Auxiliary driving method, device and equipment and medium

Abstract

The invention provides an auxiliary driving method and device, equipment and a medium. The method comprises the steps that the traffic state of a target road section is monitored; when it is monitored that the passing state of the target road section is passable, detection data of all detection devices corresponding to the target road section are obtained, and each detection device emits a detection signal to be mapped on the road surface of the target road section to form a corresponding detection area, the detection data comprises first driving information of each vehicle in a corresponding detection area; aiming at each detection area, generating a driving control instruction aiming at each vehicle in the detection area according to the first driving information of each vehicle in the detection area; and for each vehicle detected by all the detection devices, a driving control instruction corresponding to the vehicle is issued to a vehicle-mounted controller of the vehicle, so that the vehicle-mounted controller controls driving of the vehicle based on the received driving control instruction.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and more specifically, to an assisted driving method, device, equipment and medium. Background Art

[0002] Against the backdrop of a sharp increase in the number of vehicles on the road and the rapid development of intelligent road equipment, drivers face an increasingly difficult task in making safe decisions at traffic lights, especially at the delicate moment when the green light is about to end and the red light is about to take over.

[0003] On the one hand, some drivers may choose to slow down prematurely or even stop and wait for fear that the remaining time on the green light is not enough to safely pass through the intersection. This not only wastes the green light time, but is also likely to trigger a chain reaction among subsequent vehicles, causing unnecessary traffic jams and affecting overall traffic efficiency. On the other hand, there are also drivers who are in a hurry to pass and still risk speeding up even though they know that the green light time is tight, which greatly increases the risk of traffic accidents and seriously threatens the safety and order of road traffic. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a driving assistance method, device, equipment and medium, aiming to overcome at least one of the above-mentioned defects.

[0005] In a first aspect, the present application provides an assisted driving method, the method comprising: monitoring the traffic status of a target road section; when it is monitored that the traffic status of the target road section is passable, acquiring detection data of all detection devices corresponding to the target road section, wherein all detection devices are arranged in sequence along a preset direction behind the stop line of the target road section, and each detection device emits a detection signal to be mapped on the road surface of the target road section to form a corresponding detection area, and the detection data includes first driving information of each vehicle in the corresponding detection area; for each detection area, according to the first driving information of each vehicle in the detection area, respectively generating driving control instructions for each vehicle in the detection area; for each vehicle detected by all detection devices, sending the driving control instructions corresponding to the vehicle to the on-board controller of the vehicle, so that the on-board controller controls the driving of the vehicle based on the received driving control instructions.

[0006] In a possible implementation, monitoring that the traffic status is passable refers to the instant when the traffic light in the driving direction of the target road section is converted into a traffic light, and the acquired detection data refers to the first driving information of the vehicle at the instant.

[0007] In a possible implementation, the step of monitoring the traffic status of the target road section includes: acquiring status information of preset traffic lights at a traffic intersection from a satellite in real time, the traffic intersection being an intersection at which the target road section is located, and the preset traffic lights being traffic lights at the traffic intersection in the driving direction of the target road section; and determining the traffic status of the target road section based on the status information of the preset traffic lights.

[0008] In a possible implementation, the preset direction is opposite to the driving direction of the target section, and all detection devices corresponding to the target section include a first detection device, a second detection device, and a third detection device, wherein a driving control instruction for each vehicle in the first detection area is generated in the following manner: for each vehicle in the first detection area, based on the first driving information of the vehicle, the first time for the vehicle to pass through the traffic intersection where the target section is located is estimated, and the first detection area is the detection area corresponding to the first detection device; based on the determined multiple first times and the first passable duration corresponding to the first detection area, a first vehicle that meets the first passable condition and a second vehicle that does not meet the first passable condition are determined from all vehicles in the first detection area; a first driving control instruction is generated for the first vehicle, and the first driving control instruction is used to instruct the first vehicle to maintain the current driving speed; a second driving control instruction is generated for the second vehicle, and the second driving control instruction is used to instruct the second vehicle to accelerate.

[0009] In a possible implementation, a driving control instruction for each vehicle within the second detection area is generated in the following manner: for each vehicle within the second detection area, a second time for the vehicle to pass through the traffic intersection is estimated based on the first driving information of the vehicle, and the second detection area is the detection area corresponding to the second detection device; based on the determined multiple second times and the second passable duration corresponding to the second detection area, a third vehicle that meets the second passable condition and a fourth vehicle that does not meet the second passable condition are determined from all vehicles within the second detection area; a third driving control instruction is generated for the third vehicle, and the third driving control instruction is used to instruct the third vehicle to maintain the current driving speed or accelerating; detecting whether the fourth vehicle can pass through the traffic intersection at the maximum limited speed of the target section; if it is detected that the fourth vehicle can pass through the traffic intersection, determining whether there is a cooperative control vehicle in front of the lane where the fourth vehicle is located; if there is a cooperative control vehicle, generating a fourth driving control instruction for the fourth vehicle and the cooperative control vehicle, the fourth driving control instruction being used to instruct the vehicle to adjust to the maximum limited speed for driving; if there is no cooperative control vehicle, generating a fourth driving control instruction for the fourth vehicle; if it is detected that the fourth vehicle cannot pass through the traffic intersection, generating a fifth driving control instruction for the fourth vehicle, the fifth driving control instruction being used to instruct the fourth vehicle to decelerate.

[0010] In a possible implementation manner, the driving control instruction for each vehicle in the third detection area is generated in the following manner: for each vehicle in the third detection area, a sixth driving control instruction is generated, wherein the sixth driving control instruction is used to instruct the vehicle to decelerate.

[0011] In a possible implementation, the method further includes: when it is monitored that the traffic status of the target road section is impassable, generating a seventh driving control instruction for each vehicle detected by all detection devices, wherein the seventh driving control instruction is used to instruct the vehicle to slow down.

[0012] In the second aspect, the present application provides an assisted driving device, which includes: a monitoring module for monitoring the traffic status of a target road section; an acquisition module for acquiring detection data of all detection devices corresponding to the target road section when it is monitored that the traffic status of the target road section is passable, wherein all detection devices are arranged in sequence along a preset direction behind the stop line of the target road section, and each detection device emits a detection signal to be mapped on the road surface of the target road section to form a corresponding detection area, and the detection data includes first driving information of each vehicle in the corresponding detection area; a generation module for generating, for each detection area, driving control instructions for each vehicle in the detection area according to the first driving information of each vehicle in the detection area; a control module for sending the driving control instructions corresponding to each vehicle detected by all detection devices to the vehicle-mounted controller of the vehicle, so that the vehicle-mounted controller controls the driving of the vehicle based on the received driving control instructions.

[0013] In a third aspect, the present application also provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the assisted driving method as described above are performed.

[0014] In a fourth aspect, the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the assisted driving method as described above are executed.

[0015] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A flowchart of an assisted driving method provided in an embodiment of the present application;

[0018] Figure 2 A flow chart of a method for monitoring the traffic status of a target road section provided in an embodiment of the present application;

[0019] Figure 3A flowchart of a method for generating a driving control instruction for each vehicle within a first detection area provided in an embodiment of the present application;

[0020] Figure 4 A flowchart of a method for generating a driving control instruction for each vehicle within a second detection area provided in an embodiment of the present application;

[0021] Figure 5 A schematic diagram of the structure of a driving assistance device provided in an embodiment of the present application;

[0022] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme 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 only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0024] First, the application scenarios to which this application can be applied are introduced. This application can be applied to intelligent driving. Research has found that, under the background of the current sharp increase in the number of vehicles on the road and the rapid development of intelligent road equipment, the driver's safety decision-making task at traffic light intersections has become increasingly arduous, especially at the delicate moment when the green light is about to end and the red light is about to take over. On the one hand, some drivers may choose to slow down too early or even stop and wait because they are worried that the remaining time of the green light is not enough to safely pass through the intersection. This not only wastes the green light time, but is also likely to trigger a chain reaction of subsequent vehicles, causing unnecessary traffic congestion and affecting the overall traffic efficiency. On the other hand, there are also drivers who are eager to pass, even if they know that the green light time is tight, they still risk speeding up, which greatly increases the risk of traffic accidents and seriously threatens the safety and order of road traffic.

[0025] Based on this, an embodiment of the present application provides an assisted driving method to solve the problem of traffic safety at traffic intersections through intelligent driving.

[0026] See also Figure 1 , Figure 1 This is a flow chart of an assisted driving method provided in an embodiment of the present application. Figure 1 As shown in , the assisted driving method provided by the embodiment of the present application includes:

[0027] S101. Monitor the traffic status of the target road section.

[0028] In an embodiment of the present application, a connection can be established with a traffic light control system through a wired or wireless network to obtain the red, yellow, and green status information of the traffic lights in real time. Satellite monitoring can also be used to identify and determine the status of ground traffic lights using satellite remote sensing technology.

[0029] Combine the following Figure 2 This paper introduces the specific steps of monitoring the traffic status of the target road section through satellite.

[0030] Figure 2 Flow chart of the method for monitoring the traffic status of a target road section provided in an embodiment of the present application. Figure 2 As shown in, including:

[0031] S201. Acquire status information of preset traffic lights at a traffic intersection from a satellite in real time.

[0032] Here, the traffic intersection is the intersection where the target road section is located, and the preset traffic light is the traffic light in the driving direction of the traffic intersection on the target road section. The status information of the traffic light can be collected and updated by the high-precision map service provider, and the real-time traffic light status information can be obtained through the RTK high-precision equipment through relay satellite communication.

[0033] S202: Determine the traffic status of the target road section based on the status information of the preset traffic light.

[0034] In the embodiment of the present application, the green light of the traffic light means that the vehicle is allowed to pass, while the red and yellow lights mean that the vehicle is not allowed to pass.

[0035] return Figure 1 S102: When it is detected that the target road section is passable, the detection data of all detection devices corresponding to the target road section are obtained.

[0036] Here, all detection devices are arranged in sequence along a preset direction behind the stop line of the target section. Each detection device emits a detection signal to be mapped on the road surface of the target section to form a corresponding detection area. The detection data includes the first driving information of each vehicle in the corresponding detection area. The detection device is a device for collecting road traffic information. These devices are arranged along the road and can emit detection signals (such as radar waves, infrared rays, lasers, etc.). These signals form specific detection areas on the road surface. When a vehicle enters these areas, the detection device will capture relevant information of the vehicle, such as speed, position, vehicle length, etc. The first driving information refers to the relevant information of each vehicle in the corresponding detection area captured by the detection device. The first driving information may include the speed, position, vehicle length, driving direction, etc. of the vehicle.

[0037] In an embodiment of the present application, when the traffic status of the target road section is monitored as impassable, a seventh driving control instruction is generated for each vehicle detected by all detection devices, and the seventh driving control instruction is used to instruct the vehicle to slow down. Specifically, when the traffic status of the target road section is monitored as impassable (such as the red light and the yellow light are on), the system will send a driving control instruction to the vehicle in the section, instructing the vehicle to slow down so that the vehicle stops behind the stop line or behind the vehicle in front.

[0038] S103 . For each detection area, generate a driving control instruction for each vehicle in the detection area according to the first driving information of each vehicle in the detection area.

[0039] In an embodiment of the present application, the preset direction is opposite to the driving direction of the target section, and all detection devices corresponding to the target section include a first detection device, a second detection device, and a third detection device, and these devices are arranged at the same interval. This layout helps the system capture the driving information of the vehicle at different positions, so as to more comprehensively understand the driving state and traffic conditions of the vehicle. The first detection device, the second detection device, and the third detection device correspond to the first detection area, the second detection area, and the third detection area, respectively. Each detection area is respectively set with driving control instructions for different vehicles. The lengths of the three detection areas are respectively set according to different road conditions or the total length of the target section. The lengths of the three detection areas can be the same or different, and the present application does not limit it. In addition, in each preset detection area, one or more detection devices can work simultaneously to provide more accurate and comprehensive vehicle driving information. In addition, the first driving information at least includes the driving direction of each vehicle, the relative speed, the body length, the speed of the target vehicle relative to the front vehicle / rear vehicle / left vehicle / rear vehicle, and the acceleration of the target vehicle.

[0040] The driving control instructions for each vehicle in the detection area can be generated through the computing center of the background cloud or the base station at each intersection, or through the on-board terminal device of each vehicle. There is no limitation in this application.

[0041] Combine the following Figure 3 The specific steps of generating a driving control instruction for each vehicle in the first detection area are introduced.

[0042] Figure 3 A flowchart of a method for generating a driving control instruction for each vehicle in a first detection area provided by an embodiment of the present application. Figure 3 As shown in, including:

[0043] S301. For each vehicle in a first detection area, estimate a first time for the vehicle to pass through a traffic intersection where a target road section is located according to first driving information of the vehicle.

[0044] Here, the first detection area is the detection area corresponding to the first detection device, and the first driving information refers to the relevant information of each vehicle in the first detection area captured by the detection device, such as speed, acceleration, vehicle length, etc. At the first time, for each vehicle in the first detection area, the system will estimate the time for the vehicle to pass the traffic intersection where the target road section is located based on its first driving information, wherein the vehicle passing the traffic intersection can be set as the rear end of the vehicle completely passing through the traffic intersection. Therefore, the lengths of different vehicles need to be considered when calculating the first time.

[0045] S302: Determine, from all vehicles in the first detection area, a first vehicle that meets a first passable condition and a second vehicle that does not meet the first passable condition according to the determined multiple first times and the first passable duration corresponding to the first detection area.

[0046] Here, the first passable duration refers to the duration during which the current traffic light is green and allows vehicles to pass at the traffic intersection where the target road section is located. The first passable condition is based on the estimated multiple first times and the first passable duration, and the system determines whether the vehicle can pass the traffic intersection during the green light period without having to stop and wait. Vehicles that meet this condition are considered first vehicles, and vehicles that do not meet the condition are considered second vehicles.

[0047] S303: Generate a first driving control instruction for the first vehicle.

[0048] Here, the first driving control instruction is a driving control instruction generated for the first vehicle that meets the first passable condition, and this instruction is used to instruct the first vehicle to maintain the current driving speed so as to pass the traffic intersection smoothly during the green light period.

[0049] S304: Generate a second driving control instruction for the second vehicle.

[0050] Here, the second driving control instruction is used to instruct the second vehicle to accelerate. Specifically, this instruction is used to instruct the first vehicle to accelerate so as to pass the traffic intersection smoothly during the green light period. When calculating the speed value, it is necessary to ensure that the speed does not exceed the safe speed limit of the road. This speed is calculated based on the distance of the first detection area and the green light duration, and is less than the safe speed.

[0051] Combine the following Figure 4 The specific steps of generating a driving control instruction for each vehicle in the second detection area are introduced.

[0052] Figure 4 A flow chart of a method for generating a driving control instruction for each vehicle in a second detection area provided by an embodiment of the present application. Figure 4 As shown in, including:

[0053] S401. For each vehicle in a second detection area, estimate a second time for the vehicle to pass through a traffic intersection according to first driving information of the vehicle.

[0054] Here, the second detection area is the detection area corresponding to the second detection device, and the second time is the time for each vehicle in the second detection area to estimate the time when the vehicle passes through the traffic intersection based on its first driving information.

[0055] S402: According to the determined multiple second times and the second passable durations corresponding to the second detection area, determine a third vehicle that meets the second passable condition and a fourth vehicle that does not meet the second passable condition from all vehicles in the second detection area.

[0056] Here, the second passable duration refers to the green light duration of the traffic intersection when the vehicle enters the second detection area, and this duration is used to determine whether the vehicle can pass through the intersection during the green light period. The third vehicle refers to a vehicle that is estimated to be able to pass through the traffic intersection during the green light period, that is, a vehicle that meets the second passable condition. The fourth vehicle refers to a vehicle that is estimated to be unable to pass through the traffic intersection during the green light period.

[0057] S403: Generate a third driving control instruction for the third vehicle.

[0058] Here, the third driving control instruction is used to instruct the third vehicle to maintain the current driving speed or to perform moderate acceleration to ensure smooth passage through the intersection during the green light period.

[0059] S404: Detect whether the fourth vehicle can pass through the traffic intersection at the maximum limited speed of the target road section.

[0060] S405: If it is detected that the traffic intersection can be passed, determine whether there is a cooperative control vehicle in front of the lane where the fourth vehicle is located.

[0061] Here, the cooperatively controlled vehicles refer to the vehicles that are traveling in front of the fourth vehicle in the same lane or in the adjacent lane, and whose driving status (such as speed, position) affects the fourth vehicle's passage through the intersection. These vehicles need to coordinate their driving with the fourth vehicle to ensure smooth passage through the intersection.

[0062] S406: If there is a co-control vehicle, generate a fourth driving control instruction for the fourth vehicle and the co-control vehicle.

[0063] Here, the fourth driving control instruction is used to instruct the vehicles including the fourth vehicle and the cooperative control vehicle to adjust to the maximum limited speed to ensure passing the intersection within the green light period. Since a high degree of coordination and cooperation is required in this situation, the priority of the fourth instruction is set to the highest.

[0064] S407: If there is no cooperatively controlled vehicle, generate a fourth driving control instruction for the fourth vehicle.

[0065] S408: If it is detected that the fourth vehicle cannot pass through the traffic intersection, a fifth driving control instruction is generated for the fourth vehicle.

[0066] Here, when it is detected that the fourth vehicle cannot pass through the traffic intersection even at the maximum limited speed, the system generates a driving control instruction, and the fifth driving control instruction is used to instruct the fourth vehicle to slow down to avoid stopping and waiting in front of the intersection or running a red light.

[0067] In the embodiment of the present application, the specific steps of generating a driving control instruction for each vehicle in the third detection area include:

[0068] For each vehicle in the third detection area, a sixth driving control instruction is generated, and the sixth driving control instruction is used to instruct the vehicle to slow down. The sixth driving control instruction is used to instruct each vehicle in the third detection area to slow down to avoid stopping and waiting at an intersection or running a red light.

[0069] return Figure 1 S104: For each vehicle detected by all detection devices, a driving control instruction corresponding to the vehicle is sent to the on-board controller of the vehicle, so that the on-board controller controls the driving of the vehicle based on the received driving control instruction.

[0070] Here, the system will send the driving control instructions generated for each vehicle detected by all detection devices to the on-board controller of the vehicle through some communication method, such as vehicle networking technology, wireless communication technology, etc.

[0071] In an embodiment of the present application, the driving state of the vehicle includes automatic driving and manual driving.

[0072] When the vehicle is in automatic driving mode, the on-board controller will directly adjust driving parameters such as vehicle speed and steering according to the driving control instructions received without the need for driver intervention. In this mode, the vehicle can automatically drive according to driving instructions, improving traffic efficiency and safety.

[0073] When the vehicle is in manual driving mode, the on-board controller cannot directly control the vehicle's driving because the driver is the main decision maker for the vehicle's driving at this time. However, the on-board controller can still convey driving control instructions to the driver through voice or pop-up windows so that the driver can make corresponding driving operations according to the instructions.

[0074] Based on the same inventive concept, an assisted driving device corresponding to the assisted driving method is also provided in the embodiment of the present application. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned assisted driving method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0075] See also Figure 5 , Figure 5 The present invention provides a schematic diagram of the structure of an auxiliary driving device according to an embodiment of the present invention. The auxiliary driving device 500 includes:

[0076] Monitoring module 501, used to monitor the traffic status of the target road section;

[0077] The acquisition module 502 is used to acquire detection data of all detection devices corresponding to the target road section when the traffic state of the target road section is monitored to be passable, wherein all detection devices are arranged in sequence along a preset direction behind the stop line of the target road section, each detection device emits a detection signal to be mapped on the road surface of the target road section to form a corresponding detection area, and the detection data includes first driving information of each vehicle in the corresponding detection area;

[0078] A generating module 503 is used to generate, for each detection area, a driving control instruction for each vehicle in the detection area according to the first driving information of each vehicle in the detection area;

[0079] The control module 504 is used to send the driving control instruction corresponding to each vehicle detected by all the detection devices to the on-board controller of the vehicle, so that the on-board controller controls the driving of the vehicle based on the received driving control instruction.

[0080] See also Figure 6 , Figure 5This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 6 As shown in , the electronic device 600 includes a processor 610 , a memory 620 and a bus 630 .

[0081] The memory 620 stores machine-readable instructions executable by the processor 510. When the electronic device 600 is running, the processor 610 communicates with the memory 620 via the bus 630. When the machine-readable instructions are executed by the processor 610, the above-mentioned Figures 1 to 4 The specific implementation of the steps of the assisted driving method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0082] 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, the computer program can execute the above-mentioned Figures 1 to 4 The specific implementation of the steps of the assisted driving method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0083] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0084] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0085] 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 units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0086] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0087] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0088] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A driving assistance method, characterized in that: The method comprises: Monitor the traffic status of the target road section; When it is monitored that the traffic state of the target road section is passable, the detection data of all detection devices corresponding to the target road section are obtained, wherein all detection devices are arranged in sequence along a preset direction behind the stop line of the target road section, each detection device emits a detection signal to be mapped on the road surface of the target road section to form a corresponding detection area, and the detection data includes first driving information of each vehicle in the corresponding detection area; For each detection area, generating a driving control instruction for each vehicle in the detection area according to the first driving information of each vehicle in the detection area; For each vehicle detected by all detection devices, a driving control instruction corresponding to the vehicle is sent to the on-board controller of the vehicle, so that the on-board controller controls the driving of the vehicle based on the received driving control instruction.

2. The method according to claim 1, characterized in that Monitoring that the traffic state is passable refers to the instant when the traffic light on the target road section in the driving direction is converted into a traffic light, and the acquired detection data refers to the first driving information of the vehicle at the instant.

3. The method according to claim 1, characterized in that The steps of monitoring the traffic status of the target road section include: Acquire status information of a preset traffic light at a traffic intersection from a satellite in real time, wherein the traffic intersection is an intersection where the target road section is located, and the preset traffic light is a traffic light at the traffic intersection in the driving direction of the target road section; Based on the status information of the preset traffic light, the traffic status of the target road section is determined.

4. The method according to claim 1, characterized in that: The preset direction is opposite to the driving direction of the target road section, and all detection devices corresponding to the target road section include a first detection device, a second detection device, and a third detection device. The driving control instruction for each vehicle in the first detection area is generated in the following manner: For each vehicle in the first detection area, estimating a first time when the vehicle passes through the traffic intersection where the target road section is located according to the first driving information of the vehicle, the first detection area being the detection area corresponding to the first detection device; Determine, from all vehicles in the first detection area, a first vehicle that meets a first passable condition and a second vehicle that does not meet the first passable condition according to the determined multiple first times and the first passable duration corresponding to the first detection area; generating a first driving control instruction for the first vehicle, wherein the first driving control instruction is used to instruct the first vehicle to maintain a current driving speed; A second driving control instruction is generated for the second vehicle, where the second driving control instruction is used to instruct the second vehicle to accelerate.

5. The method according to claim 4, characterized in that The driving control instructions for each vehicle in the second detection area are generated in the following manner: For each vehicle in the second detection area, estimating a second time for the vehicle to pass through the traffic intersection according to the first driving information of the vehicle, the second detection area being a detection area corresponding to the second detection device; Determine, from all vehicles in the second detection area, a third vehicle that meets the second passable condition and a fourth vehicle that does not meet the second passable condition according to the determined multiple second times and the second passable duration corresponding to the second detection area; generating a third driving control instruction for the third vehicle, wherein the third driving control instruction is used to instruct the third vehicle to maintain a current driving speed or to accelerate; Detecting whether the fourth vehicle can pass through the traffic intersection at the maximum limited vehicle speed of the target road section; If it is detected that the traffic intersection can be passed, determining whether there is a cooperative control vehicle in front of the lane where the fourth vehicle is located; If there is an assisting vehicle, generating a fourth driving control instruction for the fourth vehicle and the assisting vehicle, the fourth driving control instruction being used to instruct the vehicle to adjust to the maximum limited vehicle speed for driving; If there is no co-controlled vehicle, generating a fourth driving control instruction for the fourth vehicle; If it is detected that the fourth vehicle cannot pass through the traffic intersection, a fifth driving control instruction is generated for the fourth vehicle, and the fifth driving control instruction is used to instruct the fourth vehicle to slow down.

6. The method according to claim 4, characterized in that The driving control instructions for each vehicle in the third detection area are generated in the following manner: For each vehicle in the third detection area, a sixth driving control instruction is generated, where the sixth driving control instruction is used to instruct the vehicle to decelerate.

7. The method according to claim 1, characterized in that The method further comprises: When it is monitored that the traffic state of the target road section is impassable, a seventh driving control instruction is generated for each vehicle detected by all detection devices, and the seventh driving control instruction is used to instruct the vehicle to decelerate.

8. A driving assistance device, characterized in that: The device comprises: A monitoring module, used to monitor the traffic status of the target road section; an acquisition module, configured to acquire detection data of all detection devices corresponding to the target road section when it is detected that the traffic state of the target road section is passable, wherein all detection devices are arranged in sequence along a preset direction behind the stop line of the target road section, each detection device emits a detection signal to be mapped on the road surface of the target road section to form a corresponding detection area, and the detection data includes first driving information of each vehicle in the corresponding detection area; A generating module, for generating, for each detection area, a driving control instruction for each vehicle in the detection area according to the first driving information of each vehicle in the detection area; The control module is used to send the driving control instruction corresponding to each vehicle detected by all detection devices to the vehicle controller of the vehicle, so that the vehicle controller controls the driving of the vehicle based on the received driving control instruction.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and the processor executes the machine-readable instructions to perform the steps of any method as claimed in claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are executed.

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