A kind of assisted driving method, system and storage medium based on automatic driving

Abstract

The present invention discloses an assisted driving method, system and storage medium based on automatic driving, which relates to the field of automatic driving technology and solves the technical problems that drivers are prone to fatigue driving during long-distance driving, and novice drivers find it difficult to make correct decisions and are prone to safety hazards. The method includes obtaining road information, planning the road conditions and driving paths from the departure point to the destination according to the road information; constructing a guide vehicle located n meters in front of the target vehicle according to the road conditions from the departure point to the destination, and projecting the guide vehicle onto the windshield of the target vehicle; wherein the guide vehicle is used to simulate the driving action of a real-world vehicle; controlling the guide vehicle to automatically drive to the destination according to the driving path, so that the driver drives the target vehicle to follow the guide vehicle. The present invention can reduce the driver's fatigue and tension, and effectively reduce the occurrence of traffic accidents.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to an assisted driving method, system and storage medium based on autonomous driving. Background Art

[0002] With the rapid development of computer science and artificial intelligence, autonomous driving technology has evolved rapidly. Autonomous driving technology uses sensors to perceive the situation of the vehicle and the surrounding environment in real time, then plans and makes decisions through intelligent systems, and finally executes driving operations through control systems to enable the vehicle to drive autonomously. However, autonomous driving technology is not mature enough to handle some extreme situations, such as bad weather and complex traffic flows. The development of autonomous driving technology also requires corresponding infrastructure support such as smart traffic lights and vehicle networks, but the construction of these infrastructures is still in the early stages and cannot meet the large-scale commercial needs of autonomous driving. In addition, the laws and regulations on autonomous driving are not yet perfect, and their safety and legality cannot be guaranteed. Due to the limitations of the above factors such as technology maturity, infrastructure level, laws and regulations, and social acceptance, it will take some time to achieve the popularization of autonomous driving.

[0003] Although autonomous driving technology is not yet fully mature, it can be used to assist drivers. Drivers need to maintain a high level of attention when driving, especially on urban roads, highways or long-distance driving. They need to pay attention to road conditions, traffic signals and other vehicles at all times. This continuous focus consumes a lot of energy and can easily lead to driving fatigue, which can cause traffic accidents. When driving, novice drivers are easily nervous due to lack of experience, and cannot analyze road conditions. Failure to make correct decisions can also lead to a large number of traffic accidents.

[0004] Therefore, there is an urgent need for a method to reduce the fatigue and stress caused by long-distance driving for drivers and help novice drivers make correct decisions. Summary of the invention

[0005] The purpose of the present invention is to provide an assisted driving method, system and storage medium based on automatic driving, so as to solve the technical problems existing in the prior art that drivers are prone to fatigue driving during long-distance driving, and novice drivers find it difficult to make correct decisions, which may easily lead to safety hazards. The various technical effects that can be produced by the preferred technical solutions among the various technical solutions provided by the present invention are described in detail below.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] The present invention provides an assisted driving method based on automatic driving, comprising the following steps: acquiring road information, and planning the road conditions and driving path from a departure point to a destination according to the road information; constructing a guide vehicle located n meters in front of a target vehicle according to the road conditions from the departure point to the destination, and projecting the guide vehicle onto the windshield of the target vehicle; wherein the guide vehicle is used to simulate the driving action of a vehicle in the real world; and controlling the guide vehicle to automatically drive to the destination according to the driving path, so that the driver drives the target vehicle to follow the guide vehicle.

[0008] Optionally, in controlling the guide vehicle to automatically drive to the destination according to the driving path, if there are other moving vehicles n meters ahead during driving, the guide vehicle is merged with the other moving vehicles to generate a guide frame, so that the driver drives the target vehicle to follow the other moving vehicles in the guide frame; when there are no longer other moving vehicles ahead, the guide frame is restored to the guide vehicle.

[0009] Optionally, if during driving, there is another vehicle n meters ahead, the following distance between the target vehicle and the other vehicle is monitored in real time; when the following distance is less than m meters, a warning message is issued.

[0010] Optionally, the step of constructing a guide vehicle located n meters in front of the target vehicle according to the road conditions from the departure point to the destination, and projecting the guide vehicle onto the windshield of the target vehicle comprises: using a projection device as point, the windshield direction is Axis, the direction perpendicular to the ground is axis, vertical Axis and The direction of the axis is Axis, establish the world coordinate system ; Get the world coordinates of the driver's eyes , the world coordinates of the guide vehicle constructed in front of the target vehicle ,as well as The horizontal distance from the point to the windshield and the angle between the windshield and the horizontal plane ; According to the world coordinates , world coordinates , horizontal distance and the angle Calculate the world coordinates of the projected point ; According to the world coordinates of the projection point The guide vehicle is projected onto the windshield.

[0011] Optionally, the world coordinates of the calculated projection point , including: according to the world coordinates , world coordinates , calculate the straight line The linear equation (1) of the straight line is: ;in, , , are all independent variables of the linear equation. is the parameter; transform (1) into a straight line The parametric equation of the straight line (2) is: ;Pass Point perpendicular to the plane where the windshield lies of Point, according to the horizontal distance and the angle calculate The world coordinates of the point are , we get the vector For plane The normal vector , according to the normal vector and Point calculation plane The plane equation (3) is: ; Combining equations (2) and (3), we get the world coordinates for:

[0012] ;in, .

[0013] An assisted driving device based on automatic driving, used to execute any one of the above-mentioned assisted driving methods based on automatic driving, comprising: an external perception unit, used to obtain road information; an intelligent navigation unit, used to receive the road information, and plan the road conditions and driving path from a departure point to a destination; an automatic driving unit, used to construct the guide vehicle according to the road conditions and the driving path, and provide the position information of the guide vehicle, and control the guide vehicle to automatically drive to the destination according to the driving path; a projection unit, used to project the guide vehicle onto the windshield of the target vehicle; a data processing unit, used to receive the position information of the guide vehicle and control the projection direction of the projection unit.

[0014] Optionally, the assisted driving device also includes an eye tracking unit, which is used to obtain the position information of the driver's eyes and send it to the data processing unit; the data processing unit controls the projection direction of the projection unit according to the position information of the driver's eyes and the position information of the guide vehicle.

[0015] Optionally, the external perception unit includes multiple cameras and laser radars, the multiple cameras are used to take pictures to obtain the type and size of objects around the target vehicle; the laser radar is used to measure the distance between the target vehicle and surrounding objects.

[0016] Optionally, the intelligent navigation unit is provided with a display screen for displaying driving assistance information.

[0017] A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed, implements any of the above-mentioned assisted driving methods based on automatic driving.

[0018] Implementing one of the above technical solutions of the present invention has the following advantages or beneficial effects:

[0019] The present invention constructs a virtual guide vehicle in the real world, projects the guide vehicle onto the windshield of the target vehicle, and uses the automatic driving technology to control the guide vehicle to drive to the destination. The driver only needs to pay attention to the driving action of the guide vehicle and drive according to the guide vehicle without paying attention to other excessive road condition information. The driver can reduce the consumption of attention, thereby relieving the fatigue caused by long-term driving and reducing the occurrence of traffic accidents. Similarly, novice drivers do not need to analyze the road conditions, but only need to follow the guide vehicle to reduce driving pressure and tension, which can also effectively reduce the occurrence of traffic accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. It is obvious that the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0021] Figure 1 is a flow chart of an assisted driving method based on automatic driving according to an embodiment of the present invention;

[0022] Figure 2 is a flow chart of step S2 of the assisted driving method based on automatic driving according to an embodiment of the present invention;

[0023] Figure 3 is a first schematic diagram of a guided vehicle projection imaging according to an embodiment of the present invention;

[0024] Figure 4 is a second schematic diagram of the projection imaging of the guiding vehicle according to an embodiment of the present invention;

[0025] Figure 5 is a structural block diagram of an auxiliary driving device based on automatic driving according to an embodiment of the present invention;

[0026] In the figure: 1. windshield; 2. projector; 3. guide frame; 4. front of the target vehicle; 5. projection area; 6. steering wheel. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the present invention clearer, the various exemplary embodiments to be described below will refer to the corresponding drawings, which constitute a part of the exemplary embodiments, wherein various exemplary embodiments that may be used to implement the present invention are described. Unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation methods described in the following exemplary embodiments do not represent all implementation methods consistent with the present disclosure. It should be understood that they are only examples of processes, methods, devices, etc. that are consistent with some aspects of the present disclosure as detailed in the attached claims, and other embodiments may also be used, or the embodiments listed herein may be modified in structure and function without departing from the scope and essence of the present invention.

[0028] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", etc. indicate the orientation or positional relationship based on the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the elements referred to must have a specific orientation, be constructed and operated in a specific orientation. The terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. The term "multiple" means two or more. The terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, a communication connection, a direct connection, an indirect connection through an intermediate medium, and can be the internal connection of two elements or the interaction relationship between two elements. The term "and / or" includes any and all combinations of one or more related listed items. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0029] In order to illustrate the technical solution of the present invention, a specific embodiment is used below for description, and only the parts related to the embodiment of the present invention are shown.

[0030] Embodiment 1:

[0031] like Figure 1As shown, the present invention provides an assisted driving method based on automatic driving, comprising the following steps: S1, acquiring road information, and planning the road condition and driving path from a departure point to a destination according to the road information; S2, constructing a guide vehicle located n meters in front of a target vehicle according to the road condition from the departure point to the destination, and projecting the guide vehicle onto the windshield of the target vehicle; wherein the guide vehicle is used to simulate the driving action of a vehicle in the real world; S3, controlling the guide vehicle to automatically drive to the destination according to the driving path, so that the driver drives the target vehicle to follow the guide vehicle.

[0032] This embodiment is applied in the field of vehicle assisted driving. By constructing a virtual guide car in the real world and projecting the guide car onto the windshield of the target vehicle, and using the automatic driving technology to control the guide car to the destination, the driver can only focus on the driving action of the guide car and drive according to the guide car without paying attention to other excessive road condition information. This can reduce the driver's attention consumption, thereby relieving fatigue caused by long-term driving and reducing the occurrence of traffic accidents. Similarly, novice drivers do not need to analyze the road conditions, but only need to follow the guide car to reduce driving pressure and tension, which can also effectively reduce the occurrence of traffic accidents.

[0033] Next, combine Figure 1-4 The specific implementation steps of the assisted driving method based on automatic driving provided by this embodiment are described in detail:

[0034] First, execute step S1, obtain road information, and plan the road conditions and driving path from the departure point to the destination according to the road information. Specifically, multiple high-precision cameras can be used to take pictures to obtain information such as the type and size of objects around the target vehicle, and then a laser radar can be used to measure the distance from the surrounding objects to the vehicle body to obtain road information around the target vehicle. Based on this information, the driving path from the departure point to the destination and the road conditions on the driving path can be planned.

[0035] Then, execute step S2, construct a guide vehicle located n meters in front of the target vehicle according to the road conditions from the departure point to the destination (such as constructing a position guide vehicle located 3 meters in front of the target vehicle, and the guide vehicle needs to maintain a certain safety distance from the target vehicle to simulate the actual following situation), and project the guide vehicle onto the windshield of the target vehicle; wherein the guide vehicle is used to simulate the driving action of the real-world vehicle. The target vehicle is a vehicle driven by the driver using the assisted driving method of this embodiment, and the guide vehicle is a virtual driving vehicle created by the method of this embodiment. In order to simulate the driver's real perspective of the vehicle in front of him during driving, the guide vehicle needs to be projected onto the windshield of the target vehicle, thereby ensuring that from the driver's perspective, it is simulated that there is really a vehicle driving in front. As an optional implementation, the guide vehicle can be projected onto the windshield of the target vehicle by a projection device, such as a projector.

[0036] Specifically, Figure 2 As shown, according to the road conditions from the departure point to the destination, a guide vehicle located n meters in front of the target vehicle is constructed, and the guide vehicle is projected onto the windshield of the target vehicle, including: S21, using the projection device as point, the windshield direction is Axis, the direction perpendicular to the ground is axis, vertical Axis and The direction of the axis is Axis, establish the world coordinate system ;like Figure 3 As shown, Point is the location of the projection device. Points are established parallel to the direction of windshield 1 Axis, vertical to the ground Axis, establishes the world coordinate system In the figure, point N, point M, and point B are all on the windshield 1. The coordinate system is used to analyze the projection position of the guide vehicle on the windshield 1. S22. Obtaining the world coordinates of the driver's eyes , the world coordinates of the guide vehicle constructed in front of the target vehicle ,as well as Horizontal distance from point to windshield 1 and the angle between the windshield 1 and the horizontal plane ; S23, according to the world coordinates , world coordinates , horizontal distance and the angle Calculate the world coordinates of the projected point The world coordinates of the driver's eyes can be collected by an eye tracker. The guide vehicle is a constructed virtual vehicle, so the world coordinates are also known. Horizontal distance from point to windshield 1 and the angle between the windshield 1 and the horizontal plane According to the actual installation situation, the data are all known, and the projection position of the guide vehicle onto the windshield 1 can be calculated based on these data. S24. According to the world coordinates of the projection point The guide vehicle is projected onto the windshield 1. The virtual guide vehicle is projected onto the windshield by a projection device to simulate the most realistic driving effect of the guide vehicle from the perspective of the driver.

[0037] Further, calculate the world coordinates of the projection point ,include:

[0038] S231, according to the world coordinates , world coordinates , calculate the straight line The linear equation (1) of the straight line is: ;in, , , are all independent variables of the equation of the line. is the parameter;

[0039] S232. Convert equation (1) into a straight line The parametric equation of the straight line (2) is: ;

[0040] S233, such as Figure 3 As shown, Point perpendicular to the plane of the windshield of Point, according to the horizontal distance and the angle calculate The world coordinates of the point are , we get the vector For plane The normal vector , according to the normal vector and Point calculation plane The plane equation (3) is: ;

[0041] S234. Combining equations (2) and (3), we get the world coordinates for:

[0042] ;in, .

[0043] Finally, step S3 is executed to control the guide vehicle to automatically drive to the destination according to the driving path, so that the driver drives the target vehicle to follow the guide vehicle. After the guide vehicle is built, it will drive to the destination in an automatic driving manner, and its driving process will be projected on the windshield of the target vehicle. The driver can follow the guide vehicle in front to drive safely to the destination. During the driving process, there is no need to pay too much attention to other road conditions, only to the driving of the guide vehicle, which can reduce driving energy and relieve driving fatigue.

[0044] As an optional implementation, when controlling the guide vehicle to automatically drive to the destination according to the driving path, if there are other vehicles n meters ahead during the driving process, the guide vehicle and other vehicles are merged to generate a guide frame, so that the driver drives the target vehicle to follow the other vehicles in the guide frame; when there are no other vehicles ahead, the guide frame returns to the guide vehicle. Figure 4As shown, during driving, the driver is sitting on the driving seat and holding the steering wheel 6 to drive. From the driver's perspective, the front of the target vehicle 4 can be seen through the windshield. The projector 2 projects the guide vehicle on the projection area 5 of the windshield 1. When other vehicles appear in front, the guide vehicle is embedded in the front vehicle in the form of a frame diagram to form a guide frame 3. The front vehicle is in the guide frame 3, that is, the front vehicle is used as a guide vehicle for the driver to follow. This can avoid the guide vehicle blocking the driver's line of sight when a real vehicle appears in front, so as to better assist the driver in driving.

[0045] As an optional implementation, if there are other vehicles n meters ahead during driving, the following distance between the target vehicle and other vehicles is monitored in real time; when the following distance is less than m meters, a warning message is issued to remind the driver of the safe driving speed and range. The warning message can be: the color of the guide frame changes (such as from green to red), a buzzer sounds, a vibration or a warning language, etc. For example, the target vehicle is set to be at least 3 meters away from other vehicles ahead, and m=3 is set. Then, when the following distance is less than 3 meters, the target vehicle will issue a buzzer warning to remind the driver that the distance to other vehicles ahead is too close and to increase the distance.

[0046] The embodiment is only a specific example and does not represent only one implementation mode of the present invention.

[0047] Embodiment 2:

[0048] The difference between the second embodiment and the first embodiment is that: an assisted driving device based on automatic driving is used to execute an assisted driving method based on automatic driving described in any one of the first embodiments, such as Figure 5 As shown, it includes: an external perception unit for obtaining road information; an intelligent navigation unit for receiving road information and planning the road conditions and driving paths from the departure point to the destination; an automatic driving unit for constructing a guide vehicle according to the road conditions and driving paths, and providing the position information of the guide vehicle, and controlling the guide vehicle to automatically drive to the destination according to the driving path; a projection unit for projecting the guide vehicle onto the windshield of the vehicle; a data processing unit for receiving the position information of the guide vehicle and controlling the projection direction of the projection unit. Based on the assisted driving method of embodiment 1, the device can construct a guide vehicle and provide assisted driving information to assist the driver in driving the vehicle, help the driver reduce energy consumption, and relieve driving fatigue.

[0049] As an optional implementation, the assisted driving device also includes an eye tracking unit, which is used to obtain position information of the driver's eyes and send it to the data processing unit; the data processing unit controls the projection direction of the projection unit according to the position information of the driver's eyes and the position information of the guide vehicle.

[0050] As an optional implementation, the external perception unit includes multiple cameras and lidars. The multiple cameras are used to take pictures to obtain the type and size of objects around the vehicle; the lidar is used to measure the distance between the vehicle and surrounding objects, and road information is obtained through the cooperation of multiple cameras and lidars.

[0051] As an optional implementation, the intelligent navigation unit is provided with a display screen for displaying driving assistance information. Specifically, the device can provide driving assistance information by attaching simple prompt marks of different colors, and display it to the driver through the display screen; for example, when the driver's vehicle is getting closer and closer to the guide vehicle, the color of the guide vehicle will change from green to yellow and then to red, reminding the driver of the safe driving speed and range; arrows are used to indicate the predetermined driving direction of the guide vehicle; a novice mode is provided for novices, in which more auxiliary information will be displayed, such as the vehicle starting operation sequence, road information and speed limit signs, etc.

[0052] Embodiment three:

[0053] Those skilled in the art can understand that all or part of the features / steps of the above-mentioned method embodiments can be implemented by methods, data processing systems or computer programs, and these features can be implemented without hardware, entirely by software, or by a combination of hardware and software. The aforementioned computer program can be stored in one or more computer-readable storage media, and the storage medium stores a computer program. When the computer program is executed (such as by a processor), the steps of the above-mentioned embodiment of an assisted driving method based on automatic driving are executed.

[0054] The aforementioned storage media that can store program codes include: static hard disks, solid-state hard disks, random access memories (SRAM), electrically erasable programmable read-only memories (EEPROM), erasable programmable read-only memories (EPROM), programmable read-only memories (PROM), read-only memories (ROM), optical storage devices, magnetic storage devices, flash memories, magnetic disks or optical disks and / or combinations of the above devices, that is, they can be implemented by any type of volatile or non-volatile storage devices or combinations thereof.

[0055] The above description is only the preferred embodiment of the present invention. It is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the protection scope of the present invention.

Claims

1. An assisted driving method based on automatic driving, characterized in that: The following steps are involved: Acquire road information, and plan the road conditions and driving route from the departure point to the destination according to the road information; A guide vehicle located n meters in front of the target vehicle is constructed according to the road conditions from the departure point to the destination, and the guide vehicle is projected onto the windshield of the target vehicle; wherein the guide vehicle is used to simulate the driving action of a vehicle in the real world; Controlling the guide vehicle to automatically drive to the destination according to the driving path, so that the driver drives the target vehicle to follow the guide vehicle; In controlling the guide vehicle to automatically drive to the destination according to the driving path, if there are other driving vehicles n meters ahead during the driving process, the guide vehicle is merged with the other driving vehicles to generate a guide frame, so that the driver drives the target vehicle to follow the other driving vehicles in the guide frame; when there are no other driving vehicles ahead, the guide frame is restored to the guide vehicle; The method of constructing a guide vehicle located n meters in front of the target vehicle according to the road conditions from the departure point to the destination, and projecting the guide vehicle onto the windshield of the target vehicle, comprises: Projection equipment point, the windshield direction is Axis, the direction perpendicular to the ground is axis, vertical Axis and The direction of the axis is Axis, establish the world coordinate system ; Get the world coordinates of the driver's eyes , the world coordinates of the guide vehicle constructed in front of the target vehicle ,as well as The horizontal distance from the point to the windshield and the angle between the windshield and the horizontal plane ; According to world coordinates , world coordinates , horizontal distance and the angle Calculate the world coordinates of the projected point ; According to the world coordinates of the projection point The guide vehicle is projected onto the windshield.

2. The assisted driving method based on automatic driving according to claim 1, characterized in that: If there is another vehicle n meters ahead during driving, the following distance between the target vehicle and the other vehicle is monitored in real time; when the following distance is less than m meters, a warning message is issued.

3. The assisted driving method based on automatic driving according to claim 1, characterized in that: The world coordinates of the calculated projection point ,include: According to world coordinates , world coordinates , calculate the straight line The linear equation (1) of the straight line is: ;in, , , are all independent variables of the linear equation. is the parameter; Convert (1) into a straight line The parametric equation of the straight line (2) is: ; Pass Point perpendicular to the plane where the windshield lies of Point, according to the horizontal distance And the angle calculate The world coordinates of the point are , we get the vector For plane The normal vector , according to the normal vector and Point calculation plane The plane equation (3) is: ; Combining equations (2) and (3), we get the world coordinates for: ;in, .

4. An assisted driving device based on automatic driving, characterized in that: An assisted driving method based on automatic driving for executing any one of claims 1 to 3, comprising: An external sensing unit, used to obtain road information; An intelligent navigation unit, used to receive the road information and plan the road conditions and driving path from the departure point to the destination; An automatic driving unit, used to construct the guide vehicle according to the road conditions and the driving path, provide the position information of the guide vehicle, and control the guide vehicle to automatically drive to the destination according to the driving path; A projection unit, used for projecting the guide vehicle onto the windshield of the target vehicle; A data processing unit, used to receive the position information of the guide vehicle and control the projection direction of the projection unit; The assisted driving device also includes an eye tracking unit, which is used to obtain the position information of the driver's eyes and send it to the data processing unit; the data processing unit controls the projection direction of the projection unit according to the position information of the driver's eyes and the position information of the guide vehicle.

5. The assisted driving device based on automatic driving according to claim 4, characterized in that: The external perception unit includes multiple cameras and laser radars. The multiple cameras are used to take pictures to obtain the type and size of objects around the target vehicle; the laser radar is used to measure the distance between the target vehicle and the surrounding objects.

6. The assisted driving device based on automatic driving according to claim 4, characterized in that: The intelligent navigation unit is provided with a display screen for displaying driving assistance information.

7. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed, it implements the assisted driving method based on automatic driving as described in any one of claims 1-3.

Images