Vehicle-mounted equipment and method for assisting vehicle driving

Abstract

The invention provides vehicle-mounted equipment and a method for assisting vehicle driving, and relates to the technical field of computers. When a vehicle drives into a road intersection range, a lane where the vehicle is located at the current moment and a target advancing direction of the vehicle can be determined; if the driving rule of the lane where the vehicle is located at the current moment is not matched with the target advancing direction of the vehicle, early warning information is sent out, and a driver is reminded of not driving according to the specified lane currently. The driver is assisted to drive the vehicle by utilizing the early warning information, so that the driving risk is reduced, and traffic accidents are reduced.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a vehicle-mounted device and a method for assisting vehicle driving. Background Art

[0002] With the rapid development of science and technology, more and more vehicles have brought great convenience to people's daily travel. In order to dispatch vehicles in different directions, the road is usually divided into multiple lanes, each lane has a corresponding driving rule, which is used to indicate the allowed direction of vehicles in any lane, such as left turn, straight, right turn, left turn and straight, right turn and straight, etc.

[0003] For lane selection, drivers can refer to road signs set up beside the road, which are provided with instruction information showing the driving rules corresponding to each lane. However, due to various factors, it is easy for vehicles to not drive in the prescribed lanes at road intersections, which greatly increases driving risks. Summary of the invention

[0004] In order to solve the above-mentioned problems in the prior art, the embodiments of the present application provide a vehicle-mounted device and a method for assisting vehicle driving, which can issue a warning message when the vehicle is not driving in the prescribed lane, thereby reducing driving risks.

[0005] In a first aspect, an embodiment of the present application provides a vehicle-mounted device, including: a display and a processor;

[0006] The processor is configured to: when the vehicle enters a road intersection, obtain lane information of the road intersection and a target travel direction of the vehicle; the lane information includes positions of a plurality of lanes included in the road intersection and driving rules of the plurality of lanes; the driving rule of any lane among the plurality of lanes is used to indicate a travel direction allowed for a vehicle located in any lane;

[0007] Determining a lane in which the vehicle is currently located among the multiple lanes according to the positions of the multiple lanes and the current position of the vehicle;

[0008] If the driving rules of the lane where the vehicle is currently located do not match the target driving direction of the vehicle, a warning message is issued indicating that the vehicle is not driving in accordance with the lane driving rules;

[0009] The display is configured to display an interface of the vehicle-mounted device when it is in operation, and warning information that the vehicle does not follow lane driving rules.

[0010] In a possible implementation, the processor is specifically configured to:

[0011] Determining the target traveling direction of the vehicle according to the lighting state of the turn signal lamp of the vehicle; or,

[0012] The route information of the vehicle is obtained, and the target traveling direction of the vehicle is determined according to the route information of the vehicle.

[0013] In a possible implementation, the processor is specifically configured to:

[0014] If the left turn signal of the vehicle is on, determining that the target traveling direction of the vehicle is a left turn;

[0015] If the right turn signal of the vehicle is on, determining that the target traveling direction of the vehicle is a right turn;

[0016] If the left turn signal lamp and the right turn signal lamp of the vehicle are both off, it is determined that the target traveling direction of the vehicle is straight traveling.

[0017] In a possible implementation, the processor is specifically configured to:

[0018] Determining a current road to which the current position of the vehicle belongs;

[0019] A next road adjacent to the current road and a travel direction corresponding to the vehicle traveling from the current road to the next road are obtained from the route information, and the travel direction is used as a target travel direction of the vehicle.

[0020] In a possible implementation, the processor is further configured to:

[0021] Determining a candidate lane among the multiple lanes; the candidate lane refers to a lane whose driving rules match the target traveling direction of the vehicle;

[0022] A target lane is determined from the candidate lanes, and instruction information is output; the instruction information is used to instruct the vehicle to change to the target lane.

[0023] In a possible implementation, the processor is specifically configured to:

[0024] If there are multiple candidate lanes, the candidate lane among the multiple candidate lanes, in which the vehicle takes the shortest time to pass through the road intersection from the current position, is determined as the target lane.

[0025] In a possible implementation, the processor is specifically configured to:

[0026] If the vehicle is currently in a driving state, obtaining the state information of the traffic light at the road intersection; the state information of the traffic light is whether to allow passage or not to allow passage;

[0027] determining a first distance from a current position of the vehicle to the road intersection;

[0028] Determining whether the vehicle can maintain the current speed to pass through the road intersection according to the state information of the traffic light, the first distance, and the current speed of the vehicle;

[0029] If the vehicle can maintain the current speed through the road intersection, the candidate lane without an obstacle vehicle is used as the target lane; the obstacle vehicle and the vehicle are located in the same lane, and the second distance between the obstacle vehicle and the road intersection is less than the first distance, and the time it takes for the obstacle vehicle to pass through the road intersection is greater than the time it takes for the vehicle to pass through the road intersection.

[0030] In a possible implementation, the processor is specifically configured to:

[0031] If there are multiple candidate lanes, and there are a first candidate lane and a second candidate lane among the multiple candidate lanes, determining whether the target traveling direction of the vehicle is straight ahead; the first candidate lane is a candidate lane that allows straight ahead and turning, and the second candidate lane is a candidate lane that allows straight ahead;

[0032] If the target traveling direction of the vehicle is straight ahead, and the number of turning vehicles on the first candidate lane exceeds a first threshold, the second candidate lane is determined to be the target lane.

[0033] In a possible implementation, the processor is further configured to:

[0034] If the first time required for the vehicle to travel from the current lane to the next road is greater than the second threshold, determining the time required for the vehicle to travel from each lane to the next road respectively;

[0035] If the difference between the first time and the second time required for the vehicle to travel from the fastest lane to the next road is greater than a third threshold, an indication message is output; the fastest lane refers to the lane among the multiple lanes in which the time required for the vehicle to travel to the next road is the shortest; the indication message is used to instruct the vehicle to change to the fastest lane.

[0036] In a second aspect, an embodiment of the present application provides a method for assisting vehicle driving, which is applied to an on-board device, wherein the on-board device is disposed on a vehicle, and the method includes:

[0037] When the vehicle enters a road intersection, the lane information of the road intersection and the target travel direction of the vehicle are obtained; the lane information includes the positions of multiple lanes included in the road intersection and the driving rules of the multiple lanes; the driving rules of any lane in the multiple lanes are used to indicate the allowed travel direction of the vehicle located in any lane;

[0038] Determining a lane in which the vehicle is currently located among the multiple lanes according to the positions of the multiple lanes and the current position of the vehicle;

[0039] If the driving rules of the lane in which the vehicle is currently located do not match the target traveling direction of the vehicle, a warning message is issued indicating that the vehicle is not driving in accordance with the lane driving rules.

[0040] In a third aspect, an embodiment of the present application provides a vehicle driving assistance device, the device comprising:

[0041] an information collection unit, configured to obtain lane information of the road intersection and a target travel direction of the vehicle when the vehicle enters a road intersection; the lane information includes positions of a plurality of lanes included in the road intersection and driving rules of the plurality of lanes; the driving rules of any lane among the plurality of lanes are configured to indicate a permitted travel direction of a vehicle located in any lane;

[0042] an early warning unit, configured to determine a lane in which the vehicle is currently located among the multiple lanes according to the positions of the multiple lanes and the current position of the vehicle;

[0043] If the driving rules of the lane in which the vehicle is currently located do not match the target traveling direction of the vehicle, a warning message is issued indicating that the vehicle is not driving in accordance with the lane driving rules.

[0044] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any one of the methods for assisting vehicle driving of the second aspect is implemented.

[0045] The embodiment of the present application provides an on-vehicle device and a method for assisting vehicle driving. When a vehicle enters a road intersection, the lane in which the vehicle is currently located and the target direction of travel of the vehicle can be determined. If the driving rules of the lane in which the vehicle is currently located do not match the target direction of travel of the vehicle, a warning message is issued to remind the driver that he is not currently driving in the prescribed lane. Using the warning information to assist the driver in driving the vehicle is conducive to reducing driving risks and reducing the occurrence of traffic accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0047] Figure 1 An application scenario diagram of a method for assisting vehicle driving provided in an embodiment of the present application;

[0048] Figure 2 A hardware configuration block diagram of a vehicle-mounted device provided in an embodiment of the present application;

[0049] Figure 3 A flowchart of a method for assisting vehicle driving provided in an embodiment of the present application;

[0050] Figure 4 A schematic diagram of lanes included in an intersection provided in an embodiment of the present application;

[0051] Figure 5 A flowchart of a method for assisting vehicle driving provided in an embodiment of the present application;

[0052] Figure 6 A flowchart of a method for assisting vehicle driving provided in an embodiment of the present application;

[0053] Figure 7 A schematic diagram of lanes included in an intersection provided in an embodiment of the present application;

[0054] Figure 8 A flowchart of a method for assisting vehicle driving provided in an embodiment of the present application;

[0055] Fig. 9 A flowchart of a method for assisting vehicle driving provided in an embodiment of the present application;

[0056] Fig.10 A schematic diagram of the distance between a vehicle and a road intersection provided in an embodiment of the present application;

[0057] Fig.11 A schematic diagram of the distance between a vehicle and a road intersection provided in an embodiment of the present application;

[0058] Fig.12 A flowchart of a method for assisting vehicle driving provided in an embodiment of the present application;

[0059] Fig.13 A schematic diagram of a lane provided in an embodiment of the present application;

[0060] Fig.14A flowchart of a method for assisting vehicle driving provided in an embodiment of the present application;

[0061] Fig.15 A schematic diagram of a lane provided in an embodiment of the present application;

[0062] Fig.16 A schematic diagram of a lane provided in an embodiment of the present application;

[0063] Fig.17 A schematic diagram of a vehicle driving assistance device provided in an embodiment of the present application;

[0064] Fig.18 A schematic diagram of another vehicle driving assistance device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solutions and advantages of this application clearer, this application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0066] It should be noted that the application scenarios described in the following embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. A person of ordinary skill in the art can know that with the emergence of new application scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0067] With the rapid development of science and technology, more and more vehicles have brought great convenience to people's daily travel. In order to dispatch vehicles in different directions, the road is usually divided into multiple lanes. Each lane has a corresponding driving rule, which is used to indicate the allowed direction of travel of vehicles in any lane. The driver can choose the lane corresponding to the target direction according to the driving rules corresponding to each lane.

[0068] For lane selection, drivers can refer to the road signs set up beside the road. The instructions on the road signs show the driving rules corresponding to each lane. However, due to various factors, it is easy for vehicles to not drive in the specified lanes at road intersections, which greatly increases driving risks and may cause traffic accidents.

[0069] Based on this, the embodiment of the present application provides a vehicle-mounted device and a method for assisting vehicle driving. When a vehicle enters a road intersection, the lane in which the vehicle is currently located and the target direction of travel of the vehicle can be determined. If the driving rules of the lane in which the vehicle is currently located do not match the target direction of travel of the vehicle, a warning message is issued to remind the driver that he is not currently driving in the prescribed lane. Using the warning information to assist the driver in driving the vehicle is conducive to reducing driving risks and reducing the occurrence of traffic accidents.

[0070] Figure 1 An example of an application scenario diagram of a method for assisting vehicle driving in an embodiment of the present application is shown. In this application scenario, Figure 1 As shown, the roadside device 100 can achieve instant communication with the vehicle-mounted device 200 through the vehicle-road cooperative network. The roadside device 100 can be set at a road intersection, which includes multiple lanes, wherein each lane has its corresponding driving rules, for example, allowing vehicles to turn left, allowing vehicles to go straight, or allowing vehicles to turn right, etc. The roadside device 100 can periodically send the position of each lane and the driving rules of each lane in the form of broadcast. The vehicle-mounted device 200 can receive the position of each lane and the driving rules of each lane sent by the roadside device 100 through the vehicle-road cooperative network, and determine the lane where the vehicle is currently located based on the position of each lane and the current position of the vehicle.

[0071] Furthermore, the vehicle-mounted device 200 can also determine the lighting status of the turn signal through the Controller Area Network (CAN) bus set inside the vehicle, thereby determining the current target direction of travel of the vehicle. When the target direction of travel is inconsistent with the driving rules of the lane where the vehicle is currently located, the vehicle-mounted device 200 can render the warning information on the display of the vehicle-mounted device to remind the driver that he is not currently driving in the prescribed lane, thereby reducing driving risks and reducing the occurrence of traffic accidents.

[0072] In some embodiments, during driving, in order to avoid distracting the driver's attention, a warning message that the vehicle is not driving according to lane driving rules can also be issued through the speaker of the vehicle-mounted equipment.

[0073] It should be noted that Figure 1 The installation position of the vehicle-mounted device 200 in the figure is only for example, and the specific position of the vehicle-mounted device 200 in the figure is not a fixed position actually installed in the vehicle. The vehicle-mounted device 200 can also be located at other positions in the vehicle, such as the vehicle-mounted device 200 can be installed at the door, between the front seats, etc.

[0074] Figure 2 The hardware configuration block diagram of the vehicle-mounted device 200 in the embodiment of the present application is exemplarily shown. Figure 2 As shown, the vehicle-mounted device 200 may include: a processor 210, a memory 220, a V2X communication module 230, a positioning module 240, an information acquisition module 250 and a bus 260; the processor 210, the memory 220, the V2X communication module 230, the positioning module 240 and the information acquisition module 250 are connected via the bus 260. The bus 260 may be a controller area network bus (CAN, Controller Area Network), which is used to connect various parts of the entire vehicle-mounted device 200.

[0075] The information acquisition module 250 can be used to obtain the current speed of the vehicle and the target direction of travel of the vehicle, that is, to determine the target direction of travel of the vehicle as left turn, straight travel or right turn through the lighting state of the turn signal.

[0076] The positioning module 240 may be used to determine the location information of the vehicle, for example, it may be a GNSS (global navigation satellite system) positioning module for determining the longitude and latitude positioning information of the vehicle.

[0077] The V2X communication module 230 can be used to send or receive data through a vehicle-road cooperative network (V2X, Vehicle to X). For example, lane information of a road intersection sent by a roadside device can be received. For another example, vehicle information such as the current position and current speed of the vehicle can be sent to a roadside device or other vehicles. For another example, vehicle information such as the current position and current speed of the vehicle can be received from other vehicles.

[0078] The memory 220 can be used to store data or program codes used when the terminal device is running. The processor 210 executes various functions and data processing of the vehicle-mounted device 200 by running the data or program codes stored in the memory 220. The memory 220 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device. The memory 220 stores an operating system that enables the vehicle-mounted device 200 to run.

[0079] The processor 210 is the control center of the vehicle-mounted device 200. It uses various interfaces and lines to connect various parts of the entire vehicle-mounted device 200. It executes various functions of the vehicle-mounted device 200 and processes data by running or executing software programs stored in the memory 220 and calling data stored in the memory 220. In some embodiments, the processor 210 may include one or more processing units. In this application, the processor 210 can run an operating system, an application program, and the method for assisting vehicle driving described in the embodiment of the application. The specific process of the processor 210 executing the method for assisting vehicle driving will be described in detail below.

[0080] Figure 3 A flowchart of a method for assisting vehicle driving provided by an embodiment of the present application is shown. The method can be applied to Figure 1 or Figure 2 In the vehicle-mounted equipment shown, Figure 3 As shown, the method may include the following steps:

[0081] Step S301, when the vehicle enters the road intersection, the lane information of the road intersection and the target traveling direction of the vehicle are obtained.

[0082] The lane information includes the locations of multiple lanes included in the road intersection and the driving rules of the multiple lanes. The driving rules of any lane among the multiple lanes are used to indicate the allowed travel direction of a vehicle located in any lane.

[0083] The on-board unit (OBU) can receive the locations of multiple lanes contained in a road intersection and the driving rules of multiple lanes sent by the road side unit (RSU) through the vehicle-road cooperative network (V2X), where the road side unit can be set at the road intersection.

[0084] In an optional implementation, the positions of multiple lanes included in the road intersection can be determined by the width of each lane and the position information of the positioning points set in the lane.

[0085] For example, Figure 4 As shown, the lanes with the driving direction from road intersection 2 to road intersection 1 all belong to road intersection 1, that is, road intersection 1 includes 4 lanes, namely lane 1, lane 2, lane 3 and lane 4. Among them, each lane includes a lane width. Usually, the width of each lane is the same. In some special cases, the lane widths may also be different. For example, in some embodiments, the lane width of the emergency lane set for emergency needs may be different from the lane width of the normal lane. In the embodiment of the present application, the lane widths of lane 1, lane 2, lane 3 and lane 4 are all the same.

[0086] There are multiple positioning points between intersection 1 and intersection 2. The position information of the positioning points can be collected after the road construction is completed and stored in the roadside equipment. The roadside equipment can determine the positions of lane 1, lane 2, lane 3 and lane 4 based on the position information of multiple positioning points and the width of each lane. For example, assuming that the coordinates of positioning point 1 are (1, 3), the coordinates of positioning point 2 are (2, 3), the coordinates of positioning point 3 are (3, 3), and the coordinates of positioning point 4 are (4, 3), and the lane widths of lane 1, lane 2, lane 3 and lane 4 are all 1, then the position of lane 1 is x∈(1, 4), y∈(1, 2], the position of lane 2 is x∈(1, 4), y∈(2, 3], the position of lane 3 is x∈(1, 4), y∈(3, 4], and the position of lane 4 is x∈(1, 4), y∈(4, 5).

[0087] Each of the multiple lanes has its corresponding driving rules. The driving rules of any lane are used to indicate the allowed travel direction of vehicles located in any lane. The position and driving rules of each lane can be pre-stored in the memory of the roadside equipment.

[0088] Continuing with the example of multiple lanes included in road intersection 1, the driving rules corresponding to lane 1, that is, the vehicle is allowed to travel in the direction of left turn, the driving rules corresponding to lane 2, that is, the vehicle is allowed to travel in the direction of left turn and straight going, the driving rules corresponding to lane 3, that is, the vehicle is allowed to travel in the direction of straight going, and the driving rules corresponding to lane 4, that is, the vehicle is allowed to travel in the direction of right turn.

[0089] Furthermore, the roadside equipment can send the positions of lanes 1, lanes 2, lanes 3 and lanes 4 contained in the road intersection 1 and the driving rules of lanes 1, lanes 2, lanes 3 and lanes 4 in the form of broadcast through the vehicle-road cooperative network. When the vehicle enters the range of the road intersection 1, the vehicle-mounted equipment can obtain the positions of lanes 1, lanes 2, lanes 3 and lanes 4 and the driving rules of lanes 1, lanes 2, lanes 3 and lanes 4 through the vehicle-road cooperative network. Exemplarily, the range of the road intersection 1 can be the range of the roadside equipment broadcast communication, for example, it can be 400 meters.

[0090] The target travel direction of the vehicle is the direction that the vehicle "wants" to travel at the road intersection, that is, the driving intention of the vehicle. The target travel direction of the vehicle can be left turn, straight travel, and right turn.

[0091] In an optional implementation, the target traveling direction of the vehicle may be determined based on the lighting status of the vehicle's turn signal lamp, such as Figure 5 As shown, the method may include the following steps:

[0092] Step S501, determining whether the turn signal lamp of the vehicle is on.

[0093] Specifically, the vehicle-mounted device can determine the lighting state of the turn signal lamp through a controller area network (CAN) bus (Controller Area Network) provided inside the vehicle.

[0094] Step S502, determining the target traveling direction of the vehicle according to the lighting status of the vehicle's turn signal lamp.

[0095] The vehicle's turn signals may include a left turn signal and a right turn signal. If the vehicle's left turn signal is on, it can be determined that the vehicle's target direction of travel is a left turn. If the vehicle's right turn signal is on, it can be determined that the vehicle's target direction of travel is a right turn. If both the vehicle's left turn signal and the right turn signal are not on, it can be determined that the vehicle's target direction of travel is straight ahead.

[0096] In an optional implementation, the target traveling direction of the vehicle may also be determined based on the route information of the vehicle, such as Figure 6 As shown, the method may include the following steps:

[0097] Step S601, determining the current road to which the current position of the vehicle belongs.

[0098] Specifically, when the driver drives the vehicle from the current position to the destination, the map navigation can be turned on, and the map navigation can include the route information of the vehicle. According to the route information of the vehicle, the current road to which the current position of the vehicle belongs can be determined.

[0099] Step S602, obtaining the next road adjacent to the current road and the corresponding travel direction of the vehicle from the current road to the next road from the route information, and taking the travel direction as the target travel direction of the vehicle.

[0100] For example, assuming that the corresponding travel direction of the vehicle from the current road to the next road is a right turn, the right turn travel direction can be used as the target travel direction of the vehicle.

[0101] Based on the above two methods, the vehicle-mounted device can obtain the target direction of travel of the vehicle. After the vehicle-mounted device obtains the lane information of the road intersection and the target direction of travel of the vehicle, the lane in which the vehicle is currently located can be determined through the positions of multiple lanes included in the road intersection and the current position of the vehicle in the lane information.

[0102] Step S302: determining a lane in which the vehicle is currently located among the multiple lanes according to the positions of the multiple lanes and the current position of the vehicle.

[0103] The on-board equipment can determine the current position of the vehicle based on the GNSS positioning module, and based on the current position of the vehicle and the position of each of the multiple lanes, can determine the lane in which the vehicle is currently located.

[0104] Continue to take the multiple lanes included in the road intersection 1 as an example for explanation. Figure 7 As shown, assuming that the position of vehicle A is (2.1, 4.5), it can be determined that the lane currently located by vehicle A is lane 4. Assuming that the position of vehicle B is (3.2, 1.5), it can be determined that the lane currently located by vehicle B is lane 1.

[0105] Step S303: If the driving rules of the lane where the vehicle is currently located do not match the target driving direction of the vehicle, a warning message is issued that the vehicle is not driving in accordance with the lane driving rules.

[0106] In an optional implementation, after determining the lane the vehicle is currently in, the vehicle-mounted device may Figure 8 The method shown in the figure determines whether to issue a warning message that the vehicle does not follow the lane driving rules. The method may include the following steps:

[0107] Step S801, determining the driving rules of the lane in which the vehicle is currently located.

[0108] Exemplarily, continuing to use the example of multiple lanes included in road intersection 1, assuming that the lane currently located by vehicle B is lane 1, and the driving rules of lane 1 are to allow vehicles to turn left, it can be determined that the driving rules of the lane currently located by vehicle B are to allow vehicles to turn left.

[0109] Step S802: If the driving rules of the lane where the vehicle is currently located do not match the target traveling direction of the vehicle, a warning message may be issued indicating that the vehicle is not driving in accordance with the lane driving rules.

[0110] The driving rules of the lane do not match the target travel direction of the vehicle, which means that the driving rules of the lane do not include the target travel direction of the vehicle. For example, assuming that the driving rules of lane 1 are going straight and the target travel direction of the vehicle is turning left, then the driving rules of lane 1 do not include the target travel direction of the vehicle, and it can be determined that the driving rules corresponding to lane 1 do not match the target travel direction of the vehicle. For another example, assuming that the driving rules of lane 1 are turning left and going straight, and the target travel direction of the vehicle is turning left, then the driving rules of lane 1 include the target travel direction of the vehicle, and it can be determined that the driving rules corresponding to lane 1 match the target travel direction of the vehicle. For another example, assuming that the driving rules corresponding to lane 1 are turning left and going straight, and the target travel direction of the vehicle is turning left, then the driving rules of lane 1 include the target travel direction of the vehicle, and it can be determined that the driving rules corresponding to lane 1 match the target travel direction of the vehicle.

[0111] The following continues to use the multiple lanes included in road intersection 1 as an example for explanation. Assuming that the vehicle is currently in lane 4, and the driving rule of lane 4 is to turn right, but the target direction of travel of the vehicle is to go straight, the on-board equipment can issue a warning message that the vehicle is not driving in accordance with the lane driving rule.

[0112] In some embodiments, the vehicle-mounted device may render warning information that the vehicle is not driving in accordance with lane driving rules to a display of the vehicle-mounted device, and present the warning information through the display.

[0113] In other embodiments, in order to avoid distracting the driver's attention during driving, a warning message that the vehicle is not driving according to lane driving rules can be played through a speaker installed in the vehicle.

[0114] In other embodiments, the warning information that the vehicle does not follow the lane driving rules can be rendered on the display of the vehicle-mounted device and played through the speakers installed in the vehicle.

[0115] The method for assisting vehicle driving provided in the embodiment of the present application can issue a warning message when the driving rules of the lane in which the vehicle is currently located do not match the target travel direction of the vehicle, prompting the driver that he is not currently driving in the prescribed lane, which is conducive to reducing driving risks and reducing the occurrence of traffic accidents.

[0116] As road construction becomes more and more complete, there are more and more lanes on the road. After issuing a warning message that the vehicle is not driving according to the lane driving rules, the on-board equipment can also determine the target lane among the multiple lanes on the current road, further assisting the driver in driving the vehicle.

[0117] In an optional implementation, if there is only one candidate lane, the candidate lane may be directly determined as the target lane. For example, assuming that the only candidate lane that matches the target travel direction of the vehicle is lane 2, the instruction information instructing the vehicle to change to lane 2 may be rendered to the display of the vehicle-mounted device, or the instruction information instructing the vehicle to change to lane 2 may be played through a speaker provided in the vehicle.

[0118] Among them, the candidate lane refers to the lane whose driving rules match the target traveling direction of the vehicle.

[0119] In another optional implementation, if there are multiple candidate lanes, the candidate lane among the multiple candidate lanes that takes the shortest time for the vehicle to pass through the road intersection starting from the current position can be determined as the target lane.

[0120] In some embodiments, a method for determining a candidate lane that takes the shortest time for a vehicle to pass through a road intersection starting from a current position as a target lane is as follows: Fig. 9 As shown, the following steps may be included:

[0121] Step S901: If the vehicle is currently in a driving state, obtain the state information of the traffic lights at the road intersection.

[0122] If the vehicle is in a driving state, the vehicle-mounted device can first obtain the status information of the traffic light at the road intersection sent by the roadside device. The status information of the traffic light can include whether to allow passage or not to allow passage, that is, the traffic light is red, green or yellow at the current moment. The red light does not allow passage, and the green or yellow light allows passage. The status information of the traffic light can also include the countdown of the red light, green light or yellow light. Since both the green light and the yellow light allow passage, the countdown of the yellow light is included in the countdown of the green light.

[0123] Step S902, determining a first distance from the current position of the vehicle to the road intersection.

[0124] For example, Fig.10 As shown, a stop line is set at the road intersection, and the first distance from the current position of the vehicle to the road intersection can be the distance from the current position of the vehicle to the stop line.

[0125] Step S903, determining whether the vehicle can maintain the current speed to pass through the road intersection based on the state information of the traffic light, the first distance and the current speed of the vehicle.

[0126] Specifically, the time t when the vehicle passes the stop line can be determined based on the first distance x and the current speed v of the vehicle. For example, the time t when the vehicle passes the stop line can be the ratio of the first distance x to the current speed v of the vehicle, that is, t=x / t.

[0127] After determining the time t when the vehicle passes the stop line, the state information of the traffic light can be determined. In some embodiments, if the current traffic light is in a red light state, the red light countdown is t_r, and t>t_r, it can be determined that the vehicle can pass the road intersection by maintaining the current speed. For example, if the red light countdown is 10s, and the time it takes for the vehicle to pass the stop line is 20s, it can be determined that the vehicle can pass the road intersection by maintaining the current speed.

[0128] In other embodiments, if the current traffic light is in green state, the green light countdown is t_g, and t<t_g, it can be determined that the vehicle can pass the road intersection by maintaining the current speed. For example, if the green light countdown is 30s, and the time for the vehicle to pass the stop line is 20s, it can be determined that the vehicle can pass the road intersection by maintaining the current speed.

[0129] Step S904: If the vehicle can maintain the current speed to pass through the road intersection, a candidate lane without an obstructing vehicle is used as a target lane.

[0130] The obstructing vehicle and the vehicle are located in the same lane, the second distance between the obstructing vehicle and the road intersection is smaller than the first distance, and the time it takes for the obstructing vehicle to pass through the road intersection is greater than the time it takes for the vehicle to pass through the road intersection.

[0131] For example, Fig.11 As shown, assuming that vehicles A and B are traveling in lane 1, and the second distance x_b between vehicle B and the road intersection is less than the first distance x_a between vehicle A and the road intersection, and the time t_b=x_b / v_b for vehicle B to pass through the road intersection is greater than the time t_a=x_a / v_a for vehicle A to pass through the road intersection, then it can be determined that vehicle B is an obstacle vehicle for vehicle A. At this time, the on-board equipment in vehicle A can use lane 2 as the target lane.

[0132] In other embodiments, a method for determining a candidate lane that takes the shortest time for a vehicle to pass through a road intersection starting from a current position as a target lane is as follows: Fig.12 As shown, the following steps may be included:

[0133] Step S1201, determining the lane with the least number of vehicles among the candidate lanes.

[0134] For example, Fig.13 As shown, assuming that the target traveling direction of vehicle A is straight ahead, lane 1 and lane 2 are both candidate lanes for vehicle A. Vehicle A can determine the number of vehicles on lane 1 and the number of vehicles on lane 2 by communicating with other vehicles. Furthermore, if the number of vehicles on lane 2 is less than the number of vehicles on lane 1, lane 1 can be determined as the lane with the least number of vehicles between lanes 1 and 2.

[0135] Step S1202: The lane with the least number of vehicles among the candidate lanes is selected as the target lane.

[0136] Considering that the lane with the least number of vehicles has a shorter travel time, in order to enable vehicle A to pass the road intersection more quickly, the on-board equipment can determine lane 2 as the target lane.

[0137] In another optional implementation, the method for determining the target lane is as follows: Fig.14 As shown, the following steps may be included:

[0138] Step S1401: If there are multiple candidate lanes, and there are a first candidate lane and a second candidate lane among the multiple candidate lanes, determine whether the target traveling direction of the vehicle is straight ahead.

[0139] The first candidate lane is a candidate lane that allows straight driving and turning, and the second candidate lane is a candidate lane that allows straight driving.

[0140] Step S1402: If the target traveling direction of the vehicle is straight ahead and the number of turning vehicles on the first candidate lane exceeds a first threshold, the second candidate lane is determined to be the target lane.

[0141] For example, Fig.15 As shown, assuming that the target travel direction of vehicle A is straight, lane 1 and lane 2 are both candidate lanes for vehicle A, lane 1 is a candidate lane that allows straight travel and turning, and lane 2 is a candidate lane that allows straight travel. If vehicle A communicates with other vehicles and determines that the number of turning vehicles on lane 1 exceeds the first threshold, for example, the first threshold may be 4. In view of the prior experience that the speed of turning vehicles is slower than that of straight vehicles, in order to enable vehicle A to pass through the road intersection more quickly, the on-board device may determine lane 2 as the target lane. Among them, the first threshold may be set according to the traffic conditions of the road intersection, and this application does not limit this.

[0142] In today's increasingly complex traffic environment, if a traffic accident occurs on the road, or there is high traffic volume during rush hours in the morning and evening, at some road intersections, vehicles may encounter serious congestion when traveling from the current lane to the next road. If they go to the next road in the direction corresponding to the current lane, it may take a lot of time.

[0143] In an optional implementation, if the first time required for the vehicle to travel from the current lane to the next road is greater than a second threshold, the time required for the vehicle to travel from each lane to the next road may be determined separately.

[0144] Among them, the second threshold can be set according to the traffic conditions at the road intersection, which is not limited in this application. For example, it can be 450s.

[0145] For example, Fig.16 As shown, assuming that the left-turn lane where vehicle A is currently located is severely congested, the on-board device can determine the first time required for vehicle A to travel from the current lane to the next road based on the countdown of the left-turn signal light and the current position of vehicle A. Assuming that the red light countdown of the left-turn signal light is 100 seconds and the green light countdown of the left-turn signal light is 20 seconds, if it is determined that vehicle A needs to wait for 4 rounds of red lights before passing through the intersection, it can be determined that the first time required for vehicle A to travel to the next road is [(100+20)×3+100]=460s. Assuming that the second threshold is 450s, and the first time 460s is greater than the second threshold 450s, the time required for vehicle A to travel from the straight lane and the right-turn lane to the next road can be determined respectively.

[0146] Further, if the difference between the first time and the second time required for the vehicle to travel from the fastest lane to the next road is greater than a third threshold, the indication information is output.

[0147] The fastest lane refers to the lane in which the time required for a vehicle to travel to the next road is the shortest among multiple lanes, and the indication information is used to instruct the vehicle to change to the fastest lane. The third threshold can be set according to the traffic conditions at the road intersection, which is not limited in this application, for example, it can be 240s.

[0148] Exemplarily, assuming that the time required for a vehicle to travel from the right-turn lane to the next road is the shortest, the right-turn lane can be determined to be the fastest lane. If the difference between the time required for the vehicle to travel from the right-turn lane to the next road at the first time is greater than the third threshold, the indication information can be output. For example, the third threshold can be 240s. Assuming that the time required for a vehicle to travel from the right-turn lane to the next road is 200s, it can be determined that the difference between the time required for the vehicle to travel from the right-turn lane to the next road at the first time, 460s-200s=260s, is greater than 240s, and the vehicle-mounted terminal can output indication information indicating that vehicle A changes to the right-turn lane, thereby saving travel time and alleviating traffic congestion.

[0149] Based on the same inventive concept, the present application also provides a vehicle driving assistance device, such as Fig.17 As shown, the vehicle driving assistance device includes:

[0150] The information collection unit 1701 is used to obtain lane information of the road intersection and the target travel direction of the vehicle when the vehicle enters the road intersection, wherein the lane information includes the positions of multiple lanes included in the road intersection and the driving rules of the multiple lanes, and the driving rules of any lane among the multiple lanes are used to indicate the allowed travel direction of the vehicle located in any lane;

[0151] The warning unit 1702 is used to determine the lane where the vehicle is currently located among the multiple lanes according to the positions of the multiple lanes and the current position of the vehicle;

[0152] If the driving rules of the lane the vehicle is currently in do not match the vehicle's target direction of travel, a warning message is issued that the vehicle is not driving in accordance with the lane driving rules.

[0153] In an optional implementation manner, the information collection unit 1701 is specifically configured to:

[0154] Determine the target direction of travel of the vehicle based on the lighting status of the vehicle's turn signal lamp; or,

[0155] The route information of the vehicle is obtained, and the target traveling direction of the vehicle is determined according to the route information of the vehicle.

[0156] In an optional implementation, the turn signal of the vehicle includes a left turn signal and a right turn signal, and the information collection unit 1701 is specifically used for:

[0157] If the left turn signal of the vehicle is on, it is determined that the target traveling direction of the vehicle is to turn left;

[0158] If the right turn signal of the vehicle is on, it is determined that the target traveling direction of the vehicle is to turn right;

[0159] If both the left turn signal lamp and the right turn signal lamp of the vehicle are not on, it is determined that the target traveling direction of the vehicle is straight traveling.

[0160] In an optional implementation, the route information of the vehicle includes route information of the vehicle traveling from the current position to the destination, and the information collection unit 1701 is specifically used to:

[0161] Determining a current road to which the current position of the vehicle belongs;

[0162] The next road adjacent to the current road and the corresponding travel direction of the vehicle from the current road to the next road are obtained from the route information, and the travel direction is used as the target travel direction of the vehicle.

[0163] In an optional embodiment, if Fig.18 As shown, the vehicle driving assistance device further includes an indication unit 1801, and the indication unit 1801 is used to:

[0164] Determine a candidate lane among multiple lanes, where the candidate lane refers to a lane whose driving rules match a target traveling direction of the vehicle;

[0165] A target lane is determined from the candidate lanes, and instruction information is output, where the instruction information is used to instruct the vehicle to change to the target lane.

[0166] In an optional implementation manner, the indicating unit 1801 is specifically configured to:

[0167] If there are multiple candidate lanes, the candidate lane with the shortest time for the vehicle to pass through the road intersection from the current position is determined as the target lane.

[0168] In an optional implementation manner, the indicating unit 1801 is specifically configured to:

[0169] If the vehicle is currently in a driving state, the state information of the traffic light at the road intersection is obtained, and the state information of the traffic light is whether the vehicle is allowed to pass or not allowed to pass;

[0170] determining a first distance from a current position of the vehicle to a road intersection;

[0171] Determining whether the vehicle can maintain the current speed to pass through the road intersection according to the state information of the traffic light, the first distance, and the current speed of the vehicle;

[0172] If the vehicle can maintain the current speed through the road intersection, the candidate lane without an obstructing vehicle will be used as the target lane, the obstructing vehicle and the vehicle are located in the same lane, the second distance between the obstructing vehicle and the road intersection is less than the first distance, and the time it takes for the obstructing vehicle to pass through the road intersection is greater than the time it takes for the vehicle to pass through the road intersection.

[0173] In an optional implementation manner, the indicating unit 1801 is specifically configured to:

[0174] If there are multiple candidate lanes, and there are a first candidate lane and a second candidate lane among the multiple candidate lanes, determine whether the target traveling direction of the vehicle is straight ahead, the first candidate lane is a candidate lane that allows straight ahead and turning, and the second candidate lane is a candidate lane that allows straight ahead;

[0175] If the target traveling direction of the vehicle is straight ahead, and the number of turning vehicles on the first candidate lane exceeds a first threshold, the second candidate lane is determined to be the target lane.

[0176] In an optional implementation manner, the indicating unit 1801 is specifically configured to:

[0177] If the first time required for the vehicle to travel from the current lane to the next road is greater than the second threshold, then determining the time required for the vehicle to travel from each lane to the next road respectively;

[0178] If the difference between the first time and the second time required for the vehicle to travel from the fastest lane to the next road is greater than a third threshold, an indication message is output. The fastest lane refers to a lane among multiple lanes in which the time required for the vehicle to travel to the next road is the shortest. The indication message is used to instruct the vehicle to change to the fastest lane.

[0179] An embodiment of the present application also provides a computer-readable storage medium, which stores computer-executable instructions. When the computer program is executed by a processor, it can be used to implement the method of assisting vehicle driving recorded in any embodiment of the present application.

[0180] In some possible implementations, various aspects of the method for assisting vehicle driving provided by the present application may also be implemented in the form of a program product, which includes program code. When the program product is run on a computer device, the program code is used to enable the computer device to execute the steps of the method for assisting vehicle driving according to various exemplary embodiments of the present application described above in this specification. For example, the computer device may execute the following steps: Figure 3 The process of the method for assisting vehicle driving is shown.

[0181] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0182] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0183] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0184] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0185] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A vehicle-mounted device, characterized in that: include: Display and processor; The processor is configured to: when the vehicle enters a road intersection, obtain lane information of the road intersection and a target travel direction of the vehicle; the lane information includes positions of a plurality of lanes included in the road intersection and driving rules of the plurality of lanes; the driving rule of any lane among the plurality of lanes is used to indicate a travel direction allowed for a vehicle located in any lane; Determining a lane in which the vehicle is currently located among the multiple lanes according to the positions of the multiple lanes and the current position of the vehicle; If the driving rules of the lane where the vehicle is currently located do not match the target driving direction of the vehicle, a warning message is issued indicating that the vehicle is not driving in accordance with the lane driving rules; The display is configured to display an interface of the vehicle-mounted device when it is in operation, and warning information that the vehicle does not follow lane driving rules.

2. The vehicle-mounted device according to claim 1, characterized in that: The processor is specifically configured to: Determining the target traveling direction of the vehicle according to the lighting state of the turn signal lamp of the vehicle; or, The route information of the vehicle is obtained, and the target traveling direction of the vehicle is determined according to the route information of the vehicle.

3. The vehicle-mounted device according to claim 2, characterized in that: The processor is specifically configured to: If the left turn signal of the vehicle is on, determining that the target traveling direction of the vehicle is a left turn; If the right turn signal of the vehicle is on, determining that the target traveling direction of the vehicle is a right turn; If the left turn signal lamp and the right turn signal lamp of the vehicle are both off, it is determined that the target traveling direction of the vehicle is straight traveling.

4. The vehicle-mounted device according to claim 2, characterized in that: The processor is specifically configured to: Determining a current road to which the current position of the vehicle belongs; A next road adjacent to the current road and a travel direction corresponding to the vehicle traveling from the current road to the next road are obtained from the route information, and the travel direction is used as a target travel direction of the vehicle.

5. The vehicle-mounted device according to claim 1, characterized in that: The processor is further configured to: Determining a candidate lane among the multiple lanes; the candidate lane refers to a lane whose driving rules match the target traveling direction of the vehicle; Determine a target lane from the candidate lanes and output indication information; The instruction information is used to instruct the vehicle to change to the target lane.

6. The vehicle-mounted device according to claim 5, characterized in that: The processor is specifically configured to: If there are multiple candidate lanes, the candidate lane among the multiple candidate lanes, in which the vehicle takes the shortest time to pass through the road intersection from the current position, is determined as the target lane.

7. The vehicle-mounted device according to claim 6, characterized in that: The processor is specifically configured to: If the vehicle is currently in a driving state, obtaining status information of a traffic light at the road intersection; the status information of the traffic light is whether passage is allowed or not allowed; determining a first distance from a current position of the vehicle to the road intersection; Determining whether the vehicle can maintain the current speed to pass through the road intersection according to the state information of the traffic light, the first distance, and the current speed of the vehicle; If the vehicle can maintain the current speed through the road intersection, the candidate lane without an obstacle vehicle is used as the target lane; the obstacle vehicle and the vehicle are located in the same lane, and the second distance between the obstacle vehicle and the road intersection is less than the first distance, and the time it takes for the obstacle vehicle to pass through the road intersection is greater than the time it takes for the vehicle to pass through the road intersection.

8. The vehicle-mounted device according to claim 5, characterized in that: The processor is specifically configured to: If there are multiple candidate lanes, and there are a first candidate lane and a second candidate lane among the multiple candidate lanes, determining whether the target traveling direction of the vehicle is straight ahead; The first candidate lane is a candidate lane that allows straight driving and turning, and the second candidate lane is a candidate lane that allows straight driving; If the target traveling direction of the vehicle is straight ahead, and the number of turning vehicles on the first candidate lane exceeds a first threshold, the second candidate lane is determined to be the target lane.

9. The vehicle-mounted device according to claim 1, characterized in that: The processor is further configured to: If the first time required for the vehicle to travel from the current lane to the next road is greater than the second threshold, determining the time required for the vehicle to travel from each lane to the next road respectively; If the difference between the first time and the second time required for the vehicle to travel from the fastest lane to the next road is greater than a third threshold, outputting an indication message; The fastest lane refers to the lane among the multiple lanes in which the time required for the vehicle to travel to the next road is the shortest; The instruction information is used to instruct the vehicle to change to the fastest lane.

10. A method for assisting vehicle driving, characterized in that: Applied to an on-vehicle device, the on-vehicle device is arranged on a vehicle, and the method comprises: When the vehicle enters a road intersection, the lane information of the road intersection and the target travel direction of the vehicle are obtained; the lane information includes the positions of multiple lanes included in the road intersection and the driving rules of the multiple lanes; the driving rules of any lane in the multiple lanes are used to indicate the allowed travel direction of the vehicle located in any lane; Determining a lane in which the vehicle is currently located among the multiple lanes according to the positions of the multiple lanes and the current position of the vehicle; If the driving rules of the lane in which the vehicle is currently located do not match the target traveling direction of the vehicle, a warning message is issued indicating that the vehicle is not driving in accordance with the lane driving rules.

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