Auxiliary driving method and system and vehicle

Abstract

The embodiment of the invention provides an auxiliary driving method and system and a vehicle, and relates to the technical field of automotive electronics, and the method comprises the steps: obtaining the color information of a signal lamp located at a target intersection and the remaining time information of the signal lamp when the vehicle enters a buffer area of the target intersection, if yes, real-time vehicle speed information and first distance information of the vehicle are obtained, and the first distance information is the distance from the vehicle to the signal lamp; when the color information of the signal lamp changes from green to yellow, if the ratio of the first distance information to the real-time vehicle speed information is larger than or equal to the preset second number, speed reduction reminding is triggered. Therefore, when the signal lamp does not display the remaining time and the color of the signal lamp is changed from green to yellow, whether the driver can pass through the intersection at the real-time vehicle speed or not is judged, and if not, the driver is assisted to make timely speed reduction, so that the driving decision making speed and accuracy of the driver are improved, and the driving safety of the driver is ensured.

Description

Technical Field

[0001] The present application relates to the field of automotive electronic technology, and in particular to an assisted driving method, system and vehicle. Background Art

[0002] When driving, the driver needs to quickly and accurately judge the remaining time of the traffic light in order to pass the intersection in time and reduce the risk of traffic accidents. As urban traffic becomes increasingly busy, the remaining time of the traffic light is more important to the driver.

[0003] In related technologies, the lane in which the vehicle is located, the color of the traffic light in the current lane and the remaining time can be identified by a camera, or the color of the traffic light in the current lane and the remaining time can be obtained through a built-in traffic light timing database, thereby providing the driver with a basis for decision-making to ensure that the driver can pass the intersection safely.

[0004] However, in real life, not all traffic lights at intersections display seconds, and not all traffic lights can upload the remaining time to the database. This means that on some roads, drivers cannot obtain the accurate remaining time of traffic lights, thereby reducing the speed and accuracy of driving decisions, and even exposing drivers to higher driving risks. Summary of the invention

[0005] Based on the above problems, the present application provides an assisted driving method, system and vehicle, which can improve the speed and accuracy of the driver's driving decision-making.

[0006] The embodiments of the present application disclose the following technical solutions:

[0007] In a first aspect, the present application discloses an assisted driving method, the method comprising:

[0008] If the vehicle enters the buffer zone of the target intersection and the color information of the traffic light at the target intersection can be obtained but the remaining time information of the traffic light cannot be obtained, then the real-time speed information and the first distance information of the vehicle are obtained, where the first distance information is the distance from the vehicle to the traffic light;

[0009] When the color information of the signal light changes from green to yellow, if the ratio of the first distance information to the real-time vehicle speed information is greater than or equal to a preset number of seconds, a speed reduction reminder is triggered.

[0010] Optionally, after acquiring the real-time vehicle speed information and the first distance information of the vehicle, the method further includes:

[0011] When the color information of the signal light changes from green to yellow, if the ratio of the first distance information to the real-time vehicle speed information is less than or equal to a preset number of seconds, a passage reminder is triggered.

[0012] Optionally, after acquiring the real-time speed information of the vehicle, the method further includes:

[0013] If the real-time vehicle speed information is greater than or equal to the safe vehicle speed, a speed reduction reminder is triggered, and the safe vehicle speed is positively correlated with the first distance information.

[0014] Optionally, the method further comprises:

[0015] If the vehicle cannot obtain the color information of the traffic light at the target intersection and the remaining time information of the traffic light when entering the buffer zone of the target intersection, then the real-time speed information of the vehicle and the first distance information are obtained;

[0016] If the first distance information indicates that the vehicle has passed the stop line of the target intersection, the real-time vehicle speed information of the vehicle is controlled to be lower than a maximum vehicle speed threshold.

[0017] Optionally, after controlling the real-time vehicle speed information of the vehicle to be lower than a maximum vehicle speed threshold, the method further includes:

[0018] Acquire second distance information of the vehicle, where the second distance information is the distance from the vehicle to an obstacle located in front of the vehicle;

[0019] If the second distance information is lower than the maximum obstacle distance threshold, a speed reduction reminder is triggered.

[0020] Optionally, after acquiring the real-time vehicle speed information and the first distance information, the method further includes:

[0021] If the first distance information indicates that the vehicle has not passed the stop line of the target intersection, and the real-time vehicle speed information is greater than or equal to the maximum vehicle speed threshold, a speed reduction reminder is triggered.

[0022] Optionally, the method further comprises:

[0023] If the vehicle enters the buffer zone of the target intersection, the color information of the traffic light at the target intersection and the remaining time information of the traffic light can be obtained, then the real-time speed information of the vehicle, the first distance information and the second distance information are obtained;

[0024] Acquiring minimum vehicle speed information according to the first distance information and the remaining time information;

[0025] If the real-time vehicle speed information is lower than the minimum vehicle speed information, and the second distance information is less than or equal to the safety distance, a speed reduction reminder is triggered, and the safety distance is in direct proportion to the real-time vehicle speed information.

[0026] Optionally, after acquiring the minimum vehicle speed information, the method further includes:

[0027] If the real-time vehicle speed information is lower than the minimum vehicle speed information, and the second distance information is greater than the safety distance, a speed-up reminder is triggered.

[0028] In a second aspect, the present application discloses an assisted driving system, the system comprising: a first acquisition module and a first reminder module;

[0029] The first acquisition module is used to acquire the real-time speed information and first distance information of the vehicle if the vehicle can acquire the color information of the traffic light at the target intersection but cannot acquire the remaining time information of the traffic light when the vehicle enters the buffer zone of the target intersection, wherein the first distance information is the distance from the vehicle to the traffic light;

[0030] The first reminder module is used to trigger a speed reduction reminder when the color information of the signal light changes from green to yellow if the ratio of the first distance information to the real-time vehicle speed information is greater than or equal to a preset number of seconds.

[0031] Optionally, the system further includes: a second reminder module;

[0032] The second reminder module is used to trigger a traffic reminder when the color information of the traffic light changes from green to yellow if the ratio of the first distance information to the real-time vehicle speed information is less than or equal to a preset number of seconds.

[0033] Optionally, the system further comprises: a third reminder module;

[0034] The third reminder module is used to trigger a speed reduction reminder if the real-time vehicle speed information is greater than or equal to a safe vehicle speed, and the safe vehicle speed is positively correlated with the first distance information.

[0035] Optionally, the system further includes: a second acquisition module and a first control module;

[0036] The second acquisition module is used to acquire the real-time speed information of the vehicle and the first distance information if the color information of the traffic light at the target intersection and the remaining time information of the traffic light cannot be acquired when the vehicle enters the buffer zone of the target intersection;

[0037] The first control module is used to control the real-time vehicle speed information of the vehicle to be lower than a maximum vehicle speed threshold if the first distance information indicates that the vehicle has passed the stop line of the target intersection.

[0038] Optionally, the system further includes: a third acquisition module and a fourth reminder module;

[0039] The third acquisition module is used to acquire second distance information of the vehicle, where the second distance information is the distance from the vehicle to an obstacle located in front of the vehicle;

[0040] The fourth reminder module is used to trigger a speed reduction reminder if the second distance information is lower than a maximum obstacle distance threshold.

[0041] Optionally, the system further comprises: a fifth reminder module;

[0042] The fifth reminder module is used to trigger a speed reduction reminder if the first distance information indicates that the vehicle has not passed the stop line of the target intersection and the real-time vehicle speed information is greater than or equal to the maximum vehicle speed threshold.

[0043] Optionally, the system further includes: a fourth acquisition module, a fifth acquisition module and a sixth reminder module;

[0044] The fourth acquisition module is used to acquire the real-time speed information of the vehicle, the first distance information and the second distance information if the vehicle enters the buffer zone of the target intersection and the color information of the traffic light at the target intersection and the remaining time information of the traffic light can be acquired;

[0045] The fifth acquisition module is used to acquire minimum vehicle speed information according to the first distance information and the remaining time information;

[0046] The sixth reminder module is used to trigger a speed reduction reminder if the real-time vehicle speed information is lower than the minimum vehicle speed information and the second distance information is less than or equal to the safety distance, and the safety distance is in direct proportion to the real-time vehicle speed information.

[0047] Optionally, the system further comprises: a seventh reminder module;

[0048] The seventh reminder module is used to trigger a speed-up reminder if the real-time vehicle speed information is lower than the minimum vehicle speed information and the second distance information is greater than a safety distance.

[0049] In a third aspect, the present application discloses a vehicle, which includes the assisted driving system as described in the second aspect.

[0050] Compared with the prior art, this application has the following beneficial effects:

[0051] The present application provides an assisted driving method, system and vehicle, the method comprising: if the vehicle can obtain the color information of the traffic light at the target intersection but cannot obtain the remaining time information of the traffic light when entering the buffer zone of the target intersection, then obtain the real-time speed information and the first distance information of the vehicle, the first distance information being the distance from the vehicle to the traffic light; when the color information of the traffic light changes from green to yellow, if the ratio of the first distance information to the real-time speed information is greater than or equal to a preset number of seconds, then trigger a speed reduction reminder. Thus, when the traffic light does not display the remaining time and the color of the traffic light changes from green to yellow, it is determined whether the driver can pass through the intersection at the real-time speed. If not, the driver is assisted to make a timely speed reduction, thereby improving the speed and accuracy of the driver's driving decision-making and ensuring the driver's driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, 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.

[0053] Figure 1 A flowchart of an assisted driving method provided in an embodiment of the present application;

[0054] Figure 2 A schematic diagram of a vehicle provided in an embodiment of the present application;

[0055] Figure 3 A schematic diagram of an assisted driving system provided in an embodiment of the present application;

[0056] Figure 4 A schematic diagram of another assisted driving system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] As described above, the vehicle's lane, the color of the traffic light in the current lane, and the remaining time can be identified by the camera, or the color of the traffic light in the current lane and the remaining time can be obtained through the built-in traffic light timing database, thereby providing the driver with a basis for decision-making to ensure that the driver can pass the intersection safely.

[0058] Although the relevant technology can help drivers judge the status of traffic lights to a certain extent, the general applicability of this solution is not strong. This is because not all traffic lights at intersections have seconds displayed, not all traffic lights can upload the remaining time to the database, and this technology does not take into account the occasional failure of traffic lights. This means that at certain specific times or on certain specific sections of the road, the driver cannot obtain the accurate remaining time of the traffic light, and thus cannot accurately judge whether he can pass the intersection, thereby reducing the timeliness and accuracy of driving decisions, and even exposing the driver to higher driving risks, posing a hidden danger to the life safety and property of the people in the car.

[0059] After research, the inventor proposed an assisted driving method, system and vehicle, which includes: if the vehicle can obtain the color information of the traffic light at the target intersection but cannot obtain the remaining time information of the traffic light when entering the buffer zone of the target intersection, then obtain the real-time speed information and the first distance information of the vehicle, and the first distance information is the distance from the vehicle to the traffic light; when the color information of the traffic light changes from green to yellow, if the ratio of the first distance information to the real-time speed information is greater than or equal to the preset number of seconds, then trigger a speed reduction reminder. Therefore, when the traffic light does not display the remaining time and the color of the traffic light changes from green to yellow, it is judged whether the driver can pass the intersection at the real-time speed. If not, the driver is assisted to make a timely speed reduction, thereby improving the speed and accuracy of the driver's driving decision-making and ensuring the driver's driving safety.

[0060] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0061] See also Figure 1 , which is a flow chart of an assisted driving method provided by an embodiment of the present application. The method includes:

[0062] S101: When a vehicle enters a buffer zone at an intersection, it is determined whether the color information and the remaining time information of the traffic light can be obtained.

[0063] An intersection buffer zone is a specific area set up within an intersection to ensure that vehicles can safely slow down, observe traffic conditions, and make correct driving decisions when approaching an intersection. An intersection buffer zone is usually located near the stop line, for example, within ten meters of the stop line of the intersection. This application does not limit the specific scope of the intersection buffer zone.

[0064] See also Figure 2 , which is a schematic diagram of a vehicle provided in an embodiment of the present application. When the vehicle 200 enters the buffer zone of the intersection, the color information (red, yellow, green) and the remaining time information of the signal light can be obtained through the camera 202 set at the front of the vehicle 200, and the color information and the remaining time information are sent back to the main control module 201 of the vehicle 200. If the color information of the signal light and the remaining time information can be obtained, step S102 is executed, that is, the auxiliary state with controllable seconds is entered. If the color information of the signal light and the remaining time information cannot be obtained, step S108 is executed, that is, the emergency auxiliary state without indicator light is entered. If the color information of the signal light can be obtained but the remaining time information cannot be obtained, step S113 is executed, that is, the emergency auxiliary state without seconds is entered.

[0065] S102: Acquire the real-time vehicle speed information, vehicle-signal light distance information, and vehicle-front vehicle distance information.

[0066] like Figure 2 As shown, the real-time vehicle speed information, vehicle-signal light distance information and vehicle-front vehicle distance information of the vehicle can be obtained through the GPS 203 provided in the vehicle 200 or the infrared ranging sensor 204 provided at the front position of the vehicle.

[0067] S103: Acquire minimum vehicle speed information required for the vehicle to pass the traffic light according to the vehicle-traffic light distance information and the remaining time information.

[0068] If a vehicle wants to pass the traffic light before the green light turns red, its speed should be at least the ratio of the vehicle-traffic light distance information to the remaining time information. Specifically, the minimum speed information V required for the vehicle to pass the traffic light can be calculated by the following formula (1): min :

[0069] V min =D cl / t left (1)

[0070] Among them, V min is the minimum vehicle speed information, D cl is the vehicle-signal light distance information, t left Remaining time information.

[0071] S104: Determine whether the real-time vehicle speed information is less than the minimum vehicle speed information. If not, execute step S103. If yes, execute step S105.

[0072] If the real-time vehicle speed information V real Greater than or equal to the minimum vehicle speed information V min, then the vehicle travels with the real-time vehicle speed information, which can meet the requirement of passing the traffic light before the green light turns red, while maintaining smooth traffic. Therefore, step S103 can be continued.

[0073] If the real-time vehicle speed information V real Less than the minimum vehicle speed information V min , which means that the current speed of the vehicle is not enough to pass the traffic light before the green light turns red, or even if it can pass, it will be traveling at too low a speed, which may affect traffic flow and safety. Therefore, it is necessary to continue to perform step S105.

[0074] S105: Determine whether the vehicle-front vehicle distance information is greater than the safety distance. If so, execute step S106; if not, execute step S107.

[0075] The safety distance is used to ensure that the vehicle has enough space to deal with emergencies during driving, such as sudden braking or emergency lane changes of the vehicle in front. The safety distance is information associated with the real-time speed information of the vehicle. Generally, the safety distance is directly proportional to the real-time speed information of the vehicle. This is because when the vehicle speed increases, the required braking distance will also increase, so a larger safety distance must be maintained to ensure safety. Exemplarily, if the vehicle speed reaches 50km / h (kilometers per hour), the safety distance may be 50m (meters). If the vehicle speed reaches 100km / h, the safety distance may be 100m. This application does not limit the specific safety distance.

[0076] If the vehicle-front vehicle distance information D cc Greater than the safety distance, which means that the distance between the vehicle and the vehicle in front exceeds the safety distance required for the current vehicle speed, and the vehicle has enough space to deal with emergencies, so step S106 is executed.

[0077] If the vehicle-front vehicle distance information D cc If the distance between the vehicle and the vehicle ahead is less than or equal to the safety distance, it means that the distance between the vehicle and the vehicle ahead is insufficient, and there may be a safety risk. In this case, it is necessary to perform step S107.

[0078] S106: Triggering a speed-up reminder.

[0079] In real-time vehicle speed information V real Less than the minimum vehicle speed information V min (i.e., the vehicle speed is low), and the vehicle-front vehicle distance information D cc When the speed is greater than the safe distance (i.e. maintaining a sufficient safe distance), a speed-up reminder will be triggered. This is because speeding up can improve traffic efficiency and reduce unnecessary delays.

[0080] like Figure 2As shown, the speed-up voice reminder can be provided through the speech synthesis module 205 of the vehicle 200 .

[0081] S107: Triggering a speed reduction reminder.

[0082] In real-time vehicle speed information V real Less than the minimum vehicle speed information V min , and the vehicle-front vehicle distance information D cc If the speed is less than or equal to the safety distance (i.e., the safety distance is not maintained sufficiently), a speed reduction reminder will be triggered.

[0083] like Figure 2 As shown, the speech synthesis module 205 of the vehicle 200 can be used to give a voice reminder to slow down, and / or the brake 206 can be controlled to brake.

[0084] S108: Triggering a no-display reminder.

[0085] If the vehicle cannot obtain the color information and remaining time information of the traffic light, then a no-display reminder is triggered. In some specific implementations, the no-display reminder refers to a voice reminder through the vehicle's voice synthesis module, informing the driver that there is no traffic light display at the intersection ahead and reminding the driver to slow down. At the same time, in response to the no-display reminder, the vehicle's double flash lights can be controlled to turn on to remind surrounding vehicles to pay attention to avoid.

[0086] S109: Acquire the real-time vehicle speed information, vehicle-stop line distance information, and vehicle-obstacle distance information of the vehicle.

[0087] Among them, obstacles refer to obstacles such as other vehicles and pedestrians in front of the vehicle.

[0088] S110: Determine whether the vehicle has passed the stop line based on the vehicle-stop line distance information. If not, execute S111; if yes, execute S112.

[0089] In some specific implementations, the distance information of the vehicle-stop line can be directly obtained, and according to the positive and negative of the distance information of the vehicle-stop line, it is judged whether the vehicle has passed the stop line. Exemplarily, if the distance information of the vehicle-stop line is positive, it indicates that the vehicle has not passed the stop line. If the distance information of the vehicle-stop line is negative, it indicates that the vehicle has passed the stop line.

[0090] In some other specific implementations, the vehicle-signal light distance information may also be obtained, and based on the vehicle-signal light distance information, it is determined whether the vehicle has passed the stop line. Generally speaking, the distance between the signal light and the stop line is at most 50 meters. Therefore, if the obtained vehicle-signal light distance information is greater than 50 meters, it indicates that the vehicle has not passed the stop line; if the obtained vehicle-signal light distance information is less than or equal to 50 meters, it indicates that the vehicle has passed the stop line.

[0091] S111: Determine whether the real-time vehicle speed information is lower than the maximum vehicle speed threshold. If yes, execute S107; if no, execute S109.

[0092] At intersections without traffic lights, in order to prevent the sudden appearance of crossing vehicles and pedestrians, it is necessary to ensure that the speed of the vehicle reaching the stop line is lower than the maximum speed threshold (usually set to 20km / h). In other words, if the real-time speed information is lower than 20km / h, continue to maintain the current speed and execute step S109; if the real-time speed information is higher than or equal to 20km / h, it is necessary to trigger a deceleration reminder.

[0093] S112: While controlling the real-time vehicle speed information of the vehicle to be lower than the maximum vehicle speed threshold, determine whether the vehicle-obstacle distance information is less than the maximum obstacle threshold. If so, execute S107.

[0094] If the vehicle has passed the stop line, it will try to control the speed to below 20km / h. While controlling the speed, it will also check the distance between the vehicle and the obstacle in front. If the distance is less than the maximum obstacle distance threshold (usually set to 10m), a deceleration reminder needs to be triggered.

[0095] In this way, it is possible to deal with occasional traffic light damage, control the speed of vehicles reaching the stop line and crossing the stop line to enter the intersection, ensure that drivers can pass safely without indicator lights, and avoid situations where there is no time to brake when vehicles suddenly cross the road.

[0096] S113: Acquire the real-time vehicle speed information, vehicle-signal light distance information, and vehicle-front vehicle distance information.

[0097] Step S113 is similar to step S102 and will not be described in detail here.

[0098] S114: Determine whether the real-time vehicle speed information is less than the safe vehicle speed. If so, execute S115; if not, execute S107.

[0099] During driving, the driver needs to drive at a speed lower than the safe speed and keep a sufficient distance from the vehicle in front so that he can stop in time when braking is needed. The safe speed is usually determined by factors such as vehicle speed, braking distance, road conditions and vehicle braking performance. This application does not limit the specific safe speed.

[0100] S115: Determine whether the traffic light has turned yellow. If not, execute S113; if yes, execute S116.

[0101] If the camera 202 of the vehicle 200 detects that the color information of the traffic light is still green, step S116 is executed; if the color information of the traffic light has changed from green to yellow, step S116 is executed.

[0102] S116: Determine whether the vehicle can pass the stop line with the real-time vehicle speed information. If yes, execute S117; if no, execute S107.

[0103] In some specific implementations, the method for determining whether the vehicle can pass the stop line at the real-time speed information may be: determining whether the ratio of the first distance information to the real-time speed information is greater than or equal to a preset number of seconds (usually 3 seconds). If so, it indicates that the vehicle cannot pass the stop line at the real-time speed and needs to trigger a speed reduction reminder to avoid crossing the stop line when the red light is on; if not, it indicates that the vehicle can pass the stop line at the real-time speed.

[0104] S117: Triggering a passage prompt.

[0105] To summarize, the embodiment of the present application provides an assisted driving method, which provides three response modes according to the traffic light display conditions. In particular, for the conditions where the traffic light passing time cannot be controlled and the traffic light indicator light is damaged, the method calculates the safe braking speed, distance detection, and voice reminders in real time, performs auxiliary braking when necessary, and promptly reminds the driver to take response measures, assisting in the safe passage of traffic lights and ensuring the safety of people in the car to the greatest extent.

[0106] See also Figure 3 , which is a schematic diagram of an assisted driving system provided in an embodiment of the present application. The assisted driving system 300 includes: a first acquisition module 301 and a first reminder module 302;

[0107] The first acquisition module 301 is used to acquire the real-time speed information and first distance information of the vehicle if the vehicle enters the buffer zone of the target intersection and the color information of the traffic light at the target intersection can be acquired but the remaining time information of the traffic light cannot be acquired. The first distance information is the distance from the vehicle to the traffic light;

[0108] The first reminder module 302 is used to trigger a speed reduction reminder when the color information of the traffic light changes from green to yellow if the ratio of the first distance information to the real-time vehicle speed information is greater than or equal to a preset number of seconds.

[0109] See also Figure 4 , which is a schematic diagram of another assisted driving system provided in an embodiment of the present application. The assisted driving system 300 includes not only the first acquisition module 301 and the first reminder module 302 mentioned above, but also includes the following modules:

[0110] In some specific implementations, the assisted driving system 300 further includes: a second reminder module 303;

[0111] The second reminder module 303 is used to trigger a traffic reminder when the color information of the traffic light changes from green to yellow if the ratio of the first distance information to the real-time vehicle speed information is less than or equal to a preset number of seconds.

[0112] In some specific implementations, the assisted driving system 300 further includes: a third reminder module 304;

[0113] The third reminder module 304 is used to trigger a speed reduction reminder if the real-time vehicle speed information is greater than or equal to the safe vehicle speed, and the safe vehicle speed is positively correlated with the first distance information.

[0114] In some specific implementations, the assisted driving system 300 further includes: a second acquisition module 305 and a first control module 306;

[0115] The second acquisition module 305 is used to acquire the real-time speed information and the first distance information of the vehicle if the color information of the traffic light at the target intersection and the remaining time information of the traffic light cannot be acquired when the vehicle enters the buffer zone of the target intersection;

[0116] The first control module 306 is configured to control the real-time vehicle speed information of the vehicle to be lower than a maximum vehicle speed threshold if the first distance information indicates that the vehicle has passed the stop line of the target intersection.

[0117] In some specific implementations, the assisted driving system 300 further includes: a third acquisition module 307 and a fourth reminder module 308;

[0118] The third acquisition module 307 is used to acquire second distance information of the vehicle, where the second distance information is the distance from the vehicle to an obstacle located in front of the vehicle;

[0119] The fourth reminder module 308 is configured to trigger a speed reduction reminder if the second distance information is lower than a maximum obstacle distance threshold.

[0120] In some specific implementations, the assisted driving system 300 further includes: a fifth reminder module 309;

[0121] The fifth reminder module 309 is configured to trigger a speed reduction reminder if the first distance information indicates that the vehicle has not passed the stop line of the target intersection and the real-time vehicle speed information is greater than or equal to the maximum vehicle speed threshold.

[0122] In some specific implementations, the assisted driving system 300 further includes: a fourth acquisition module 310, a fifth acquisition module 311 and a sixth reminder module 312;

[0123] The fourth acquisition module 310 is used to acquire the real-time vehicle speed information, the first distance information and the second distance information of the vehicle if the vehicle enters the buffer zone of the target intersection and the color information of the traffic light at the target intersection and the remaining time information of the traffic light can be acquired;

[0124] A fifth acquisition module 311 is used to acquire minimum vehicle speed information according to the first distance information and the remaining time information;

[0125] The sixth reminder module 312 is used to trigger a speed reduction reminder if the real-time vehicle speed information is lower than the minimum vehicle speed information and the second distance information is less than or equal to the safety distance, and the safety distance is in direct proportion to the real-time vehicle speed information.

[0126] In some specific implementations, the auxiliary driving system 300 further includes: a seventh reminder module 313;

[0127] The seventh reminder module 313 is used to trigger a speed-up reminder if the real-time vehicle speed information is lower than the minimum vehicle speed information and the second distance information is greater than the safety distance.

[0128] To summarize, the embodiment of the present application provides an assisted driving system, which provides three response modes according to the traffic light display. In particular, for the situation where the traffic light passing time cannot be controlled and the traffic light indicator light is damaged, the system calculates the safe braking speed, distance detection, voice reminders in real time, and performs auxiliary braking when necessary, promptly reminds the driver to take response measures, and assists in safe passage of traffic lights, thereby ensuring the safety of people in the car to the greatest extent.

[0129] Correspondingly, the present application also discloses a vehicle, including the assisted driving system as introduced in the aforementioned embodiments.

[0130] A vehicle provided in an embodiment of the present application has the beneficial effects of the assisted driving system introduced above, that is, it can provide three response modes according to the traffic light display situation, especially for the situation where the traffic light passing time cannot be controlled and the traffic light indicator light is damaged, the safe braking speed, distance detection, voice reminder, and auxiliary braking are calculated in real time, and the driver is reminded to take response measures in time to assist in the safe passage of traffic lights, thereby ensuring the safety of people in the car to the greatest extent.

[0131] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same and similar parts between the various embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the method and vehicle embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiments. The method and vehicle described above are merely schematic, in which the units described as separate components may or may not be physically separated, and the components indicated as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without creative work.

[0132] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A driving assistance method, characterized in that: The method comprises: If the vehicle enters the buffer zone of the target intersection and the color information of the traffic light at the target intersection can be obtained but the remaining time information of the traffic light cannot be obtained, then the real-time speed information and the first distance information of the vehicle are obtained, where the first distance information is the distance from the vehicle to the traffic light; When the color information of the signal light changes from green to yellow, if the ratio of the first distance information to the real-time vehicle speed information is greater than or equal to a preset number of seconds, a speed reduction reminder is triggered.

2. The method according to claim 1, characterized in that After acquiring the real-time vehicle speed information and the first distance information of the vehicle, the method further includes: When the color information of the signal light changes from green to yellow, if the ratio of the first distance information to the real-time vehicle speed information is less than or equal to a preset number of seconds, a passage reminder is triggered.

3. The method according to claim 1, characterized in that After acquiring the real-time speed information of the vehicle, the method further includes: If the real-time vehicle speed information is greater than or equal to the safe vehicle speed, a speed reduction reminder is triggered, and the safe vehicle speed is positively correlated with the first distance information.

4. The method according to claim 1, characterized in that: The method further comprises: If the vehicle cannot obtain the color information of the traffic light at the target intersection and the remaining time information of the traffic light when entering the buffer zone of the target intersection, then the real-time speed information of the vehicle and the first distance information are obtained; If the first distance information indicates that the vehicle has passed the stop line of the target intersection, the real-time vehicle speed information of the vehicle is controlled to be lower than a maximum vehicle speed threshold.

5. The method according to claim 4, characterized in that After controlling the real-time vehicle speed information of the vehicle to be lower than a maximum vehicle speed threshold, the method further includes: Acquire second distance information of the vehicle, where the second distance information is the distance from the vehicle to an obstacle located in front of the vehicle; If the second distance information is lower than the maximum obstacle distance threshold, a speed reduction reminder is triggered.

6. The method according to claim 5, characterized in that After acquiring the real-time vehicle speed information and the first distance information, the method further includes: If the first distance information indicates that the vehicle has not passed the stop line of the target intersection, and the real-time vehicle speed information is greater than or equal to the maximum vehicle speed threshold, a speed reduction reminder is triggered.

7. The method according to claim 6, characterized in that The method further comprises: If the vehicle enters the buffer zone of the target intersection, the color information of the traffic light at the target intersection and the remaining time information of the traffic light can be obtained, then the real-time speed information of the vehicle, the first distance information and the second distance information are obtained; Acquiring minimum vehicle speed information according to the first distance information and the remaining time information; If the real-time vehicle speed information is lower than the minimum vehicle speed information, and the second distance information is less than or equal to the safety distance, a speed reduction reminder is triggered, and the safety distance is in direct proportion to the real-time vehicle speed information.

8. The method according to claim 7, characterized in that After obtaining the minimum vehicle speed information, the method further includes: If the real-time vehicle speed information is lower than the minimum vehicle speed information, and the second distance information is greater than the safety distance, a speed-up reminder is triggered.

9. A driving assistance system, characterized in that: The system comprises: a first acquisition module and a first reminder module; The first acquisition module is used to acquire the real-time speed information and first distance information of the vehicle if the vehicle can acquire the color information of the traffic light at the target intersection but cannot acquire the remaining time information of the traffic light when the vehicle enters the buffer zone of the target intersection, wherein the first distance information is the distance from the vehicle to the traffic light; The first reminder module is used to trigger a speed reduction reminder when the color information of the signal light changes from green to yellow if the ratio of the first distance information to the real-time vehicle speed information is greater than or equal to a preset number of seconds.

10. A vehicle, characterized in that: The vehicle includes the assisted driving system as claimed in claim 9.

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