0005] The first aspect of this application provides a control method for a driving assistance system, comprising the following steps: obtaining the current position of the vehicle; obtaining road condition information from a navigation system and perception information from the driving assistance system at the current position; fusing the road condition information and perception information to obtain fused information, and controlling the driving assistance system based on the fused information.

[0006] Optionally, the road condition information and perception information include at least one of the following: road segment speed limit information, traffic light information, lane information, and curve information.

[0007] Optionally, before acquiring the road condition information of the navigation system and the perception information of the driving assistance system based on the current location, the method further includes: determining whether the navigation system and the driving assistance system are working properly; if both the navigation system and the driving assistance system are working properly, acquiring the road condition information and perception information respectively; if the perception device of the driving assistance system is not working, controlling the driving assistance system directly based on the road condition information.

[0008] Optionally, the fused information obtained by fusing road condition information and perception information includes: fused road segment speed limit information obtained by fusing road condition information and perception information to obtain fused road condition speed limit information; fused traffic light information obtained by fusing traffic condition information and perception information to obtain fused traffic light information; and fused curve information obtained by fusing road condition information and perception information to obtain fused curve information.

[0009] Optionally, the road segment speed limit information in the road condition information and the perceived road condition information is integrated, including: determining whether the road segment speed limit in the road condition information is the same as the road segment speed limit in the perceived information; if they are not the same, determining whether the road segment speed limit in the perceived information is consistent with the current road condition based on the road condition type; if they are not consistent, using the road segment speed limit in the road condition information as the integrated road segment speed limit; otherwise, using the latest speed limit of the navigation system and the driving assistance system as the integrated road segment speed limit.

[0010] Optionally, the traffic light information in the road condition information and the perception information is integrated, including: determining whether there is a target vehicle in front of the vehicle based on the perception information; if there is no target vehicle, obtaining the current traffic light status information in the road condition information and the current traffic light time information in the perception information, and obtaining the integrated traffic light information based on the current traffic light status information and the current traffic light time information.

[0011] Optionally, the curve information in the road condition information and the perception information is integrated, including: acquiring the curve information in the road condition information, wherein the curve information includes the curve radius; calculating the lateral acceleration of the vehicle passing through the curve based on the curve radius, and obtaining the integrated curve information.

[0012] A second aspect of this application provides a control device for a driving assistance system, comprising: a first acquisition module for acquiring the current position of a vehicle; a second acquisition module for acquiring road condition information from a navigation system and perception information from a driving assistance system at the current position; and a fusion module for fusing the road condition information and perception information to obtain fused information, and controlling the driving assistance system based on the fused information.

[0013] Optionally, the road condition information and perception information include at least one of the following: road segment speed limit information, traffic light information, lane information, and curve information.

[0014] Optionally, it further includes: a judgment module, wherein the judgment module is used to determine whether the navigation system and the driving assistance system are working normally before acquiring the road condition information of the navigation system and the perception information of the driving assistance system based on the current location; if both the navigation system and the driving assistance system are working normally, then the road condition information and the perception information are acquired respectively; if the perception device of the driving assistance system is not working, then the driving assistance system is directly controlled based on the road condition information.

[0015] Optionally, the fusion module is further used to: fuse road condition information and perception information to obtain fused road condition speed limit information; fuse traffic light information and perception information to obtain fused traffic light information; and fuse road condition information and perception information to obtain fused curve information.

[0016] Optionally, the fusion module is further used to: determine whether the road segment speed limit in the road condition information is the same as the road segment speed limit in the perception information; if they are not the same, determine whether the road segment speed limit in the perception information is consistent with the current road condition based on the road condition type; if they are not consistent, use the road segment speed limit in the road condition information as the fused road segment speed limit, otherwise use the latest speed limit of the navigation system and the driving assistance system as the fused road segment speed limit.

[0017] Optionally, the fusion module is further used to: determine whether there is a target vehicle in front of the vehicle based on the perception information; if there is no target vehicle, obtain the current traffic light status information in the road condition information and the current traffic light time information in the perception information, and obtain the fused traffic light information based on the current traffic light status information and the current traffic light time information.

[0018] Optionally, the fusion module is further used to: acquire curve information from road condition information, wherein the curve information includes the curve radius; calculate the lateral acceleration of the vehicle passing through the curve based on the curve radius, and obtain the fused curve information.

[0019] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to perform a control method for a driving assistance system as described above.

[0020] A fourth aspect of this application provides a computer-readable storage medium having a computer program or instructions stored thereon, the computer program being executed by a processor to perform a control method for a driving assistance system as described above.

[0021] Therefore, this application has at least the following beneficial effects:

[0022] This application's embodiments fuse road condition information acquired by a navigation system and perception information acquired by a driving assistance system. Control of the driving assistance system is achieved based on the fused information. The road condition information from the navigation system compensates for the perception deficiencies of the driving assistance system, thereby improving the safety and intelligence of the driving assistance system and enhancing the user experience. This solves the technical problems in related technologies, such as low safety and poor user experience caused by the inherent perception limitations of the driving assistance system itself.

[0023] 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

[0024] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0025] Figure 1 This is a flowchart of a control method for a driving assistance system provided according to an embodiment of this application;

[0026] Figure 2 This is a logic diagram showing the SLA function provided according to the embodiments of this application;

[0027] Figure 3 This is a diagram illustrating the execution strategies of ACC and TJA at traffic light intersections according to embodiments of this application.

[0028] Figure 4 This is a schematic diagram of a system combining an ADAS all-in-one machine and a navigation system according to an embodiment of this application;

[0029] Figure 5This is an example diagram of a control device for a driving assistance system provided according to an embodiment of this application;

[0030] Figure 6 This is a structural schematic diagram of a vehicle provided according to an embodiment of this application. Detailed Implementation

[0031] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0032] The following description, with reference to the accompanying drawings, outlines a control method, apparatus, vehicle, and storage medium for a driving assistance system according to embodiments of this application. Addressing the issues mentioned in the background art, such as the inherent perception defects of ADAS systems leading to low safety and negatively impacting user experience, this application provides a control method for a driving assistance system. In this method, road condition information acquired by a navigation system and perception information acquired by the driving assistance system are fused, and control of the driving assistance system is achieved based on the fused information. This resolves the problems of low safety and poor user experience in related technologies due to the inherent perception defects of driving assistance systems.

[0033] Specifically, Figure 1 This is a flowchart illustrating a control method for a driving assistance system provided in an embodiment of this application.

[0034] like Figure 1 As shown, the control method of this driving assistance system includes the following steps:

[0035] In step S101, the current location of the vehicle is obtained.

[0036] The vehicle's current location can be obtained through a navigation system or a positioning system.

[0037] In step S102, the road condition information of the navigation system and the perception information of the driving assistance system at the current location are obtained.

[0038] The driving assistance system can be an ADAS system, and the driving assistance system in the following embodiments is based on ADAS; the road condition information and perception information include at least one of road speed limit information, traffic light information, lane information and curve information.

[0039] It is understood that this application can obtain road condition information from the navigation system and perception information from the driver assistance system at the current location of the vehicle. The perception information from the driver assistance system can be obtained through radar, sensors, or cameras installed on the vehicle.

[0040] In this embodiment of the application, before obtaining the road condition information of the navigation system and the perception information of the driving assistance system based on the current location, the method further includes: determining whether the navigation system and the driving assistance system are working normally; if both the navigation system and the driving assistance system are working normally, then obtaining the road condition information and the perception information respectively; if the perception device of the driving assistance system is not working, then directly controlling the driving assistance system based on the road condition information.

[0041] It is understood that before implementing the control method of the driving assistance system of this application, it is determined whether the navigation system and the driving assistance system are working normally. If both are working normally, road condition information and perception information are acquired respectively. If the radar, sensor or camera and other devices of the driving assistance system that acquire perception information are not working, the driving assistance system is directly controlled based on the road condition information.

[0042] In step S103, road condition information and perception information are fused to obtain fused information, and the driving assistance system is controlled based on the fused information.

[0043] It is understood that the embodiments of this application can fuse road condition information and perception information to obtain fused information, and control the driving assistance system to perform corresponding operations based on the fused information, thereby realizing the combination of navigation system and driving assistance system to control the driving assistance system. The road condition information of navigation system is used to make up for the insufficient perception of driving assistance system, thereby improving the safety and intelligence of driving assistance system and enhancing user experience.

[0044] In this embodiment of the application, the fused information obtained by fusing road condition information and perception information includes: fusing road segment speed limit information from road condition information and perception information to obtain fused road condition speed limit information; fusing traffic light information from road condition information and perception information to obtain fused traffic light information; and fusing curve information from road condition information and perception information to obtain fused curve information.

[0045] It is understood that the embodiments of this application can respectively fuse road condition information and perception information such as road speed limit information, traffic light information and curve information to obtain fused road condition speed limit information, traffic light information and curve information.

[0046] In this embodiment of the application, the fusion of road condition information and perceived road condition information includes: determining whether the road condition speed limit in the road condition information is the same as the road condition speed limit in the perceived information; if they are not the same, determining whether the road condition speed limit in the perceived information is consistent with the current road condition based on the road condition type; if they are not consistent, using the road condition speed limit in the road condition information as the fused road condition speed limit, otherwise using the latest speed limit of the navigation system and the driving assistance system as the fused road condition speed limit.

[0047] The road condition types can include highway conditions, congested conditions, accident conditions, etc.

[0048] It is understood that the embodiments of this application can determine whether the road segment speed limit of the road condition information is the same as the road segment speed limit of the perception information. If they are not the same, the road segment speed limit of the perception information is determined based on the road condition type to determine whether it conforms to the current road condition. If it does not conform, the road segment speed limit of the road condition information shall prevail, that is, the road segment speed limit of the navigation system shall be used as the fused road segment speed limit. Otherwise, the latest speed limits of the navigation system and the driving assistance system shall be displayed as the fused road segment speed limit.

[0049] For example, the navigation system obtains road speed limit information and the area (highway, urban area, etc.) of the road segment, and sends it to the ADAS controller. SLA (Speed ​​Limit Assist) can operate in two modes: navigation mode and fusion mode. When the camera is not working, navigation mode is used. In navigation mode, the navigation system sends the speed limit value and speed limit cancellation signal to the ADAS controller, which then sends the speed limit information to the instrument panel for display. When both the camera and navigation system are working normally, fusion mode is entered. In fusion mode, if the speed limit value from the navigation system matches the data sensed by the ADAS integrated camera, the currently sensed data is displayed. If the two speed limit values ​​are inconsistent, a preliminary judgment is made based on the road area. If the sensed speed limit is clearly not applicable to the current road conditions (e.g., a speed limit below 60 km / h on a highway), the navigation speed limit takes precedence. If the determination is uncertain, the latest speed limit value is displayed, with a 40-second display duration. The SLA function display logic is as follows: Figure 2 As shown.

[0050] In this embodiment of the application, the fusion of traffic light information from road condition information and perception information includes: determining whether there is a target vehicle ahead of the vehicle based on the perception information; if there is no target vehicle, obtaining the current traffic light status information from the road condition information and the current traffic light time information from the perception information, and obtaining the fused current traffic light information based on the current traffic light status information and the current traffic light time information.

[0051] The target vehicle is the vehicle in front of this vehicle.

[0052] It is understood that, according to the embodiments of this application, the vehicle can determine whether there is a target vehicle in front of it based on the perception information. If there is a target vehicle, the vehicle will follow normally. If there is no target vehicle, the vehicle will obtain the current traffic light status information in the road condition information and the current traffic light time information in the perception information, and obtain the fused current traffic light information based on the traffic light status information and the current traffic light time information.

[0053] For example, the navigation system obtains the traffic light status information at an intersection and sends it to the ADAS controller. When there is a target vehicle ahead, ACC and TJA follow normally. When there is no target vehicle, they calculate whether it is permissible to proceed based on the traffic light timing. If it is permissible, they proceed normally; if not, they apply appropriate braking force based on the current speed and distance to the stop line to bring the vehicle to a stop. When the red light turns green, ACC and TJA are automatically reactivated in conjunction with DAI (Departure Alert). The execution strategy of ACC and TJA when crossing a traffic light intersection is as follows: Figure 3 As shown.

[0054] In this embodiment of the application, fusing curve information from road condition information and perception information includes: acquiring curve information from road condition information, wherein the curve information includes the curve radius; calculating the lateral acceleration of the vehicle passing through the curve based on the curve radius to obtain the fused curve information.

[0055] It is understood that the embodiments of this application can obtain curve information from road condition information, calculate the lateral acceleration of the vehicle passing through the curve based on the curve radius in the curve information, and obtain the fused curve information.

[0056] For example, the navigation system obtains curve information and sends it to the ADAS controller. The TJA / ICA calculates the lateral and longitudinal accelerations of the TJA / ICA during cornering based on the curve's radius to ensure smooth cornering. Given a radius of R, a coefficient of kinetic friction between the tire and the road surface of μ, assuming the maximum static friction equals the sliding friction, and taking gravitational acceleration as g, the formula can be used... The maximum speed for cornering is calculated, and then the lateral and longitudinal acceleration values ​​are allocated based on the speed.

[0057] The following specific embodiment illustrates the control method of the driving assistance system of this application. Taking ADAS as an example, this application combines a navigation system with a driving assistance system to form an ADAS system that integrates an all-in-one device and a navigation map. The system mainly consists of an ADAS all-in-one device and a navigation system, as shown in the following diagram. Figure 4 As shown, using Figure 4 The system implements a control method for a driver assistance system, and the main process of the method is as follows:

[0058] 1. Establish a data channel between the navigation system and the ADAS system;

[0059] 2. The navigation system inputs traffic or road condition information such as speed limits, traffic light status, lanes, and curves into the ADAS controller;

[0060] 3. The ADAS system receives data sent by the navigation system;

[0061] 4. Combine the data sent by the navigation system with the data perceived by the ADAS itself for fusion processing;

[0062] 5. Map the fused data to different application algorithms.

[0063] The above method achieves data fusion between the integrated machine's own perception and the navigation system's map, improving the functionality of the ADAS system. By linking data that is insufficient in basic ADAS perception but can be provided by the car navigation system, the control algorithm of the ADAS system is optimized, thereby improving the safety of the ADAS system and enhancing the user experience.

[0064] According to the control method of the driving assistance system proposed in the embodiments of this application, the road condition information obtained by the navigation system and the perception information obtained by the driving assistance system can be fused. Based on the fused information, the driving assistance system can be controlled. The road condition information of the navigation system can be used to make up for the insufficient perception of the driving assistance system, thereby improving the safety and intelligence of the driving assistance system and enhancing the user experience.

[0065] Next, the control device of the driving assistance system proposed according to the embodiments of this application is described with reference to the accompanying drawings.

[0066] Figure 5 This is a block diagram of the control device of the driving assistance system according to an embodiment of this application.

[0067] like Figure 5 As shown, the control device 10 of the driving assistance system includes: a first acquisition module 100, a second acquisition module 300, and a fusion module 300.

[0068] The first acquisition module 100 is used to acquire the current position of the vehicle; the second acquisition module 200 is used to acquire the road condition information of the navigation system and the perception information of the driving assistance system at the current position; the fusion module 300 is used to fuse the road condition information and perception information to obtain fused information, and control the driving assistance system based on the fused information.

[0069] In this embodiment of the application, the road condition information and perception information include at least one of road segment speed limit information, traffic light information, lane information and curve information.

[0070] In this embodiment of the application, the device 10 further includes a determination module.

[0071] The judgment module is used to determine whether the navigation system and the driving assistance system are working properly before acquiring the road condition information of the navigation system and the perception information of the driving assistance system based on the current location. If both the navigation system and the driving assistance system are working properly, the road condition information and perception information are acquired respectively. If the perception device of the driving assistance system is not working, the driving assistance system is controlled directly based on the road condition information.

[0072] In this embodiment of the application, the fusion module 300 is further used to: fuse road condition information and road segment speed limit information in the perception information to obtain fused road condition speed limit information; fuse traffic light information in the road condition information and perception information to obtain fused traffic light information; and fuse curve information in the road condition information and perception information to obtain fused curve information.

[0073] In this embodiment of the application, the fusion module 300 is further used to: determine whether the road segment speed limit of the road condition information is the same as the road segment speed limit of the perception information; if they are not the same, determine whether the road segment speed limit of the perception information is in line with the current road condition based on the road condition type; if they are not in line with the current road condition, use the road segment speed limit of the road condition information as the fused road segment speed limit; otherwise, display the latest speed limits of the navigation system and the driving assistance system.

[0074] In this embodiment of the application, the fusion module 300 is further used to: determine whether there is a target vehicle in front of the vehicle based on the perception information; if there is no target vehicle, obtain the current traffic light status information in the road condition information and the current traffic light time information in the perception information, and obtain the fused traffic light information based on the current traffic light status information and the current traffic light time information, so as to determine whether the vehicle can pass through the current traffic light.

[0075] In this embodiment of the application, the fusion module 300 is further used to: obtain curve information from road condition information, wherein the curve information includes the curve radius; calculate the lateral acceleration of the vehicle passing through the curve based on the curve radius, and obtain the fused curve information.

[0076] It should be noted that the foregoing explanation of the control method embodiment for the driving assistance system also applies to the control device of the driving assistance system in this embodiment, and will not be repeated here.

[0077] According to the control device of the driving assistance system proposed in the embodiments of this application, the road condition information obtained by the navigation system and the perception information obtained by the driving assistance system can be fused together. Based on the fused information, the driving assistance system can be controlled. The road condition information of the navigation system can be used to make up for the insufficient perception of the driving assistance system, thereby improving the safety and intelligence of the driving assistance system and enhancing the user experience.

[0078] Figure 6 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0079] The memory 601, the processor 602, and the computer program stored on the memory 601 and capable of running on the processor 602.

[0080] When the processor 602 executes the program, it implements the control method of the driving assistance system provided in the above embodiments.

[0081] Furthermore, the vehicle also includes:

[0082] Communication interface 603 is used for communication between memory 601 and processor 602.

[0083] The memory 601 is used to store computer programs that can run on the processor 602.

[0084] The memory 601 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0085] If the memory 601, processor 602, and communication interface 603 are implemented independently, then the communication interface 603, memory 601, and processor 602 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0086] Optionally, in a specific implementation, if the memory 601, processor 602, and communication interface 603 are integrated on a single chip, then the memory 601, processor 602, and communication interface 603 can communicate with each other through an internal interface.

[0087] The processor 602 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0088] This application also provides a computer-readable storage medium storing a computer program or instructions thereon, which, when executed by a processor, implements the above-described control method for a driving assistance system.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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 more 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 (PGAs), field-programmable gate arrays (FPGAs), etc.

[0093] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

Claims

1. A control method for a driving assistance system, characterized in that, Includes the following steps: Get the vehicle's current location; Determine if the navigation system and driver assistance system are working properly; If both the navigation system and the driving assistance system are working normally, the road condition information of the navigation system and the perception information of the driving assistance system at the current location are obtained respectively. If the sensing devices of the driving assistance system are not working, the driving assistance system is controlled directly based on the road condition information; The system acquires road condition information from the navigation system and perception information from the driving assistance system at the current location. The road condition information and the perception information include road speed limit information, traffic light information, lane information, and curve information. The system integrates the road condition information and the perception information to obtain fused information, and controls the driving assistance system based on the fused information. The process of integrating the road condition information and the perception information to obtain fused information includes: integrating road segment speed limit information from the road condition information and the perception information to obtain fused road condition speed limit information; integrating traffic light information from the road condition information and the perception information to obtain fused traffic light information; and integrating curve information from the road condition information and the perception information to obtain fused curve information. The process of fusing the road condition information and the perceived information includes: determining whether the road segment speed limit in the road condition information is the same as the road segment speed limit in the perceived information; if they are different, determining whether the road segment speed limit in the perceived information is consistent with the current road condition based on the road condition type; if they are not consistent, using the road segment speed limit in the road condition information as the fused road segment speed limit; otherwise, using the latest speed limit of the navigation system and the driving assistance system as the fused road segment speed limit, wherein the road condition type includes highway road conditions, congested road conditions, and accident road conditions; The process of fusing the traffic light information from the road condition information and the perception information includes: determining whether there is a target vehicle ahead of the vehicle based on the perception information; if there is no target vehicle, obtaining the current traffic light status information from the road condition information and the current traffic light time information from the perception information, and obtaining the fused current traffic light information based on the current traffic light status information and the current traffic light time information. The process of fusing the road condition information and the curve information from the perception information includes: acquiring the curve information from the road condition information, wherein the curve information includes the curve radius; calculating the lateral acceleration of the vehicle passing through the curve based on the curve radius to obtain the fused curve information.

2. A control device for a driving assistance system, characterized in that, A control method for implementing the driving assistance system as described in claim 1 includes: The first acquisition module is used to acquire the current location of the vehicle; The second acquisition module is used to acquire road condition information of the navigation system and perception information of the driving assistance system at the current location. The fusion module is used to fuse the road condition information and the perception information to obtain fused information, and to control the driving assistance system based on the fused information.

3. A vehicle, characterized in that, include: The system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the control method of the driving assistance system as claimed in claim 1.

4. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed by the processor, they are used to implement the control method of the driving assistance system as described in claim 1.

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