Low-speed driving assistance method based on value determination and risk assessment of objects around vehicle

Abstract

The embodiment of the application provides a low-speed driving assistance method based on value judgment and risk assessment of target objects around a vehicle, which comprises the following steps: acquiring the speed of a target vehicle, and judging whether the speed is greater than a first preset speed threshold; if the speed is greater than the first preset speed threshold, collecting and processing the environmental monitoring data sent by an ultrasonic radar, a millimeter wave radar, a camera and a laser radar in the target vehicle within a first preset time; identifying the target objects around the vehicle according to the environmental monitoring data, and classifying the identified target objects around the vehicle based on a preset target object judgment criterion; performing risk assessment according to the classification result, and executing a corresponding assistance strategy based on the risk assessment result. The application can distinguish low-value target objects and high-value target objects based on the target object value judgment criterion, distinguish different target objects, take different response measures according to different risk assessment results, and improve the acceptance and trust of the driver to the low-speed vehicle surrounding assistance system.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of assisted driving technology, and in particular to a low-speed driving assistance method based on value determination and risk assessment of targets around a vehicle. Background Art

[0002] Traditional blind spot detection systems mainly rely on sensors such as parking radar and millimeter-wave radar to supplement the detection of vehicle blind spots in the interior and exterior rearview mirrors, front and rear windshields, etc. When a crossing vehicle is detected in the vehicle blind spot and there is a risk of collision with the main vehicle, the driver will be reminded by flashing lights in the exterior rearview mirror or the A-pillar of the vehicle. With the rapid development of intelligent driving technology today, more sensors are used for vehicle assisted driving, and the sensor detection distance and accuracy have also made significant progress. Based on the early blind spot alarms, some vehicles can avoid collisions with high-speed moving and large targets such as vehicles through active steering or emergency braking based on the early alarms, which greatly improves the safety of vehicle driving. However, there is no system for static targets, low-speed moving targets, adult balance cars, and children's scooters, etc., which are specifically manifested as follows:

[0003] 1. Using the same value standard for obstacles around the vehicle or simply screening them out after making a right or wrong judgment, failing to determine the target value level based on the specific circumstances of the obstacles.

[0004] 2. Using the same alarm or braking strategy for different obstacles without making a clear distinction, and applying the same strategy to low-value targets as to high-value targets, often results in the forced entry of some unnecessary vehicles, which is not conducive to improving driver recognition and acceptance. This in turn causes some drivers to ignore vehicle signal intervention during actual driving or even directly turn off the function. Summary of the Invention

[0005] Based on this, the purpose of the embodiment of this application is to propose a low-speed driving assistance method based on the value judgment and risk assessment of targets around the vehicle, aiming to fully explore the types of different obstacles in real scenes, and distinguish them into low-value targets and high-value targets according to the target value judgment criteria, and adopt different types of risk assessment and safety assistance system strategies respectively, so as to effectively improve the driver's trust and satisfaction with this function.

[0006] In a first aspect, embodiments of the present application provide a low-speed driving assistance method based on value determination and risk assessment of surrounding objects, the method comprising:

[0007] After the vehicle is powered on, the speed of the target vehicle is obtained, and it is determined whether the speed is greater than a first preset speed threshold;

[0008] If the vehicle speed is greater than a first preset vehicle speed threshold, environmental monitoring data sent by an ultrasonic radar, a millimeter wave radar, a camera, and a laser radar in the target vehicle is collected and processed within a first preset time;

[0009] The target objects around the vehicle are identified according to the environmental monitoring data, and the identified target objects around the vehicle are classified based on a preset target object determination criterion;

[0010] Risk assessment is performed according to the classification result, and a corresponding auxiliary strategy is executed based on the risk assessment result.

[0011] In some embodiments, the step of identifying the target objects around the vehicle according to the environmental monitoring data and classifying the identified target objects around the vehicle based on a preset target object determination criterion comprises:

[0012] According to the target object determination criterion, the target objects are divided into low-value target objects and high-value target objects;

[0013] The low-value target objects include plastic barrels, cone barrels, and low plants, and the high-value target objects include high-value repair objects of the vehicle itself and high-value damage objects outside the vehicle, the high-value repair objects of the vehicle itself include walls, stone piers, columns, cars, trees, and power poles, and the high-value damage objects outside the vehicle include children and pedestrians.

[0014] In some embodiments, the step of performing risk assessment according to the classification result and executing a corresponding auxiliary strategy based on the risk assessment result comprises:

[0015] If the target objects around the vehicle are low-value target objects, a first distance between the low-value target objects and the target vehicle is obtained, and it is determined whether the first distance is less than a first preset distance threshold;

[0016] If the first distance is less than the first preset distance threshold, it is determined that the low-value target objects enter a first alarm range, a first sound and light alarm is actively triggered, and timing is started;

[0017] If the duration of the first sound and light alarm reaches a first preset duration threshold, the first sound and light alarm is stopped.

[0018] In some embodiments, the step of performing risk assessment according to the classification result and executing a corresponding auxiliary strategy based on the risk assessment result comprises:

[0019] If the target objects around the vehicle are high-value target objects, the spatial coordinates of the high-value target objects are obtained every second preset time, and the motion state of the high-value target objects is determined according to the spatial coordinates of adjacent periods;

[0020] If the motion state of the high-value target objects is stationary, the high-value target objects enter a first alarm range, and a first sound and light alarm is actively triggered.

[0021] If the driver does not intervene, it is determined whether the high-value target enters the second-level alarm range;

[0022] If the driver does not intervene, it is determined whether the high-value target enters the second-level alarm range;

[0023] If the driver does not intervene, it is determined whether the high-value target enters the second-level alarm range;

[0024] If the driver does not intervene, it is determined whether the high-value target enters the second-level alarm range;

[0025] In some embodiments, if the vehicle target is a high-value target, the spatial coordinates of the high-value target are obtained every second preset time, and the step of determining the motion state of the high-value target based on the spatial coordinates of adjacent periods is further included.

[0026] If the motion state of the high-value target is motion, the first-level alarm range is entered, and the first-level sound and light alarm is actively triggered;

[0027] If the driver does not intervene, it is determined whether the high-value target enters the second-level alarm range;

[0028] If the driver does not intervene, it is determined whether the high-value target enters the second-level alarm range;

[0029] If the driver does not intervene, it is determined whether the high-value target enters the second-level alarm range;

[0030] If the driver does not intervene, it is determined whether the high-value target enters the second-level alarm range;

[0031] If the driver does not intervene, it is determined whether the high-value target enters the second-level alarm range;

[0032] If the driver does not intervene, it is determined whether the high-value target enters the second-level alarm range;

[0033] If the driver does not intervene, it is determined whether the high-value target enters the second-level alarm range;

[0034] In some embodiments, the method further comprises:

[0035] If the driver intervenes, the corresponding alarm is canceled;

[0036] If the driver does not intervene, it is determined whether the high-value target enters the second-level alarm range;

[0037] If the driver does not intervene, it is determined whether the high-value target enters the second-level alarm range.

[0038] In some embodiments, the method further comprises:

[0039] if the vehicle speed is less than or equal to the first preset vehicle speed threshold, determining that the vehicle has not started;

[0040] if the first distance is greater than or equal to the first preset distance threshold, determining that the low-value target has not entered the first-level alarm range.

[0041] In a second aspect, the embodiments of the present application further provide a low-speed driving assistance system based on target value determination and risk assessment around the vehicle, which comprises:

[0042] a vehicle speed acquisition module, configured to acquire the vehicle speed of the target vehicle after the vehicle is powered on, and determine whether the vehicle speed is greater than a first preset vehicle speed threshold;

[0043] an environmental information monitoring module, configured to collect and process environmental monitoring data sent by an ultrasonic radar, a millimeter wave radar, a camera, and a laser radar in the target vehicle within a first preset time if the vehicle speed is greater than the first preset vehicle speed threshold;

[0044] a target division module, configured to identify the targets around the vehicle according to the environmental monitoring data, and divide the identified targets around the vehicle based on a preset target determination criterion;

[0045] an auxiliary driving module, configured to perform risk assessment according to the division result, and execute a corresponding auxiliary strategy based on the risk assessment result.

[0046] In a third aspect, the embodiments of the present application further provide a storage medium, which comprises one or more programs stored in the storage medium, and the program is executed to implement the low-speed driving assistance method based on target value determination and risk assessment around the vehicle as described above.

[0047] In a fourth aspect, the embodiments of the present application further provide an electronic device, which comprises a memory and a processor, wherein:

[0048] the memory is configured to store a computer program;

[0049] the processor is configured to execute the computer program stored in the memory to implement the low-speed driving assistance method based on target value determination and risk assessment around the vehicle as described above.

[0050] Compared with the prior art, the embodiments of the present application have the following advantages:

[0051] The application mainly aims at the low-speed driving of the vehicle, such as low-speed entering and exiting a parking space, passing through an intersection, and the dynamic conditions of different forms of children and pedestrians passing through the surroundings of the vehicle, and collision of the vehicle and a rigid object such as a wall and a rigid column, and proposes a risk assessment and safety auxiliary method, specifically, by fully excavating the types of different obstacles in the real scene, the target objects are distinguished into low-value target objects and high-value target objects according to the target object value determination criteria, and different types of risk assessment and safety auxiliary system strategies are respectively adopted, which can effectively improve the trust and satisfaction of the driver on the function.

[0052] Additional aspects and advantages of the embodiments disclosed herein will be set forth in the description that follows, and in part will be obvious from the description, or can be learned by practice of such embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0053] Figure 1 A flow chart of a low-speed driving auxiliary method based on vehicle target object value determination and risk assessment is proposed for the first embodiment of the application;

[0054] Figure 2 A target determination criterion diagram in the first embodiment of the application;

[0055] Figure 3 A flow chart of risk assessment in the first embodiment of the application;

[0056] Figure 4 A structure diagram of a low-speed driving auxiliary system based on vehicle target object value determination and risk assessment is proposed for the second embodiment of the application.

[0057] The following specific embodiments will further illustrate the embodiments of the application in combination with the above drawings. DETAILED DESCRIPTION

[0058] In order to facilitate the understanding of the embodiments of the application, the embodiments of the application will be described more fully below with reference to the related drawings. The drawings show several embodiments of the application. However, the embodiments of the application can be realized in many different forms and are not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of the embodiments of the application more thorough and comprehensive.

[0059] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the embodiments of the application belong. The terminology used in the specification of the embodiments of the application herein is only for the purpose of describing specific embodiments and is not intended to limit the embodiments of the application. The term "and / or" used herein includes any and all combinations of one or more of the associated listed items.

[0060] Referring to Figure 1 , a flow chart of a low-speed driving assistance method based on vehicle surrounding target value judgment and risk assessment in the first embodiment of the present application is shown, which comprises steps S101 to S104, wherein:

[0061] Step S101: After the vehicle is powered on, the speed of the target vehicle is obtained, and it is judged whether the speed is greater than a first preset speed threshold;

[0062] It should be pointed out that the purpose of judging whether the speed is greater than the first preset speed threshold is to determine whether the vehicle has started, if it is less than or equal to the first preset speed threshold, it means that the vehicle has not started, at this time, there is no need to perform auxiliary driving monitoring.

[0063] Step S102: If the speed is greater than the first preset speed threshold, the environmental monitoring data sent by the ultrasonic radar, millimeter wave radar, camera and laser radar in the target vehicle is collected and processed within a first preset time;

[0064] Step S103: The vehicle surrounding target is identified according to the environmental monitoring data, and the identified vehicle surrounding target is divided based on a preset target judgment criterion;

[0065] It should be pointed out that in this step, the target is divided into low-value target and high-value target according to the target judgment criterion;

[0066] Referring to Figure 2 , the low-value target includes but is not limited to plastic barrels, cone barrels and low plants, the high-value target is divided into vehicle itself high-value maintenance and vehicle external high-value damage, the vehicle itself high-value maintenance includes but is not limited to walls, stone piers, columns, cars, trees and power poles, the vehicle external high-value damage includes children and pedestrians, children are divided into single children and children riding, children riding is divided into children scooter, children balance car and children bicycle target according to children scooter judgment criterion, children balance car judgment criterion and children bicycle judgment criterion respectively; adults are divided into single adults and adult riding, adult riding is divided into adult balance car, adult scooter, adult bicycle and adult electric vehicle target according to adult balance car judgment criterion, adult scooter judgment criterion, adult bicycle judgment criterion and adult electric vehicle judgment criterion respectively.

[0067] Step S104: Risk assessment is performed according to the division result, and corresponding auxiliary strategy is executed based on the risk assessment result.

[0068] Referring to Figure 3In the specific risk assessment, the risk assessment is carried out for the low-value target and the motion state of the high-value target and the stationary state of the high-value target, as follows:

[0069] If the vehicle-surrounding target is a high-value target, the spatial coordinates of the high-value target are acquired every second preset time, and the motion state of the high-value target is determined according to the spatial coordinates of adjacent periods; if the motion state of the high-value target is stationary, the first alarm range is entered, and the first sound-light alarm is triggered actively; the signal is collected to determine whether the driver intervenes, if so, the first sound-light alarm is cancelled; if the driver does not intervene, it is determined whether the high-value target enters the second alarm range; if the high-value target enters the second alarm range, it is determined again whether the driver intervenes, if not, it is determined whether the high-value target enters the emergency braking range; if the high-value target enters the emergency braking range, the vehicle emergency braking is triggered actively.

[0070] If the vehicle-surrounding target is a high-value target, the spatial coordinates of the high-value target are acquired every second preset time, and the motion state of the high-value target is determined according to the spatial coordinates of adjacent periods; if the motion state of the high-value target is stationary, the first alarm range is entered, and the first sound-light alarm is triggered actively; the signal is collected to determine whether the driver intervenes, if so, the first sound-light alarm is cancelled; if the driver does not intervene, it is determined whether the high-value target enters the second alarm range; if the high-value target enters the second alarm range, it is determined again whether the driver intervenes, if not, it is determined whether the high-value target enters the emergency braking range; if the high-value target enters the emergency braking range, the vehicle emergency braking is triggered actively.

[0071] If the motion state of the high-value target is motion, the first alarm range is entered, and the first sound-light alarm is triggered actively; it is determined whether the high-value target leaves the first alarm range, if not, the signal is collected to determine whether the driver intervenes; if the driver does not intervene, it is determined whether the high-value target enters the second alarm range; if not, the first alarm range is entered repeatedly, and the first sound-light alarm is triggered actively; if the second alarm range is entered, the second sound-light alarm is triggered actively; it is determined whether the high-value target leaves the second alarm range; if not, it is determined whether the driver intervenes, if not, it is determined whether the high-value target enters the emergency braking range; if the high-value target enters the emergency braking range, the vehicle emergency braking is triggered actively.

[0072] It should be further pointed out that, regardless of the risk assessment, if the driver intervenes, the corresponding alarm is cancelled; if the first alarm range is left, the first sound-light alarm is cancelled; if the second alarm range is left, the second sound-light alarm is cancelled.

[0073] In addition, if the first distance is greater than or equal to a first preset distance threshold, it is determined that the low-value target object does not enter a first-level alarm range. Similarly, a second distance is obtained based on the same method, and whether the target object enters a second-level alarm range is determined according to the second distance. Of course, the second preset distance threshold is less than the first preset distance threshold. Thus, collision avoidance in the case of movement of a high-value target object is finally achieved.

[0074] In summary, the present application mainly aims at low-speed driving of a vehicle, such as low-speed entry and exit of a parking space, passing through an intersection, passing of different forms of children and pedestrians around the vehicle, collision of the vehicle and a rigid object such as a wall and a rigid column, and proposes a risk assessment and safety assistance method. Specifically, by fully excavating different types of obstacles in a real scene, the target objects are divided into low-value target objects and high-value target objects according to a target object value determination criterion, and different types of risk assessment and safety assistance system strategies are respectively adopted, which can effectively improve the trust and satisfaction of the driver for the function.

[0075] Referring to Figure 4 , a low-speed driving assistance system based on target object value determination and risk assessment around a vehicle in a second embodiment is shown, which comprises:

[0076] A vehicle speed acquisition module 10 is configured to acquire a vehicle speed of a target vehicle after the vehicle is powered on, and determine whether the vehicle speed is greater than a first preset vehicle speed threshold;

[0077] An environmental information monitoring module 20 is configured to collect and process environmental monitoring data sent by an ultrasonic radar, a millimeter wave radar, a camera, and a laser radar in the target vehicle within a first preset time if the vehicle speed is greater than the first preset vehicle speed threshold;

[0078] A target object division module 30 is configured to identify target objects around the vehicle according to the environmental monitoring data, and divide the identified target objects around the vehicle based on a preset target object determination criterion;

[0079] An auxiliary driving module 40 is configured to perform risk assessment according to the division result, and execute a corresponding assistance strategy based on the risk assessment result.

[0080] The present application also proposes a computer storage medium having one or more programs stored thereon, which programs are executed by a processor to implement the above-mentioned low-speed driving assistance method based on target object value determination and risk assessment around a vehicle.

[0081] Another aspect of the embodiments of the present application also provides an electronic device comprising a memory and a processor, wherein the memory is configured to store a computer program, and the processor is configured to execute the computer program stored in the memory to implement the low-speed driving assistance method based on the value determination and risk assessment of the target object around the vehicle.

[0082] Those skilled in the art can understand that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a list of executable instructions for implementing the logic function, which can be embodied in any computer readable medium for use by or in connection with an instruction execution system, apparatus or device, such as a computer-based system, a system including a processor or other system that can fetch the instructions from the instruction execution system, apparatus or device and execute the instructions, or in conjunction with these instructions execution system, apparatus or device. For the purpose of the present description, the "computer readable medium" can be any device that can contain, store, communicate, propagate or transport programs for use by or in connection with an instruction execution system, apparatus or device, or in conjunction with these instructions execution system, apparatus or device.

[0083] More specific examples (a non-exhaustive list) of the computer readable medium include the following: an electrical connection having one or more wires (electrical devices), a portable computer diskette (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium can even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, for example, by optically scanning the paper or other suitable medium, then electronically converted into a form that is suitable for use in a computer system, stored, and / or otherwise processed.

[0084] It should be understood that parts of the embodiments of the present application can be realized in hardware, software, firmware or a combination thereof. In the above-described embodiments, a plurality of steps or methods can be realized by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if realized in hardware, and as in another embodiment, any one or a combination of the following technologies known in the art can be used: discrete logic circuit having logic gates for implementing logic functions on data signals, application specific integrated circuit having appropriate combinational logic gates, programmable gate array (PGA), field programmable gate array (FPGA), etc.

[0085] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are contained in at least one embodiment or example of the embodiments of the present application. In the description of the specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0086] The above-described embodiments only express several implementation manners of the embodiments of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the embodiments of the present application. It should be pointed out that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the embodiments of the present application, and these all belong to the protection scope of the embodiments of the present application. Therefore, the protection scope of the embodiments of the present application should be subject to the appended claims.

Claims

1. A low-speed driving assistance method based on value judgment and risk assessment of surrounding objects, characterized in that: The method comprises: After the vehicle is powered on, the speed of the target vehicle is obtained, and it is determined whether the speed is greater than a first preset speed threshold; If the vehicle speed is greater than a first preset speed threshold, collecting and processing environmental monitoring data sent by the ultrasonic radar, millimeter wave radar, camera, and lidar in the target vehicle within a first preset time; Identify objects around the vehicle based on the environmental monitoring data, and classify the identified objects around the vehicle based on preset object determination criteria, wherein the objects are divided into low-value objects and high-value objects according to the object determination criteria; the low-value objects include plastic barrels, cones, and low plants; the high-value objects are divided into high-value repair objects on the vehicle itself and high-value damage objects on the vehicle's exterior; the high-value repair objects on the vehicle itself include walls, stone piers, pillars, cars, trees, and telephone poles; the high-value damage objects on the vehicle's exterior include children and pedestrians; A risk assessment is performed based on the classification results, and corresponding auxiliary strategies are executed based on the risk assessment results. When the target around the vehicle is identified as a low-value target, an audible and visual alarm is triggered. When the target around the vehicle is identified as a high-value target, an audible and visual alarm or emergency braking is triggered.

2. The low-speed driving assistance method based on value judgment and risk assessment of surrounding objects according to claim 1, characterized in that: The steps of performing risk assessment according to the classification results and executing corresponding auxiliary strategies based on the risk assessment results include: If the target object around the vehicle is a low-value target object, obtaining a first distance between the low-value target object and the target vehicle, and determining whether the first distance is less than a first preset distance threshold; If the first distance is less than a first preset distance threshold, it is determined that the low-value target has entered the first-level alarm range, and a first-level sound and light alarm is actively triggered, and a timer is started; If the duration of the first-level sound and light alarm reaches a first preset duration threshold, the first-level sound and light alarm is stopped.

3. The low-speed driving assistance method based on value judgment and risk assessment of surrounding objects according to claim 2, characterized in that: The steps of performing risk assessment according to the classification results and executing corresponding auxiliary strategies based on the risk assessment results include: If the target object around the vehicle is a high-value target, the spatial coordinates of the high-value target are obtained every second preset time, and the motion state of the high-value target is determined based on the spatial coordinates of adjacent periods; If the high-value target is stationary, it will enter the first-level alarm range and automatically trigger the first-level sound and light alarm; Collect signals to determine whether the driver has intervened. If so, cancel the first-level sound and light alarm; If the driver does not intervene, it will determine whether the high-value target has entered the secondary alarm range; If the high-value object enters the secondary alarm range, it will be determined again whether the driver has intervened. If not, it will be determined whether the high-value object has entered the emergency braking range; If a high-value target enters the emergency braking range, the vehicle's emergency braking will be actively triggered.

4. The low-speed driving assistance method based on value judgment and risk assessment of surrounding objects according to claim 3 is characterized in that: If the target object around the vehicle is a high-value target object, the step of obtaining the spatial coordinates of the high-value target object at every second preset time interval and determining the motion state of the high-value target object based on the spatial coordinates of adjacent periods further includes: If the high-value target is in motion, it will enter the first-level alarm range and actively trigger the first-level sound and light alarm; Determine whether the high-value target has left the first-level alarm range. If it has not left the first-level alarm range, collect signals to determine whether the driver has intervened; If the driver does not intervene, it will determine whether the high-value target has entered the secondary alarm range; If it does not enter the second level alarm range, it will enter the first level alarm range again and actively trigger the first level sound and light alarm; If it enters the secondary alarm range, it will automatically trigger the secondary sound and light alarm; Determine whether the high-value target has left the secondary alarm range; If the vehicle has not left the secondary alarm range, the system determines whether the driver has intervened. If the driver has not intervened, the system determines whether the high-value object has entered the emergency braking range. If a high-value target enters the emergency braking range, the vehicle's emergency braking will be actively triggered.

5. The low-speed driving assistance method based on value judgment and risk assessment of surrounding objects according to any one of claims 1 to 4, characterized in that: The method further comprises: If the driver intervenes, the corresponding alarm is canceled; If you leave the first-level alarm range, the first-level sound and light alarm will be cancelled; If you leave the secondary alarm range, the secondary sound and light alarm will be cancelled.

6. The low-speed driving assistance method based on value determination and risk assessment of surrounding objects according to any one of claims 1 to 4, characterized in that: The method further comprises: If the vehicle speed is less than or equal to a first preset vehicle speed threshold, determining that the vehicle has not started; If the first distance is greater than or equal to a first preset distance threshold, it is determined that the low-value target has not entered the first-level alarm range.

7. A low-speed driving assistance system based on value judgment and risk assessment of surrounding objects, characterized in that: The system comprises: A vehicle speed acquisition module is used to acquire the speed of the target vehicle after the vehicle is powered on, and to determine whether the speed is greater than a first preset speed threshold; an environmental information monitoring module, configured to collect and process environmental monitoring data sent by an ultrasonic radar, millimeter-wave radar, camera, or lidar in the target vehicle within a first preset time if the vehicle speed is greater than a first preset speed threshold; a target classification module for identifying targets around the vehicle based on the environmental monitoring data and classifying the identified targets around the vehicle based on preset target determination criteria, wherein the targets are classified into low-value targets and high-value targets according to the target determination criteria; the low-value targets include plastic barrels, cones, and low plants; the high-value targets are divided into high-value repair objects on the vehicle itself and high-value damage objects on the vehicle's exterior; the high-value repair objects on the vehicle itself include walls, stone piers, pillars, cars, trees, and telephone poles; the high-value damage objects on the vehicle's exterior include children and pedestrians; The assisted driving module is used to perform risk assessment based on the classification results and execute corresponding auxiliary strategies based on the risk assessment results. When the target around the vehicle is identified as a low-value target, an audible and visual alarm is triggered; when the target around the vehicle is identified as a high-value target, an audible and visual alarm or emergency braking is triggered.

8. A storage medium, characterized in that: include: The storage medium stores one or more programs, which, when executed by the processor, implement the low-speed driving assistance method based on value judgment and risk assessment of vehicle-surrounding objects as described in any one of claims 1-6.

9. An electronic device, characterized in that: The electronic device comprises a memory and a processor, wherein: The memory is used to store computer programs; When the processor is used to execute the computer program stored in the memory, it implements the low-speed driving assistance method based on value judgment and risk assessment of vehicle-surrounding objects as described in any one of claims 1-6.

Images