Vehicle auxiliary driving method and device, storage medium and electronic equipment

Abstract

The invention relates to a vehicle auxiliary driving method and device, a storage medium and electronic equipment. The method comprises the following steps: when a target object is detected, determining an object classification type of the target object; when the object classification type is a target type and the auxiliary driving mode is a first mode which is not matched with the target type, adjusting the auxiliary driving mode to a target mode; in the target mode, an intelligent display screen of the vehicle is divided into a plurality of areas, a target icon of one intelligent software of the vehicle is displayed in each area, in the first mode, the intelligent display screen of the vehicle displays first icons of all the intelligent software of the vehicle, and the size of the target icon is larger than that of the first icon. The technical problem that an auxiliary system is inconvenient to operate when old people drive is solved.

Description

Technical Field

[0001] The present application relates to the field of assisted driving, and in particular to a vehicle assisted driving method, device, storage medium and electronic device. Background Art

[0002] As society ages, the demand for elderly people to drive is growing. However, the elderly often face operational difficulties when using smart devices, because the display screens installed in vehicles are generally not large, and the elderly need to carefully identify the smart software and functions on the display screen, which is very inconvenient.

[0003] Therefore, it is particularly important to develop a driving mode and its auxiliary system suitable for the elderly. Summary of the invention

[0004] The present application provides a vehicle assisted driving method, device, storage medium and electronic device to solve the technical problem of inconvenient operation of the auxiliary system when the elderly are driving.

[0005] In a first aspect, the present application provides a vehicle assisted driving method, comprising: when a target object is detected, determining the object classification type of the target object; when the object classification type is a target type and the assisted driving mode is a first mode that does not match the target type, adjusting the assisted driving mode to a target mode; in the target mode, dividing the smart display screen of the vehicle into multiple areas, and displaying a target icon of an intelligent software of the vehicle in each area, wherein, in the first mode, the smart display screen of the vehicle displays the first icon of all the intelligent software of the vehicle, and the size of the target icon is larger than the size of the first icon.

[0006] In the second aspect, the present application provides a vehicle assisted driving device, comprising: a determination module, for determining the object classification type of the target object when a target object is detected; an adjustment module, for adjusting the assisted driving mode to the target mode when the object classification type is the target type and the assisted driving mode is a first mode that does not match the target type; a processing module, for dividing the smart display screen of the vehicle into multiple areas in the target mode, and displaying a target icon of an intelligent software of the vehicle in each area, wherein, in the first mode, the smart display screen of the vehicle displays the first icon of all the intelligent software of the vehicle, and the size of the target icon is larger than the size of the first icon.

[0007] As an optional example, the above-mentioned determination module includes: a determination unit, used to capture a target image including the above-mentioned target object through a camera in the above-mentioned vehicle; input the above-mentioned target image into an object classification model, and the above-mentioned object classification model outputs an estimated age of the above-mentioned target object; when the above-mentioned estimated age belongs to the target age range, determining that the object classification type of the above-mentioned target object is the above-mentioned target type; or, when receiving a switching instruction to switch the assisted driving mode to the above-mentioned target mode, determining that the object classification type of the above-mentioned target object is the above-mentioned target type.

[0008] As an optional example, the above-mentioned device also includes: a recognition module, which is used to capture a target image including the above-mentioned target object through a camera in the above-mentioned vehicle when a handwriting instruction is received in the above-mentioned target mode after the above-mentioned assisted driving mode is adjusted to the target mode; recognize the hand movement of the above-mentioned target object; and recognize the handwritten input text of the above-mentioned target object based on the above-mentioned hand movement.

[0009] As an optional example, the above-mentioned recognition module includes: a recognition unit, used to identify the hand bone features of the above-mentioned target object and obtain the hand feature points of the above-mentioned target object; track the moving trajectory of the above-mentioned hand feature points in the above-mentioned target image according to the time sequence of the above-mentioned target image; and determine the above-mentioned handwritten input text based on the above-mentioned moving trajectory.

[0010] As an optional example, the above-mentioned recognition unit includes: a recognition sub-unit, used to determine each trajectory point in the above-mentioned moving trajectory; connect all the outermost trajectory points through line segments; use color to fill the figure surrounded by all the outermost trajectory points; recognize the filled figure to obtain the above-mentioned handwritten input text.

[0011] As an optional example, the above-mentioned device also includes: a prompt module, which is used to capture a target image including the above-mentioned target object through a camera in the above-mentioned vehicle after the above-mentioned assisted driving mode is adjusted to the target mode; when it is recognized that the above-mentioned target object includes a specific action, determine that the above-mentioned target object is in a fatigue state; and initiate a prompt message to the above-mentioned target object.

[0012] As an optional example, the above-mentioned device also includes: a control module, which is used to capture vehicle condition information and road condition information near the above-mentioned vehicle through a camera outside the above-mentioned vehicle; when the above-mentioned vehicle condition information and the above-mentioned road condition information indicate that the vehicle condition or road condition near the above-mentioned vehicle is unstable, or the above-mentioned target object is in a tired state, the entertainment software in the above-mentioned vehicle's intelligent software is controlled to reduce the interference of the above-mentioned entertainment software on the above-mentioned target object.

[0013] As an optional example, the above-mentioned device also includes: a composition module, which is used to capture a first image through a camera outside the above-mentioned vehicle in the above-mentioned target mode when the parking function is turned on after the above-mentioned assisted driving mode is adjusted to the target mode; identify feature areas in the above-mentioned first image; establish a virtual map model based on the identified feature areas; determine the first position of the above-mentioned vehicle in the above-mentioned virtual map model; and push the above-mentioned virtual map model, the above-mentioned first position and the above-mentioned first image to a mobile terminal.

[0014] As an optional example, the above-mentioned device also includes: a positioning module, which is used to obtain a real map of the location of the above-mentioned vehicle after determining the first position of the above-mentioned vehicle in the above-mentioned virtual map model; determine the target position of the above-mentioned vehicle in the above-mentioned real map based on the above-mentioned virtual map and the above-mentioned real map; and push the above-mentioned target position to the above-mentioned mobile terminal.

[0015] As an optional example, the device also includes: an enhancement module, which is used to divide the vehicle's smart display screen into multiple areas in the target mode, and after displaying a target icon of an intelligent software of the vehicle in each area, upon receiving a selection instruction for any target icon and entering a secondary page corresponding to the target icon, increase the text in the secondary page; and increase the broadcast volume of the intelligent software.

[0016] In a third aspect, the present application provides an electronic device comprising: at least one communication interface; at least one bus connected to the at least one communication interface; at least one processor connected to the at least one bus; and at least one memory connected to the at least one bus, wherein the memory stores a computer program, and the processor is configured to implement any one of the above-mentioned vehicle assisted driving methods when executing the computer program.

[0017] In a fourth aspect, the present application also provides a computer storage medium storing computer executable instructions, wherein the computer executable instructions are used to execute any of the above-mentioned vehicle assisted driving methods of the present application.

[0018] The above-mentioned technical scheme provided by the embodiment of the present application has the following advantages over the prior art: the scheme provided by the embodiment of the present application, by determining the object classification type of the above-mentioned target object when the target object is detected; when the above-mentioned object classification type is the target type and the assisted driving mode is the first mode that does not match the above-mentioned target type, the above-mentioned assisted driving mode is adjusted to the target mode; in the above-mentioned target mode, the smart display screen of the above-mentioned vehicle is divided into multiple areas, and a target icon of an intelligent software of the above-mentioned vehicle is displayed in each area, wherein, in the above-mentioned first mode, the smart display screen of the above-mentioned vehicle displays the first icon of all the intelligent software of the above-mentioned vehicle, and the size of the above-mentioned target icon is larger than the size of the above-mentioned first icon, so that when it is detected that an elderly person is driving, the intelligent software on the display screen can be displayed as a larger target icon, thereby facilitating the operation of the elderly and reducing the difficulty of driving for the elderly. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0021] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0022] Figure 1 A flow chart of a vehicle assisted driving method provided in an embodiment of the present application;

[0023] Figure 2 A structural diagram of a vehicle assisted driving system provided in an embodiment of the present application;

[0024] Figure 3 A driving flowchart of a vehicle assisted driving method provided in an embodiment of the present application;

[0025] Figure 4 A diagram of an elderly mode of a vehicle assisted driving method provided in an embodiment of the present application;

[0026] Figure 5 An adjustment application diagram of a vehicle assisted driving method provided in an embodiment of the present application;

[0027] Figure 6 A navigation flow chart of a vehicle assisted driving method provided in an embodiment of the present application;

[0028] Figure 7 A vehicle-searching flow chart of a vehicle-assisted driving method provided in an embodiment of the present application;

[0029] Figure 8 A schematic diagram of the structure of a vehicle auxiliary driving device provided in an embodiment of the present application;

[0030] Fig. 9 A schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0032] The disclosure below provides many different embodiments or examples to implement different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0033] In order to solve the technical problem in the prior art that the auxiliary system is inconvenient to operate when the elderly are driving, the present application provides a vehicle assisted driving method that can reduce the difficulty of driving for the elderly.

[0034] Figure 1 A flow chart of a vehicle assisted driving method provided in an embodiment of the present application. Figure 1 As shown, the above-mentioned vehicle assisted driving method includes:

[0035] S102, when a target object is detected, determining an object classification type of the target object;

[0036] S104, when the object classification type is the target type and the assisted driving mode is the first mode that does not match the target type, adjusting the assisted driving mode to the target mode;

[0037] S106, in the above-mentioned target mode, the smart display screen of the above-mentioned vehicle is divided into multiple areas, and a target icon of an intelligent software of the above-mentioned vehicle is displayed in each area, wherein, in the above-mentioned first mode, the smart display screen of the above-mentioned vehicle displays the first icons of all the intelligent software of the above-mentioned vehicle, and the size of the above-mentioned target icon is larger than the size of the above-mentioned first icon.

[0038] Optionally, the vehicle assisted driving method of this embodiment can be applied to a car, and the car assists the user in driving the car through the method. In particular, when the driver is an elderly person, the method can reduce the difficulty of driving for the elderly and improve the driving experience of the elderly.

[0039] The above-mentioned target object is the object that enters the vehicle and prepares to drive the vehicle. In this embodiment, detection means can be used to detect whether there is a target object in the main driver's seat. For example, if the presence of the target object in the main driver's seat is detected by laser, seat pressure, obstacle detection, etc., the object classification type of the target object is identified.

[0040] In this embodiment, cameras may be installed inside and outside the vehicle, and target images may be captured by the cameras inside the vehicle, and the object classification type of the target object may be identified by identifying the target images.

[0041] The object classification type mentioned above can be the object classification type of the target object according to the age of the identified target object. If the identified target object is older, it can be classified as a target type, and if the identified target object is not older, it can be classified as a general type.

[0042] The vehicle provides different assisted driving modes for different types of target objects. For general types of target objects, the first mode can be used. In this mode, the smart display screen of the vehicle displays the first icon of all the smart software of the vehicle. The first icon can be an icon smaller than the target icon, or an icon of the smart software displayed on the display screen in the non-assisted driving mode. The size of the icon is subject to the system settings. The user can start the corresponding function by clicking on the icon. For the case where the target object is a target type, the assisted driving mode of the vehicle can be adjusted to the target mode. In this target mode, the vehicle divides the smart display screen into a smaller number of areas, such as two areas, four areas, six areas, eight areas, etc., and each area displays a target icon of the smart software of the vehicle. The target icon is a larger icon than the first icon. That is to say, when entering the assisted driving mode, in each area of ​​the multiple areas, a larger icon is displayed than when the assisted mode is not turned on. The style of the icon is the same as the style of the icon displayed when the assisted driving mode is not turned on, but the size is increased, or the style can be different, which not only increases the icon size, but also changes the icon style, which is convenient for users to watch. For example, if the assisted driving mode is not turned on, the first icon of a certain intelligent software displayed on the display screen may be a 3*3 cm square. If the intelligent driving mode is turned on and the icon of the intelligent software is to be displayed, the target icon can be displayed. For example, the target icon can be an enlarged icon of the first icon of the intelligent software, such as a square enlarged to 5*5 cm in size, with the pattern unchanged and only the size increased. Alternatively, the target icon can also be another icon of the intelligent software, with an icon size greater than 3*3 cm and a changed pattern. In addition, when displaying the target icon, one target icon is displayed in each area. If the number of areas is not enough to display the target icons of all intelligent software, the target icons with high frequency of use can be displayed, and the remaining target icons are hidden. You can decide which target icons of intelligent software to display through operations.

[0043] In the target mode, at least one of the following target functions can also be provided for the target object: intelligent speed limit, speeding reminder, following distance reminder, fatigue mode reminder, obstacle warning and car search service; the intelligent speed limit, speeding reminder, etc., are to limit the speed of the vehicle, the fatigue mode reminder, is to monitor the state of the target object, and the obstacle warning and following distance reminder are to monitor other vehicles or obstacles outside the vehicle. Improve the driving assistance of the target object from many aspects. When the obstacle warning is in progress, the obstacle image can be displayed on the display screen and announced by voice.

[0044] The solution provided in the embodiment of the present application determines the object classification type of the target object when the target object is detected; when the object classification type is the target type and the assisted driving mode is the first mode that does not match the target type, the assisted driving mode is adjusted to the target mode; in the target mode, the vehicle's smart display screen is divided into multiple areas, and a target icon of an intelligent software of the vehicle is displayed in each area, wherein, in the first mode, the vehicle's smart display screen displays the first icon of all the vehicle's intelligent software, so that when an elderly person is detected driving, the intelligent software on the display screen can be displayed as a larger target icon, thereby facilitating the elderly's operation and reducing the difficulty of driving for the elderly.

[0045] As an optional example, determining the object classification type of the target object includes: capturing a target image including the target object through a camera in the vehicle; inputting the target image into an object classification model, and having the object classification model output an estimated age of the target object; when the estimated age belongs to a target age range, determining the object classification type of the target object to be a target type; or, upon receiving a switching instruction to switch the assisted driving mode to the target mode, determining the object classification type of the target object to be a target type.

[0046] This embodiment continues to be explained in conjunction with the above-mentioned assisted driving process of the elderly driving the vehicle. The camera in the vehicle can be used to capture the situation inside the vehicle. After the vehicle is started, the camera can be started. If it is sensed that the door is open and someone enters the main driving seat, the image of the main driving seat can be captured by the camera to obtain a target image including the target object entering the main driving seat, and then the target image is identified to determine whether the target object entering the main driving seat is an elderly person. If it is an elderly person, the assisted driving mode of the vehicle is adjusted to the target mode. If it is identified that the target object is not an elderly person, the mode can be kept unchanged without adjusting the mode.

[0047] When identifying whether the target object is an elderly person based on the target image, the neural network model can be used for identification. The neural network model is trained using pictures containing elderly people and pictures containing non-elderly people. After identifying pictures containing elderly people and pictures containing non-elderly people, the neural network model gives a result of whether the person in the picture is an elderly person. If the recognition success rate is low, the parameters of the model are adjusted until the model recognition success rate is high, and then it is put into use.

[0048] As another example, in this embodiment, when an elderly person is identified, the user may be prompted whether to switch to a target mode, i.e., a mode for assisting the elderly in driving. If a confirmation instruction from the user is received, it is determined that the mode should be switched to the target mode, and the switch is performed.

[0049] As an optional example, after adjusting the assisted driving mode to the target mode, the above method also includes: when a handwriting instruction is received in the target mode, capturing a target image including a target object through a camera in the vehicle; identifying the hand movements of the target object; and identifying the handwritten input text of the target object based on the hand movements.

[0050] This embodiment continues to illustrate the above-mentioned assisted driving process for the elderly. The above-mentioned handwriting instructions can be triggered by a key or by a user's action. For example, the user triggers the instruction by making a specific gesture / action with his hands or body to indicate that the user wants to input text by handwriting.

[0051] After the vehicle receives the handwriting command, the body movements / hand movements of the elderly can be captured by the in-vehicle camera, and captured once every predetermined time to obtain multiple target images of the elderly. The elderly can gesture in the air, that is, write in the air. Then, the vehicle recognizes the hand movements of each captured target image and recognizes the handwritten input text of the target object. In this embodiment, the user can also write text through the touch screen or input through voice and convert it into text content.

[0052] As an optional example, identifying the handwritten input text of the target object based on hand movements includes: identifying the hand skeletal features of the target object to obtain the hand feature points of the target object; tracking the movement trajectory of the hand feature points in the target image according to the chronological order of the target image; and determining the handwritten input text based on the movement trajectory.

[0053] This embodiment continues to be described in conjunction with the above-mentioned assisted driving process of the elderly driving a vehicle. In this embodiment, the elderly can turn on handwriting input through specific gestures, and then the elderly can move their arms and hands to write and draw in the air, and the camera in the car will take pictures continuously or at predetermined intervals to collect the elderly's movements.

[0054] Then, each captured image is identified, the hand part in the image is identified, the hand bone features of the hand part are identified, and the hand feature points are obtained. The hand feature points can be fingertips and joints. After the hand feature points are identified, the movement trajectory of the hand feature points can be identified according to the order of the images. The movement trajectory is a combination of hand feature points obtained by combining the order of the hand feature points on the image. The hand feature points are connected in order to obtain the movement trajectory. The movement trajectory is the text that the elderly want to write by hand.

[0055] As an optional example, determining the handwritten input text according to the moving trajectory includes: determining each trajectory point in the moving trajectory; connecting all the outermost trajectory points with line segments; filling a figure formed by connecting all the outermost trajectory points with color; and identifying the filled figure to obtain the handwritten input text.

[0056] This embodiment continues to be described in conjunction with the above-mentioned assisted driving process of the elderly driving a vehicle. When the elderly start handwriting input and perform handwriting input in the air, the camera in the car will shoot continuously or at predetermined intervals, thereby collecting the elderly's movements, and identifying a series of trajectory points according to the time sequence of the pictures, and obtaining the elderly's hand movement trajectory. For the series of trajectory points obtained, since the elderly generally have large hand shakes, the movements may not be very coherent, and there are problems with writing habits, therefore, the trajectory points may be repeated and jittery. For example, for the word "bow", when actually writing, it is not completed directly in one stroke, but after the first horizontal stroke, the second horizontal stroke needs to be moved to the left first, and then the horizontal stroke of this stroke is written to the right. Therefore, there are overlaps, partial overlaps, and the like on the trajectory. At this time, you can use a line to surround the outermost periphery of the trajectory point, thereby wrapping all the trajectory points, and the enclosed parts are filled with different colors for easy identification, then a trajectory area is obtained, and the shape of the trajectory area is the text entered by the user.

[0057] In order to avoid some text, unnecessary actions are filtered when writing in the air. After the track points are identified, the track points with a distance less than a certain value are connected according to the distance between the track points. After being connected, all connected track points are surrounded by connecting lines, thereby deducting the blank area in the encirclement, so that the filled track area is more in line with the actual text.

[0058] As an optional example, after adjusting the assisted driving mode to the target mode, the above method also includes: capturing a target image including a target object through a camera in the vehicle; when recognizing that the target object includes a specific action, determining that the target object is in a fatigue state; and initiating a prompt message to the target object.

[0059] This embodiment continues to be explained in conjunction with the above-mentioned assisted driving process for the elderly. During the driving process, users need to perform fatigue detection, especially for the elderly, who should not drive too long, as their driving state is prone to decline. Therefore, the target head portrait of the elderly is captured by the in-car camera to identify whether they have closed their eyes, yawned, or driven for too long. Based on the identified situation, it is decided whether to prompt the user to take a proper rest before setting off.

[0060] As an optional example, the above method also includes: photographing vehicle condition information and road condition information near the vehicle through a camera outside the vehicle; when the vehicle condition information and road condition information indicate that the vehicle condition or road condition near the vehicle is unstable, or the target object is in a tired state, controlling the entertainment software in the vehicle's intelligent software to reduce the interference of the entertainment software on the target object.

[0061] This embodiment continues to be described in conjunction with the above-mentioned assisted driving process of the elderly driving a vehicle. During the driving process, entertainment software installed on the vehicle may be used, such as a radio, music player software, and video player software (in the case of turning on the video player software during driving in life, we can initiate a reminder and do not recommend users to watch). In this embodiment, the external camera of the vehicle can be used to shoot the external vehicle condition, road condition, etc. The vehicle condition can be the speed of other external vehicles, the lane, the number of vehicles, etc., and the road condition can be the degree of bumpiness of the road, whether it turns, whether it is a solid line, etc. According to the vehicle condition and road condition, it is judged whether the user needs to pay more attention to driving. Therefore, the entertainment software can be controlled, turned off or paused, or the volume can be lowered, etc., to reduce interference with the elderly's driving.

[0062] As an optional example, after adjusting the assisted driving mode to the target mode, the above method also includes: in the target mode, when the parking function is turned on, capturing a first image through a camera outside the vehicle; identifying feature areas in the first image; establishing a virtual map model based on the identified feature areas; determining a first position of the vehicle in the virtual map model; and pushing the virtual map model, the first position and the first image to a mobile terminal.

[0063] This embodiment continues to be explained in conjunction with the above-mentioned assisted driving process of the elderly driving a vehicle. After parking and leaving, the elderly will encounter the problem of not remembering where the vehicle was parked. For example, hospitals, shopping malls, etc., there are many parking spaces, which are not easy to distinguish and remember. Therefore, this embodiment provides a parking memory function. The elderly can turn on the parking function to remember the parking. The vehicle will capture images (the above-mentioned first image) through an external camera. You can take more pictures and capture images in different directions and angles. Then, identify the feature area in the image. The feature area can be a specific area, such as an elevator entrance, a building, a parking lot partition sign, etc. The virtual map model is constructed by identifying the feature area in the picture, thereby determining the first position of the vehicle in the virtual map model. After the elderly finish shopping / medical treatment, they can use the virtual map model to compare the surrounding environment and walk to the location of the vehicle based on the above-mentioned first position.

[0064] As an optional example, after determining the first position of the vehicle in the virtual map model, the above method also includes: obtaining a real map of the vehicle's location; determining the target position of the vehicle in the real map based on the virtual map and the real map; and pushing the target position to the mobile terminal.

[0065] This embodiment continues to be explained in conjunction with the above-mentioned assisted driving process of the elderly driving the vehicle. The parking memory function provided in this embodiment allows the elderly to memorize the parking by turning on the parking function. The vehicle will capture images (the above-mentioned first image) through an external camera. You can take multiple images in different directions and angles. The vehicle can also obtain a real map around the location from navigation software, etc., and then compare the virtual map with the real map to obtain the target position of the vehicle in the real map, or obtain the real position of the vehicle through the positioning of the vehicle, and then use the real map for navigation.

[0066] As an optional example, in the target mode, the smart display screen of the vehicle is divided into multiple areas, and after the target icon of an intelligent software of the vehicle is displayed in each area, the method also includes: upon receiving a selection instruction for any target icon and entering the secondary page corresponding to the target icon, increasing the text in the secondary page; and increasing the broadcast volume of the intelligent software.

[0067] In this embodiment, in the target mode, not only the icon is displayed as the target icon, but also the text is enhanced, and the text is displayed larger than the text in the first mode. In addition, the volume of the intelligent software is also increased.

[0068] The present application hopes to provide an assisted driving system for the elderly, so as to assist the elderly in driving, so as to solve the problem of inconvenient system operation when the elderly are driving in the prior art. The display interface of the display screen inside the vehicle provides multiple modes. If it is the elderly assisted driving mode, that is, the above-mentioned target mode, an exclusive interface for the elderly can be provided. A single page supports 4 application layouts, and the 4 block application positions can be dragged to change the position; all interfaces support one-click return to the homepage, and support one-step volume adjustment within the interface; for maps or other applications that require text input, support touch screen handwriting input, air handwriting input, voice input, and commonly used application-related text and content memory (such as navigation commonly used addresses); when the user uses voice for service, when the system recognizes the information error, it supports touch screen and air handwriting text correction, supports radical matching and associative word formation, and can select words through hand movement and changes. Selection; the gestures of the airwriting function are defined as entering, writing, holding, and exiting, and the tracking of the number of bone nodes is differentiated for different state image detection; when the system detects an elderly person, the system can automatically switch to the elderly driving mode, match the simple desktop, increase the font, increase the system volume, and provide weather forecasts, intelligent speed limits, following distances, and elderly fatigue driving mode reminders; when the user starts and reverses, it supports image-based obstacle detection through panoramic and front and rear cameras, and displays and broadcasts reminders when pillars, fire hydrants, fences, pits, and trees are detected; when reversing, for the elderly who drive the vehicle to a shopping mall or hospital to park, considering the complexity of parking in such garages, it will actively capture surrounding information and push it to the mobile phone. The acquisition of surrounding information is to capture the image of the vehicle's surroundings at intervals during the reversing process, and identify the parking space number, elevator entrance, and exit key information, and then blur the face information in the image, instead of only providing remote video viewing services. When it is detected that the user has locked the car and left, the image of the parking area will be pushed to the mobile phone to help the user find the car. When it is detected that the user continues to drive a long distance, it will be recognized that the user only made a short stop and did not park and leave. The system will delete the recorded data to free up CPU and memory.

[0069] The system of this embodiment includes a user operating system, a data acquisition system, a storage system, an image recognition system, an alarm system and a body control system. The user operating system is used to turn on the elderly driving mode and input it into the image recognition system; the data acquisition system is used to collect image information inside and outside the car, that is, to shoot the target image and input it into the image recognition system; the storage system is used for face modeling, hand feature modeling, garage exit, elevator entrance, parking space modeling, pedestrian modeling data storage and vehicle image photo storage; the image recognition system is used to receive the information of the data acquisition system, the image information inside and outside the car, and match it with the information of the storage system, identify the risks of different scenes, and input the results into the alarm system, and at the same time identify the face information and hand feature information. Match the hand feature trajectory information with the font model feature, and input the results into the vehicle infotainment terminal; the alarm system is used to receive the information of the image recognition system, and give voice reminders to the user, and input the results into the image recognition system. The body control system outputs vehicle status signals, such as power off, car lock and other signals to the image recognition system, and receives the input of the image recognition system, and controls the vehicle speed.

[0070] Figure 2It is a system structure block diagram of this embodiment, including an intelligent image controller, an in-vehicle infotainment terminal, a mobile phone application (APPlication, APP), a body control module, an in-vehicle camera, an out-of-vehicle camera, a microphone, and a speaker. The in-vehicle camera (101) uses multiple camera probes to obtain facial information and hand information of the driver and the co-driver in the vehicle, and inputs it into the intelligent image controller. The multiple cameras can use IR, RGB, IR-RGB, TOF, binocular cameras, etc., which are suitable for cameras with different pixels and different parameters. The cameras can be arranged near the A-pillar, instrument, display, instrument panel, and rearview mirror in the vehicle, including but not limited to the hardware combination given as an example. For example, 2 million IR and 2 million IR can be used, which are arranged on the A-pillar and above the rearview mirror respectively, but it is necessary to be able to calculate the depth information of the image so as to capture the hand feature joint points; the out-vehicle camera (102) uses 6 cameras, including 4 panoramic cameras (for obtaining all-round image acquisition of the front, rear, left and right outside the vehicle), and front and rear cameras (for obtaining higher and farther image information), and transmits them to the intelligent image controller. The intelligent image controller (103) is connected to the vehicle infotainment system and the vehicle body controller module information, and is used to receive information from the cameras inside and outside the vehicle, and simultaneously perform face detection inside the vehicle, hand feature detection, image detection outside the vehicle, risk judgment, font matching, and synchronize the results to the body controller and the vehicle infotainment terminal, and perform photo shooting, image recognition, and face blur processing outside the vehicle, and transmit the results to the vehicle infotainment terminal (102). The vehicle infotainment terminal (104) is used to receive information from the intelligent image controller and the vehicle body control module, and perform speaker control, reminder, and receive the vehicle outside image processed by the intelligent image controller, and send it to the mobile phone APP (103). The body control module (105) is used to receive information from the intelligent image controller, and control the vehicle speed according to the vehicle status information, and at the same time transmit vehicle status signals, such as power off, vehicle lock, etc., to the image controller. A microphone (106) is used by a user to input voice information to the in-vehicle infotainment terminal; a speaker (107) is controlled by the in-vehicle infotainment terminal to provide voice reminders; and a mobile phone APP (108) is used to receive picture reminder information from the in-vehicle infotainment terminal.

[0071] The driving mode for the elderly in this embodiment is as follows Figure 3 After the user starts the vehicle, the system detects that the driver is an elderly person through the intelligent image controller, and asks through voice whether to switch to the elderly driving mode. After the user agrees, it switches to the elderly driving mode; the user can also click on the display screen of the in-vehicle infotainment terminal or use voice to turn on the elderly driving mode; after entering the elderly driving mode, the system will automatically switch to the elderly exclusive desktop. The elderly exclusive desktop is introduced as follows:

[0072] a. Home page interface, such as Figure 4 As shown, 4 application modules can be displayed (the division is only for example, the number of modules is determined based on the actual display screen size and layout position, and can also be divided into 6 blocks, 8 blocks, etc., so that the elderly can see the image clearly). The system defaults to placing navigation, weather forecast, and air conditioning applications. The "plus icon" can be used to enter the application interface by clicking the "ellipsis icon". Through the application interface, the application on the application interface can be dragged and moved to the "plus icon" on the main interface. At the same time, the corresponding positions of the 4 application modules can be swapped by dragging. In the first-level menu of the interface, volume adjustment is supported, including but not limited to the form of examples, for example: you can drag up at the left arrow to increase the volume, and drag down to decrease the volume.

[0073] b. Application interface, such as Figure 5 As shown, one page of this interface supports placing 4 applications (the division into blocks is only for example, the number of modules is determined based on the actual display screen size and layout position, and it can also be divided into 6 blocks, 8 blocks, etc. to make it easier for the elderly to see the image clearly). Users can drag and switch with the application on the main page, click the home button to return to the home interface, and click the "ellipsis icon" to open more applications.

[0074] c. General functional description, such as Figure 4 As shown in Figure 5, volume adjustment is supported in each interface, and all interfaces other than the home page support one-click return to the home page.

[0075] When switching to the elderly driving mode, the system will automatically match a larger font and volume. Users can adjust the volume and font in the system based on their needs. The system is placed on the first page of the application interface. After the adjustment, the system will memorize it. When the user gets on the car again, the system will memorize and match it based on the attributes of the face. After entering the elderly driving mode, the system will broadcast the weather and remind users to avoid traveling during peak hours. Before departure, please turn on the navigation in advance and plan your itinerary. It is recommended not to travel in extreme weather (rainstorm, snowy conditions). Click on the navigation on the driving mode homepage, or say "turn on navigation" by voice, the system will switch to the navigation interface, and the destination on this interface supports intelligent address input. Intelligent input means that you can use handwriting in the air, handwriting input on the display screen, pinyin input, Wubi input, and voice input alone. It also supports the fusion of multiple input methods, including but not limited to the fusion methods given as examples. For example: when inputting an address by voice, the address output by the system is wrong. At this time, it supports handwriting address input on the display screen, and also supports handwriting error correction in the air. Such as Figure 6As shown, handwriting in the air monitors the characteristics of the finger joints, detects the fingers and their movement trajectories, and records the finger movement trajectories. The trajectories are synchronously output to the navigation interface of the in-vehicle infotainment terminal. The radicals are matched through the font model in the intelligent image controller, and the fonts with the same radicals are displayed. At the same time, word association can be performed, and users are supported to continue writing the fonts. Users are also supported to select the fonts through voice or gestures, or by clicking on the display. At the same time, it can also be combined with the display of commonly used addresses. Users can select the address for navigation by clicking in the air or by voice, or by clicking on the display.

[0076] When recognizing the user's handwriting, the skeleton trajectory can be recognized, which is composed of multiple points. By surrounding the points with lines, the user's handwriting content can be circled. The blank area in the circled content can also be cut out to get closer to the user's handwriting content.

[0077] The specific operation method for air writing is described as follows. Open the navigation application and take the navigation address input as an example.

[0078] Manually select the address input bar, or say "handwriting mode" to enter the handwriting mode; at this time, the user uses a fist gesture and holds it for 2 seconds to trigger the air writing function. Using a fist is closer to the user's pen-holding posture, and the user operation is more natural; after entering the air writing function, the system will display the valid gesture area in real time, and the user can intuitively see whether the gesture is within the range. At the same time, the user can see the instructions for using the air gesture in the settings interface of the application, and the instructions include an image presentation of the gesture area. Gesture valid area: limited to the right side of the left seat, the left side of the right seat, and a certain distance above the armrest box; at the same time, if the user directly says "air writing", the air writing function can also be triggered; when the handwriting function is triggered, a prompt will be displayed on the navigation interface to indicate that the air writing function has been triggered. Including but not limited to the following display methods, for example: a feather pen flies out from the lower right corner and floats to the text input prompt on the navigation page. At this time, the user can extend his index finger and move it in the air. The system will track the user's finger trajectory, and the tip of the feather pen will write on the display screen accordingly. Here, the feature of the user's extended index finger is detected, and the posture of other fingers is not restricted to reduce the dependence on the standardization of gestures. For example, the index finger is extended and the little finger is slightly bent and extended. It can also be applied. Another example: the thumb and index finger are extended. When the system detects radicals or confirmed text, it will arrange and display possible characters below, including some combinations of words; the user can select the first character by lightly pinching two fingers (thumb and index finger) together, closing the other fingers, and holding for 1 second, and can select other characters by keeping the light pinching gesture and moving up and down, left and right, or select the font by voice reading the specific text or voice saying the number, then the thumb and index finger are separated, the font can be selected and displayed in the address bar; if a character is written by hand and no font selection is detected through voice, gesture, or click within 5 seconds, the system will match the font with the highest similarity to the model and display it directly in the address bar; at this time, if the user wants to input the text, he can continue writing with the index finger gesture; if the user wants to delete the text, he can delete the previous text by quickly waving left and right twice with the palm of his hand. If the user leaves the writing area for a short time due to making a phone call or other reasons, the gesture input is considered to be paused. At this time, the system should display the corresponding state of the air gesture pause, for example: the feather pen tip is put down, and when the user gestures back to the operation area, the feather pen tip stands up and the user can continue writing. After writing, the user can use the OK gesture to end the writing function. The navigation here will automatically open the navigation function of the address corresponding to the text input.

[0079] It should be noted that if the user's hand is outside the effective area of ​​the gesture for a long time, the system will also exit the air handwriting mode. At this time, the system should display the status of the end of writing, for example: the feather pen moves along the lower right corner and disappears when it reaches the lower right corner. In order to reduce the waste of resources in the writing process and improve the fast follow-up of handwriting, the following processing is performed when the hand image information is recognized: when the air handwriting has been triggered, that is, when writing has started with the index finger, only the key features of the writing gesture and the three nodes related to the index finger detection are tracked and calculated. In other modes, the 21 nodes of the hand are tracked to increase the accuracy of the system. The gestures mentioned in this article are only examples, and other gestures can also be used to control related functions. You can return to the home page interface after the navigation ends or by clicking Return to Home on the navigation interface.

[0080] During driving, it provides speeding reminders, i.e. intelligent speed limit function, following distance reminders, elderly fatigue driving mode reminders, obstacle detection and reminders when starting and reversing, and vehicle search services when reversing.

[0081] The working method of the intelligent speed limit and speeding reminder is: the speed sign of the front camera outside the vehicle is read through the intelligent image controller, and it is matched with the speed limit information of the navigation to provide speed limit reminders for the road section. When the vehicle is detected to be speeding, a reminder is given and the acceleration behavior of the vehicle is restricted.

[0082] Following distance reminder, based on different vehicle speeds, provides reminders of different distances. When the user follows the vehicle too closely, a reminder will be given. Compared with the general following distance, this distance is increased to provide the elderly with more buffer time to avoid rear-end collisions caused by following the vehicle too closely. The initial value is set as follows: 50 meters at 0-30KM / H; 80 meters at 30-80KM / H; 180 meters above 80KM / H, and users are supported to customize the following distance.

[0083] The elderly are reminded of fatigue driving. The reminder is more sensitive. In addition to the conventional yawning and eye closure detection based on the user, it can be limited by usage time and mileage (conventionally, reminders will be given after driving for 3 hours or more). This is more sensitive to avoid unsafe situations caused by fatigue driving for the elderly. The initial value of the system is 1 hour or 200KM. When the elderly drive for more than 1 hour or 200KM, the system will give a fatigue reminder and suggest the user to rest. Users can also customize the initial value.

[0084] Obstacle detection and reminders are carried out when starting and reversing. Obstacles outside the vehicle are detected through the intelligent image controller. The real-time collection of images outside the vehicle is mainly carried out through the panoramic view and front and rear cameras outside the vehicle. Pillars, fire hydrants, fences, pits and trees are identified through image model matching. Reminders are given when there are fire hydrants, fences, pits and trees as obstacles, so as to prevent the elderly from being distracted or forgetting to observe and not noticing the obstacles and causing scratches.

[0085] When the user turns on the car search function while reversing, the car search process is shown in Figure 7 shown.

[0086] Through the vehicle body controller, when the user is detected reversing, the navigation of the in-vehicle infotainment terminal is used to locate the user and match the address with the POI location of the parking garage of the shopping mall and the hospital. When the user is detected reversing in the shopping mall and the hospital, the car search and photo taking function is automatically turned on; when it is detected that the user is not in the shopping mall and the hospital, the car search and photo taking process is not entered, and the user can use the mobile phone APP to query the image around the vehicle for finding the car.

[0087] The car search and photo taking function is described as follows: During the reversing process, the intelligent image controller captures the images around the vehicle at intervals of 2 seconds (the user can customize the interval time based on needs), captures 3 frames each time, and then identifies and matches the image information. For example, if the user takes 10 seconds to reverse, the image is captured at the beginning of the reversing, 2 seconds, 4 seconds, 6 seconds, 8 seconds, and 10 seconds, respectively, and a total of 5*3 frames = 15 frames of images are captured. By capturing the image interval time, long-term video recording and long-term occupation of the system CPU and memory are avoided. When the exit, elevator entrance, and parking space number information are detected, the valid images are stored and the data frames with the same information are merged. For example, if the system detects the parking space number in 3 frames of 15 frames at the same time, 1 frame is stored and 2 data frames are deleted. When the user is detected to be reversing, the vehicle is powered off and the locking behavior is detected through the body controller, and the image outside the vehicle is viewed through the intelligent image controller. When the user is detected to leave the vehicle, the valid image information during the reversing process and the moment of parking is transmitted to the mobile phone. In particular, before the system transmits the image, it will search for pedestrians in the image, blur the pedestrian information and upload it to avoid infringement of other people's portrait rights. Vehicles can also build a virtual map based on the captured images. The virtual map includes directions, obvious signs such as elevator entrances, buildings, parking lot area signs, etc., as well as marked directions and vehicle locations.

[0088] When the user continues to drive a long distance (the initial value is 500 meters, which can be customized by the user based on needs), the system will recognize that the user only makes a short stop and does not stop and walk away, and the system will delete the recorded data to free up CPU and memory; when the system does not detect the exit, elevator entrance, and parking space number information, when the user turns off the power and locks the car, the user is reminded to pay attention to the parking location when getting off the car, and can take a photo with the mobile phone to record the parking location. For the smart system for the elderly, all functions support users to turn on and off.

[0089] Figure 8 This is a schematic diagram of the structure of a vehicle auxiliary driving device provided in an embodiment of the present application. Figure 8 As shown, the above-mentioned vehicle auxiliary driving device includes:

[0090] A determination module 802 is used to determine the object classification type of the target object when the target object is detected;

[0091] An adjustment module 804, configured to adjust the assisted driving mode to the target mode when the object classification type is the target type and the assisted driving mode is a first mode that does not match the target type;

[0092] Processing module 806 is used to divide the smart display screen of the vehicle into multiple areas in the target mode, and display a target icon of an intelligent software of the vehicle in each area, wherein, in the first mode, the smart display screen of the vehicle displays the first icons of all the intelligent software of the vehicle, and the size of the target icon is larger than the size of the first icon.

[0093] Optionally, the vehicle assisted driving method of this embodiment can be applied to a car, and the car assists the user in driving the car through the method. In particular, when the driver is an elderly person, the method can reduce the difficulty of driving for the elderly and improve the driving experience of the elderly.

[0094] The above-mentioned target object is the object that enters the vehicle and prepares to drive the vehicle. In this embodiment, detection means can be used to detect whether there is a target object in the main driver's seat. For example, if the presence of the target object in the main driver's seat is detected by laser, seat pressure, obstacle detection, etc., the object classification type of the target object is identified.

[0095] In this embodiment, cameras may be installed inside and outside the vehicle, and target images may be captured by the cameras inside the vehicle, and the object classification type of the target object may be identified by identifying the target images.

[0096] The object classification type mentioned above can be the object classification type of the target object according to the age of the identified target object. If the identified target object is older, it can be classified as a target type, and if the identified target object is not older, it can be classified as a general type.

[0097] The vehicle provides different assisted driving modes for different types of target objects. For general types of target objects, the first mode can be used. In this mode, the smart display screen of the vehicle displays the first icon of all the smart software of the vehicle. The first icon can be an icon smaller than the target icon, or an icon of the smart software displayed on the display screen in the non-assisted driving mode. The size of the icon is subject to the system settings. The user can start the corresponding function by clicking on the icon. For the case where the target object is a target type, the assisted driving mode of the vehicle can be adjusted to the target mode. In this target mode, the vehicle divides the smart display screen into a smaller number of areas, such as two areas, four areas, six areas, eight areas, etc., and each area displays a target icon of the smart software of the vehicle. The target icon is a larger icon than the first icon. That is to say, when entering the assisted driving mode, in each area of ​​the multiple areas, a larger icon is displayed than when the assisted mode is not turned on. The style of the icon is the same as the style of the icon displayed when the assisted driving mode is not turned on, but the size is increased, or the style can be different, which not only increases the icon size, but also changes the icon style, which is convenient for users to watch. For example, if the assisted driving mode is not turned on, the first icon of a certain intelligent software displayed on the display screen may be a 3*3 cm square. If the intelligent driving mode is turned on and the icon of the intelligent software is to be displayed, the target icon can be displayed. For example, the target icon can be an enlarged icon of the first icon of the intelligent software, such as a square enlarged to 5*5 cm in size, with the pattern unchanged and only the size increased. Alternatively, the target icon can also be another icon of the intelligent software, with an icon size greater than 3*3 cm and a changed pattern. In addition, when displaying the target icon, one target icon is displayed in each area. If the number of areas is not enough to display the target icons of all intelligent software, the target icons with high frequency of use can be displayed, and the remaining target icons are hidden. You can decide which target icons of intelligent software to display through operations.

[0098] In the target mode, at least one of the following target functions can also be provided for the target object: intelligent speed limit, speeding reminder, following distance reminder, fatigue mode reminder, obstacle warning and car search service; the intelligent speed limit, speeding reminder, etc., are to limit the speed of the vehicle, the fatigue mode reminder, is to monitor the state of the target object, and the obstacle warning and following distance reminder are to monitor other vehicles or obstacles outside the vehicle. Improve the driving assistance of the target object from many aspects. When the obstacle warning is in progress, the obstacle image can be displayed on the display screen and announced by voice.

[0099] The solution provided in the embodiment of the present application determines the object classification type of the target object when the target object is detected; when the object classification type is the target type and the assisted driving mode is the first mode that does not match the target type, the assisted driving mode is adjusted to the target mode; in the target mode, the vehicle's smart display screen is divided into multiple areas, and a target icon of an intelligent software of the vehicle is displayed in each area, wherein, in the first mode, the vehicle's smart display screen displays the first icon of all the vehicle's intelligent software, so that when an elderly person is detected driving, the intelligent software on the display screen can be displayed as a larger target icon, thereby facilitating the elderly's operation and reducing the difficulty of driving for the elderly.

[0100] For other examples of this embodiment, please refer to the above examples and will not be described in detail here.

[0101] like Fig. 9 As shown, an embodiment of the present application provides an electronic device, including a processor 111, a communication interface 112, a memory 113 and a communication bus 114, wherein the processor 111, the communication interface 112, and the memory 113 communicate with each other through the communication bus 114.

[0102] Memory 113, used for storing computer programs;

[0103] In one embodiment of the present application, the processor 111 is used to implement the vehicle assisted driving method provided by any one of the aforementioned method embodiments when executing the program stored in the memory 113.

[0104] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, a vehicle assisted driving method as provided in any of the aforementioned method embodiments is implemented.

[0105] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0106] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0107] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0108] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A vehicle assisted driving method, characterized in that: include: When a target object is detected, determining an object classification type of the target object; When the object classification type is a target type and the assisted driving mode is a first mode that does not match the target type, adjusting the assisted driving mode to a target mode; In the target mode, the smart display screen of the vehicle is divided into multiple areas, and a target icon of an intelligent software of the vehicle is displayed in each area. In the first mode, the smart display screen of the vehicle displays the first icons of all the intelligent software of the vehicle, and the size of the target icon is larger than the size of the first icon.

2. The method according to claim 1, characterized in that Determining the object classification type of the target object includes: A target image including the target object is captured by a camera in the vehicle; the target image is input into an object classification model, and the object classification model outputs an estimated age of the target object; when the estimated age belongs to a target age range, the object classification type of the target object is determined to be the target type; or When receiving a switching instruction to switch the assisted driving mode to the target mode, it is determined that the object classification type of the target object is the target type.

3. The method according to claim 1, characterized in that After adjusting the assisted driving mode to the target mode, the method further includes: When a handwriting instruction is received in the target mode, a target image including the target object is captured by a camera in the vehicle; recognizing hand movements of the target object; According to the hand movement, the handwritten input text of the target object is recognized.

4. The method according to claim 3, characterized in that The step of recognizing the handwritten input text of the target object according to the hand movement comprises: Identify the hand bone features of the target object to obtain the hand feature points of the target object; Tracking the moving trajectory of the hand feature points in the target image according to the time sequence of the target image; The handwriting input text is determined according to the movement trajectory.

5. The method according to claim 4, characterized in that The determining the handwriting input text according to the movement trajectory comprises: Determine each trajectory point in the moving trajectory; Connect all the outermost trajectory points through line segments; Fill a graph formed by connecting all the outermost trajectory points with a color; The filled graphic is recognized to obtain the handwritten input text.

6. The method according to claim 1, characterized in that After adjusting the assisted driving mode to the target mode, the method further includes: capturing a target image including the target object by a camera in the vehicle; When recognizing that the target object includes a specific action, determining that the target object is in a fatigued state; A prompt message is sent to the target object.

7. The method according to claim 6, characterized in that The method further comprises: Using a camera outside the vehicle to capture vehicle condition information and road condition information near the vehicle; When the vehicle condition information and the road condition information indicate that the vehicle condition or road condition near the vehicle is unstable, or the target object is in a tired state, the entertainment software in the intelligent software of the vehicle is controlled to reduce the interference of the entertainment software on the target object.

8. The method according to claim 1, characterized in that After adjusting the assisted driving mode to the target mode, the method further includes: In the target mode, when the parking function is turned on, a first image is captured by a camera outside the vehicle; identifying a feature region in the first image; Establishing a virtual map model according to the identified characteristic area; determining a first position of the vehicle in the virtual map model; The virtual map model, the first location, and the first image are pushed to a mobile terminal.

9. The method according to claim 8, characterized in that After determining the first position of the vehicle in the virtual map model, the method further includes: Obtaining a real map of the location of the vehicle; Determining a target position of the vehicle in the real map according to the virtual map and the real map; The target location is pushed to the mobile terminal.

10. The method according to claim 1, characterized in that In the target mode, the intelligent display screen of the vehicle is divided into a plurality of areas, and after a target icon of an intelligent software of the vehicle is displayed in each area, the method further comprises: Upon receiving a selection instruction for any target icon and entering a secondary page corresponding to the target icon, enlarging the text in the secondary page; Increase the volume of the announcements of the intelligent software.

11. A vehicle driving assistance device, characterized in that: include: A determination module, configured to determine an object classification type of the target object when the target object is detected; an adjustment module, configured to adjust the assisted driving mode to the target mode when the object classification type is the target type and the assisted driving mode is a first mode that does not match the target type; A processing module is used to divide the smart display screen of the vehicle into multiple areas in the target mode, and display a target icon of an intelligent software of the vehicle in each area, wherein, in the first mode, the smart display screen of the vehicle displays the first icons of all the intelligent software of the vehicle, and the size of the target icon is larger than the size of the first icon.

12. An electronic device, characterized in that: include: at least one communication interface; at least one bus connected to the at least one communication interface; at least one processor coupled to the at least one bus; At least one memory connected to the at least one bus, wherein a computer program is stored in the memory, and when the processor executes the computer program, the vehicle assisted driving method described in any one of claims 1 to 10 is implemented.

13. A computer-readable storage medium, wherein the storage medium stores computer-executable instructions, wherein the computer-executable instructions are used to execute the vehicle assisted driving method described in any one of claims 1 to 10 of the present application.

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