Intelligent driving assistance method and intelligent driving assistance system

Abstract

The invention relates to the technical field of intelligent driving, and discloses an intelligent driving assistance method and an intelligent driving assistance system, and the method comprises the steps: obtaining environment data and state data of a vehicle; performing data processing and analysis on the environment data to obtain target data; determining a response distance of the vehicle and a braking distance of the vehicle based on the state data; determining the braking distance of the front vehicle based on the related data of the front vehicle in the target data; based on the response distance of the vehicle, the braking distance of the vehicle and the braking distance of the front vehicle, the driving safety distance of the vehicle is determined; in response to the fact that the driving safety distance of the vehicle is smaller than the inter-vehicle safety distance, intelligent driving auxiliary operation is executed; the intelligent driving auxiliary operation comprises the steps of presenting the first early warning information and / or executing the first braking intervention, the vehicle can keep a better vehicle distance with the front vehicle in the driving process, the safety and reliability in the vehicle driving process are improved, and traffic accidents are reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent driving technology, and in particular to an intelligent driving assistance method and an intelligent driving assistance system. Background Art

[0002] With the advent of the intelligent era, intelligent driving technology has been increasingly studied. In order to assist driving, a variety of sensors are installed on vehicles, such as cameras, radars, lidars, and ultrasonic sensors. These sensors are used to detect the positional relationship between the vehicle and surrounding objects, monitor the environment around the vehicle in real time, and warn the driver when necessary, improving driving safety and convenience.

[0003] In related technologies, the intelligent driving assistance system of a vehicle can consider factors that may cause a collision to ensure that the vehicle can stop in time in an emergency to avoid a collision, such as calculating the safe driving distance by considering a fixed time or a fixed distance.

[0004] However, the intelligent driving assistance system in the related technology considers relatively single factors and is difficult to adapt to the real-time driving status. The safety and reliability of the vehicle during driving are low. Therefore, how to improve the safety and reliability of the vehicle during driving has become an urgent problem to be solved. Summary of the invention

[0005] In view of this, the present disclosure provides an intelligent driving assistance method and an intelligent driving assistance system to solve the problem of how to improve the safety and reliability of vehicle driving.

[0006] In a first aspect, the present disclosure provides an intelligent driving assistance method, comprising: acquiring environmental data and status data of a vehicle; performing data processing and analysis on the environmental data to obtain target data; determining a reaction distance of the vehicle and a braking distance of the vehicle based on the status data; determining a braking distance of the vehicle in front based on relevant data of the vehicle in front in the target data; determining a safe driving distance of the vehicle based on the reaction distance of the vehicle, the braking distance of the vehicle and the braking distance of the vehicle in front; in response to the vehicle's safe driving distance being less than the vehicle-to-vehicle safety distance, performing an intelligent driving assistance operation; the intelligent driving assistance operation comprises: presenting a first warning message and / or performing a first braking intervention.

[0007] In a second aspect, the present disclosure provides an intelligent driving assistance system, which includes: a driving assistance system; the driving assistance system includes: a status data acquisition module, used to acquire environmental data and status data of a vehicle; a target data analysis module, used to process and analyze the environmental data to obtain target data; a vehicle distance determination module, used to determine the reaction distance of the vehicle and the braking distance of the vehicle based on the status data; a front vehicle distance determination module, used to determine the braking distance of the front vehicle based on the relevant data of the front vehicle in the target data; a safety distance determination module, used to determine the driving safety distance of the vehicle based on the reaction distance of the vehicle, the braking distance of the vehicle and the braking distance of the front vehicle; an auxiliary operation execution module, used to execute an intelligent driving assistance operation in response to the driving safety distance of the vehicle being less than the vehicle-to-vehicle safety distance; the intelligent driving assistance operation includes: presenting a first warning information and / or executing a first braking intervention operation.

[0008] In a third aspect, the present disclosure provides a smart cockpit, which includes: an intelligent driving assistance system, and the intelligent driving assistance system includes: a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the intelligent driving assistance method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0009] In a fourth aspect, the present disclosure provides a computer device, comprising: a memory and a processor, the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the intelligent driving assistance method of the above-mentioned first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0010] In a fifth aspect, the present disclosure provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the intelligent driving assistance method of the above-mentioned first aspect or any corresponding embodiment thereof.

[0011] The intelligent driving assistance method and intelligent driving assistance system provided by the above-mentioned embodiments of the present disclosure can monitor and analyze the vehicle's surrounding environment in real time to obtain the vehicle's environmental data, and generate target data based on the environmental data, and then determine the vehicle's reaction distance, the vehicle's braking distance and the braking distance of the leading vehicle respectively according to the target data and the vehicle's status data, and then determine the vehicle's driving safety distance based on these three distances, and then determine whether the vehicle's driving safety distance is less than the vehicle-to-vehicle safety distance, and when the vehicle's driving safety distance is less than the vehicle-to-vehicle safety distance, promptly present a first warning message and / or perform a first braking intervention operation, so that the vehicle can maintain a better distance from the leading vehicle during driving, thereby improving the safety and reliability of the vehicle during driving and reducing the occurrence of traffic accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the specific embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0013] Figure 1 is a flow chart of an intelligent driving assistance method according to an embodiment of the present disclosure;

[0014] Figure 2 is a flowchart of another intelligent driving assistance method according to an embodiment of the present disclosure;

[0015] Figure 3 is an exemplary structural diagram of an intelligent driving assistance system for implementing an intelligent driving assistance method according to an embodiment of the present disclosure;

[0016] Figure 4 is a structural block diagram of an intelligent driving assistance system according to an embodiment of the present disclosure;

[0017] Figure 5 It is a schematic diagram of the hardware structure of the computer device of the embodiment of the present disclosure. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure. It is understandable that when collecting and processing data in the present disclosure, relevant laws and regulations are strictly observed to protect user privacy and data security.

[0019] In order to solve the problems in the background technology, the present disclosure proposes an intelligent driving assistance method, which can be run on an intelligent driving assistance system. Specifically, the intelligent driving assistance system may include: a driving assistance system, a lane keeping assistance system, a braking assistance system, a reversing assistance system, and an automatic parking assistance system.

[0020] Among them, the driving assistance system: provides necessary assistance and warnings to the driver by real-time monitoring and analysis of the vehicle's surrounding environment; the lane keeping assist system: uses the camera to identify the marking line of the driving lane. When the vehicle deviates from the lane, the system will issue a warning or automatically adjust the steering wheel to keep the vehicle driving in the lane; the brake assist system: monitors the vehicle's driving status through sensors. When the system determines that emergency braking is required, it will assist the driver to apply greater braking force to the reversing assistance system: uses ultrasonic radar or cameras and other equipment to provide warnings of rear obstacles when reversing, helping the driver avoid collisions; the automatic parking assist system: uses ultrasonic radar or cameras and other equipment to automatically detect parking spaces and control the vehicle to complete parking operations, reducing the driver's parking burden.

[0021] According to an embodiment of the present disclosure, an embodiment of an intelligent driving assistance method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0022] In this embodiment, an intelligent driving assistance method is provided, which can be used in the above-mentioned computer system, such as an intelligent driving assistance system of a vehicle brain, an intelligent cockpit domain controller, a vehicle network cloud server, etc. Figure 1 is a flow chart of an intelligent driving assistance method according to an embodiment of the present disclosure, such as Figure 1 As shown, the process includes the following steps:

[0023] Step S101, obtaining vehicle environment data and vehicle status data.

[0024] In this embodiment, the above-mentioned execution subject (such as an intelligent driving assistance system or a driving assistance system in an intelligent driving assistance system, etc.) can obtain the perception data of the surrounding environment in real time through vehicle-mounted sensors (such as radar, camera, laser radar, ultrasonic sensor, etc.), that is, the vehicle's environmental data. Environmental data may include but is not limited to: video, image data; point cloud data; obstacle information and road attribute data, etc.

[0025] Among them, video and image data are real-time video and image information obtained by the on-board camera, reflecting the visual environment around the vehicle; point cloud data is the three-dimensional point cloud information of the surrounding environment obtained by the laser radar (LiDAR), providing high-precision environmental perception; obstacle information can include the type of obstacle (such as vehicles, pedestrians, bicycles, etc.), location, speed, etc. Road attribute data can include road material and road markings (such as lane lines, parking lines, etc.).

[0026] The above-mentioned execution subject can also obtain the vehicle status data through various channels (such as vehicle sensors, internal data of vehicle control system, vehicle networking, V2X communication technology, etc.). The vehicle status data can be data describing the vehicle status, including the vehicle's current speed, acceleration, brake system status, etc.

[0027] Step S102, processing and analyzing the environmental data to obtain target data.

[0028] In this embodiment, the above-mentioned execution subject can pre-process the acquired environmental data, including data cleaning, denoising, calibration, etc., to ensure the accuracy and reliability of the data. After that, the pre-processed environmental data can be deeply analyzed to extract target data related to driving safety, such as the type, size, motion state (such as speed, acceleration), etc. of the obstacles ahead (such as vehicles, pedestrians, non-motor vehicles, etc.).

[0029] Step S103, determining the reaction distance of the vehicle and the braking distance of the vehicle based on the status data.

[0030] In this embodiment, the above-mentioned execution entity can calculate the vehicle's reaction distance based on the vehicle's status data (the vehicle's current speed, acceleration, braking system status, etc.), according to the driver's reaction time (which can be an assumed value or dynamically adjusted based on historical data) and the current vehicle speed.

[0031] The above-mentioned execution entity can also calculate the braking distance of the vehicle in an emergency braking situation by combining the vehicle's status data (the vehicle's current speed, acceleration, status of the brake system, etc.) and braking performance parameters.

[0032] Step S104, determining the braking distance of the vehicle ahead of the vehicle based on the preceding vehicle related data in the target data.

[0033] In this embodiment, the execution subject may predict the braking distance of the preceding vehicle in an emergency braking situation based on relevant data of the preceding vehicle in the target data, such as the speed and acceleration of the preceding vehicle.

[0034] Step S105, determining the safe driving distance of the vehicle based on the reaction distance of the vehicle, the braking distance of the vehicle and the braking distance of the vehicle in front of the vehicle.

[0035] In this embodiment, the execution entity may process the reaction distance, braking distance of the vehicle and the braking distance of the preceding vehicle, such as by adding them or obtaining a weighted sum, to directly obtain the safe driving distance of the vehicle.

[0036] The above-mentioned execution entity can also process the vehicle's reaction distance, braking distance and the braking distance of the vehicle in front, and add fixed redundancy or dynamic redundancy based on the processed data to obtain the vehicle's driving safety distance, thereby improving the safety and reliability of the driving safety distance.

[0037] Step S106, in response to the vehicle's driving safety distance being less than the vehicle-to-vehicle safety distance, executing an intelligent driving assistance operation; the intelligent driving assistance operation includes: presenting a first warning message and / or executing a first braking intervention operation.

[0038] In this embodiment, the above-mentioned execution entity can set a reasonable vehicle safety distance as a safety threshold based on one or more factors including road conditions, traffic regulations, vehicle type and preset rules.

[0039] After setting the inter-vehicle safety distance, the above-mentioned execution subject may compare the calculated driving safety distance with the set inter-vehicle safety distance, and when the comparison result shows that the driving safety distance is less than the inter-vehicle safety distance, execute the intelligent driving assistance operation, such as presenting the first warning information and / or executing the first braking intervention operation.

[0040] In some specific examples, presenting the first warning information may include: if the driving safety distance is less than the vehicle-to-vehicle safety distance, the system first presents the first warning information to the driver through the vehicle display screen, sound prompts, etc., to remind the driver to take emergency braking measures. Executing the first braking intervention operation may include: if the driver fails to take effective braking measures within the specified time, the system will automatically execute the first braking intervention operation to reduce or avoid potential collision accidents. The above-mentioned execution subject may perform the presentation of the first warning information and the execution of the first braking intervention operation separately or simultaneously according to the system configuration and the degree of urgency.

[0041] The intelligent driving assistance method provided in this embodiment can monitor and analyze the vehicle's surrounding environment in real time to obtain the vehicle's environmental data, and generate target data based on the environmental data, and then determine the vehicle's reaction distance, the vehicle's braking distance and the braking distance of the leading vehicle respectively according to the target data and the vehicle's status data, and then determine the vehicle's driving safety distance based on these three distances, and then determine whether the vehicle's driving safety distance is less than the vehicle-to-vehicle safety distance, and when the vehicle's driving safety distance is less than the vehicle-to-vehicle safety distance, promptly present a first warning message and / or perform a first braking intervention operation, so that the vehicle can maintain a better distance from the leading vehicle during driving, thereby improving the safety and reliability of the vehicle during driving and reducing the occurrence of traffic accidents.

[0042] In some optional implementations of the present embodiment, the above-mentioned determination of the reaction distance of the vehicle and the braking distance of the vehicle based on the status data may include: generating the reaction distance of the vehicle by using the current speed of the vehicle in the status data of the vehicle and the braking reaction time of the vehicle driver and the braking coordination time of the vehicle; and determining the braking distance of the vehicle by using the current speed of the vehicle in the status data of the vehicle and the braking deceleration of the vehicle.

[0043] In this implementation, the braking deceleration of the vehicle can be obtained based on the historical deceleration of the vehicle before the current time or the preset deceleration of the vehicle, or the braking deceleration of the corresponding vehicle can be retrieved from the vehicle network. The reaction distance of the vehicle is the distance the vehicle travels forward within the driver's braking reaction time and the vehicle's braking coordination time.

[0044] Therefore, the execution subject can calculate the sum of the braking reaction time of the driver of the vehicle and the braking coordination time of the vehicle, and then use the product of the sum of the two times and the current speed of the vehicle as the reaction distance of the vehicle. Alternatively, the product of the braking reaction time of the driver of the vehicle and the current speed of the vehicle can be calculated first to obtain the first distance; the product of the braking coordination time of the vehicle and the current speed of the vehicle can be calculated to obtain the second distance; and then the sum of the first distance and the second distance can be used as the reaction distance of the vehicle.

[0045] Here, the braking distance of the vehicle refers to the distance the vehicle travels forward until it stops after the braking coordination is completed and braking begins.

[0046] Therefore, the above-mentioned execution entity can retrieve the braking deceleration of the corresponding vehicle from the vehicle network, and then use the current speed of the vehicle and the braking deceleration of the vehicle to calculate the braking time of the vehicle, and then use the product of the braking time of the vehicle and the current speed as the braking distance of the vehicle.

[0047] In this implementation, the reaction distance and braking distance of the vehicle are determined based on the state data, and the calculation method of the reaction distance of the vehicle is clarified, which can improve the accuracy of the calculated reaction distance of the vehicle; the calculation method of the braking distance of the vehicle is clarified, which can improve the accuracy of the calculated braking distance of the vehicle. Therefore, the safe driving distance of the vehicle can be determined efficiently and accurately based on the reaction distance of the vehicle, the braking distance of the vehicle and the braking distance of the preceding vehicle. When the safe driving distance of the vehicle is less than the safe distance between vehicles, the intelligent driving assistance operation is performed, the first warning information is presented and / or the first braking intervention operation is performed, so that the vehicle can maintain a better distance from the preceding vehicle during driving, thereby improving the safety and reliability of the vehicle during driving and reducing the occurrence of traffic accidents.

[0048] Alternatively or additionally, in some optional implementations of the present embodiment, determining the braking distance of the leading vehicle based on relevant data of the leading vehicle in the target data may include: determining the braking distance of the vehicle based on the current speed of the vehicle and the braking deceleration of the leading vehicle in the vehicle's status data.

[0049] In this implementation, the braking deceleration of the leading vehicle can be obtained based on the historical deceleration of the vehicle before the current time or the preset deceleration of the vehicle, or can be determined based on the following steps: based on the leading vehicle information determined by the camera scan in the target data, the braking deceleration of the leading vehicle corresponding to the leading vehicle information is retrieved from the vehicle-to-vehicle network. The braking distance of the leading vehicle, that is, the distance the vehicle travels forward to stop after the leading vehicle starts braking.

[0050] Therefore, the above-mentioned execution entity can retrieve the braking deceleration of the corresponding preceding vehicle from the vehicle-connected network, and then use the current speed of the vehicle (because the speeds of the vehicle and the preceding vehicle are almost the same during the following process) and the braking deceleration of the preceding vehicle to calculate the braking time of the preceding vehicle, and then use the product of the braking time of the preceding vehicle and the current speed of the vehicle as the braking distance of the preceding vehicle.

[0051] In this implementation, the braking distance of the preceding vehicle is determined based on the relevant data of the preceding vehicle in the target data, and the calculation method of the braking distance of the preceding vehicle is clarified, which can improve the accuracy of the calculated braking distance of the preceding vehicle. Thus, based on the reaction distance of the vehicle, the braking distance of the vehicle and the braking distance of the preceding vehicle, the safe driving distance of the vehicle is determined efficiently and accurately. When the safe driving distance of the vehicle is less than the safe distance between vehicles, the intelligent driving assistance operation is performed to present the first warning information and / or perform the first braking intervention operation, so that the vehicle can maintain a better distance from the preceding vehicle during driving, thereby improving the safety and reliability of the vehicle during driving and reducing the occurrence of traffic accidents.

[0052] In this embodiment, another intelligent driving assistance method is provided, which can be used in the above-mentioned computer system. Figure 2 is a flow chart of another intelligent driving assistance method according to an embodiment of the present disclosure. Figure 2 As shown, the process includes the following steps:

[0053] Step S201, obtaining vehicle environment data and vehicle status data.

[0054] In this embodiment, the above-mentioned execution subject (such as an intelligent driving assistance system or a driving assistance system in an intelligent driving assistance system, etc.) can obtain the perception data of the surrounding environment in real time through vehicle-mounted sensors (such as radar, camera, laser radar, ultrasonic sensor, etc.), that is, the vehicle's environmental data. The environmental data may include but is not limited to: video, image data; point cloud data; obstacle information and road attribute data.

[0055] The above-mentioned execution subject can obtain the vehicle status data through various channels (such as vehicle sensors, internal data of vehicle control system, vehicle networking, V2X communication technology, etc.). The vehicle status data can be data describing the vehicle status, including the vehicle's current speed, acceleration, brake system status, etc.

[0056] For details, please see Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0057] Step S202, processing and analyzing the environmental data to obtain target data.

[0058] In this embodiment, the above-mentioned execution subject can pre-process the acquired environmental data, including data cleaning, denoising, calibration, etc., to ensure the accuracy and reliability of the data. After that, the pre-processed environmental data can be deeply analyzed to extract target data related to driving safety, such as the type, size, motion state (such as speed, acceleration), etc. of the obstacles ahead (such as vehicles, pedestrians, non-motor vehicles, etc.).

[0059] Step S203, determining the reaction distance of the vehicle and the braking distance of the vehicle based on the state data.

[0060] In this embodiment, the above-mentioned execution entity can calculate the vehicle's reaction distance based on the vehicle's status data (the vehicle's current speed, acceleration, braking system status, etc.), according to the driver's reaction time (which can be a hypothetical value or dynamically adjusted based on historical data) and the current vehicle speed.

[0061] The above-mentioned execution entity can also calculate the braking distance of the vehicle in an emergency braking situation by combining the vehicle's status data (the vehicle's current speed, acceleration, status of the brake system, etc.) and braking performance parameters.

[0062] Step S204, determining the braking distance of the preceding vehicle based on the relevant data of the preceding vehicle in the target data.

[0063] In this embodiment, the execution subject can predict the braking distance of the preceding vehicle in an emergency braking situation according to relevant data of the preceding vehicle in the target data, such as the speed and acceleration of the preceding vehicle.

[0064] Step S205, determining the safe driving distance of the vehicle based on the reaction distance of the vehicle, the braking distance of the vehicle, the braking distance of the vehicle in front of the vehicle, and the distance between the vehicle and the vehicle in front after the vehicle stops.

[0065] In this embodiment, the above-mentioned execution entity can process the vehicle's reaction distance, braking distance, braking distance of the front vehicle, and the distance between the vehicle and the front vehicle after the vehicle stops, such as adding or calculating the weighted sum, to obtain the vehicle's safe driving distance.

[0066] The above-mentioned execution entity can also process the vehicle's reaction distance, braking distance, braking distance of the vehicle in front, and the distance between the vehicle and the vehicle in front after the vehicle stops, and add fixed redundancy or dynamic redundancy based on the processed data to obtain the vehicle's driving safety distance, thereby improving the safety and reliability of the driving safety distance.

[0067] Step S206, in response to the vehicle's driving safety distance being less than the vehicle-to-vehicle safety distance, executing an intelligent driving assistance operation; the intelligent driving assistance operation includes: presenting a first warning message and / or executing a first braking intervention operation.

[0068] In this embodiment, the above-mentioned execution entity can set a reasonable vehicle safety distance as a safety threshold according to one or more factors including road conditions, traffic regulations, vehicle type and preset rules.

[0069] After setting the inter-vehicle safety distance, the above-mentioned execution subject may compare the calculated driving safety distance with the set inter-vehicle safety distance, and when the comparison result shows that the driving safety distance is less than the inter-vehicle safety distance, execute the intelligent driving assistance operation, such as presenting the first warning information and / or executing the first braking intervention operation.

[0070] In some specific examples, presenting the first warning information may include: if the driving safety distance is less than the vehicle-to-vehicle safety distance, the system first presents the first warning information to the driver through the vehicle display screen, sound prompts, etc., to remind the driver to take emergency braking measures. Executing the first braking intervention operation may include: if the driver fails to take effective braking measures within the specified time, the system will automatically execute the first braking intervention operation to reduce or avoid potential collision accidents. The above-mentioned execution subject may perform the presentation of the first warning information and the execution of the first braking intervention operation separately or simultaneously according to the system configuration and the degree of urgency.

[0071] The intelligent driving assistance method provided by the present embodiment can monitor and analyze the vehicle's surrounding environment in real time to obtain the vehicle's environmental data, and generate target data based on the environmental data, and then determine the vehicle's reaction distance, the vehicle's braking distance, and the braking distance of the leading vehicle respectively according to the target data and the vehicle's status data, and then determine the vehicle's driving safety distance based on these three distances and the distance between the vehicle and the leading vehicle after the vehicle stops, and then determine whether the vehicle's driving safety distance is less than the vehicle-to-vehicle safety distance, and when the vehicle's driving safety distance is less than the vehicle-to-vehicle safety distance, promptly present the first warning information and / or perform the first braking intervention operation, and Figure 1 Compared with the embodiments of the present invention, the method introduces the distance between the vehicle and the vehicle in front after the vehicle stops, so that the vehicle still retains the distance between the vehicle and the vehicle in front when parking, thereby leaving a margin for the safe driving and parking of the vehicle, so that the vehicle can maintain a better distance with the vehicle in front during driving, thereby improving the safety and reliability of the vehicle during driving and reducing the occurrence of traffic accidents.

[0072] In some optional implementations of this embodiment, the above Figure 2 The methods also include:

[0073] Step S207, generating a braking distance of the vehicle according to the current speed of the vehicle and the braking deceleration of the vehicle in the vehicle status data.

[0074] In this implementation, the current speed of the vehicle is one of the key factors in calculating the braking distance. The faster the speed, the longer the distance required for braking. Braking deceleration refers to the negative value of the acceleration required for the vehicle to decelerate from the current speed to a stop. The greater the braking deceleration (i.e., the faster the deceleration), the shorter the braking distance.

[0075] Specifically, the distance required for the vehicle to decelerate from the current speed to stop can be calculated based on the kinematic formula using the vehicle's current speed and braking deceleration. For example, the ratio of the square of the vehicle's current speed to twice the vehicle's braking deceleration can be used as the vehicle's braking distance.

[0076] Step S208, generating the braking distance of the preceding vehicle according to the current speed of the vehicle and the braking deceleration of the preceding vehicle.

[0077] In this implementation, considering that the current speed of the vehicle is not much different from the current speed of the preceding vehicle during the driving process, it is assumed that the current speed of the preceding vehicle is equal to the current speed of the vehicle, so the distance required for the preceding vehicle to decelerate from the current speed to stop can be calculated based on the kinematic formula using the current speed of the vehicle and the braking deceleration of the preceding vehicle. For example, the ratio of the square of the current speed of the vehicle to twice the braking deceleration of the preceding vehicle can be used as the braking distance of the preceding vehicle.

[0078] Step S209, subtract the braking distance of the preceding vehicle from the braking distance of the vehicle to obtain the distance between the vehicle and the preceding vehicle after the vehicle stops.

[0079] In this implementation, by subtracting the braking distance of the preceding vehicle from the braking distance of the vehicle, the distance that the vehicle may maintain from the preceding vehicle after stopping in the case of both vehicles braking at the same time can be obtained. This distance can be used to assess the potential risk of collision.

[0080] The intelligent driving assistance method in this implementation can determine the vehicle's safe driving distance based on the vehicle's reaction distance, the vehicle's braking distance, the braking distance of the vehicle in front, and the distance between the vehicle and the vehicle in front after the vehicle stops, by accurately calculating the distance between the vehicle and the vehicle in front after the vehicle stops. It can then determine whether the vehicle's safe driving distance is less than the vehicle-to-vehicle safe distance, and when the vehicle's safe driving distance is less than the vehicle-to-vehicle safe distance, promptly present the first warning information and / or perform the first braking intervention operation. Figure 2 Compared with the embodiments of the present invention, the method clarifies the specific calculation method of the distance between the vehicle and the vehicle in front after the vehicle stops, thereby improving the accuracy and effectiveness of the distance between the vehicle and the vehicle in front after the vehicle stops, so that the vehicle still retains a distance from the vehicle in front when braking to stop, thereby leaving a margin for the safe driving and parking of the vehicle, so that the vehicle can maintain a better distance from the vehicle in front during driving, thereby improving the safety and reliability of the vehicle during driving and reducing the occurrence of traffic accidents.

[0081] In some optional implementations of this embodiment, the above Figure 2 The methods also include:

[0082] Step S2010, generating the travel distance of the vehicle according to the inter-vehicle time and the current speed of the vehicle in the vehicle status data.

[0083] In this implementation, the vehicle-to-vehicle time refers to the time interval between a vehicle and the vehicle in front, which is used to ensure a safe distance between the vehicle and the vehicle in front, and can be preset data or determined based on actual application scenarios and historical experience values.

[0084] The execution subject can obtain the workshop time and the current speed of the vehicle in the vehicle status data, and thus generate the vehicle's travel distance according to the workshop time and the current speed of the vehicle. For example, the product of the workshop time and the current speed of the vehicle can be directly used to generate the vehicle's travel distance; or the product of the workshop time and the current speed of the vehicle can be processed according to preset requirements to obtain the vehicle's travel distance.

[0085] Step S2011, obtaining the inter-vehicle static distance between the vehicle and the preceding vehicle when both are stationary.

[0086] In this implementation, the inter-vehicle static distance refers to the distance between the vehicle and the preceding vehicle when both are stationary. This distance usually takes into account factors such as the length of the vehicle, the driver's reaction time, and the braking distance to ensure that a certain safety distance can be maintained even when stationary. The inter-vehicle static distance can be determined by actual measurement, empirical value, or safety standard.

[0087] Step S2012: The sum of the driving distance and the inter-vehicle stationary distance is used as the inter-vehicle safety distance.

[0088] In this implementation, the inter-vehicle safety distance refers to the minimum distance that the current vehicle should maintain with the preceding vehicle in order to ensure safety under the current driving conditions. Here, the driving distance reflects the potential driving distance generated by the current speed and time interval in dynamic driving, while the inter-vehicle static distance provides the safety distance in static conditions. Adding these two together, a inter-vehicle safety distance that comprehensively considers dynamic and static factors can be obtained.

[0089] The intelligent driving assistance method in this implementation provides a method for calculating the inter-vehicle safety distance, which combines the current speed of the vehicle, the inter-vehicle time, and the inter-vehicle static distance between the vehicle and the preceding vehicle when the vehicle is stationary. Therefore, when the driving safety distance of the vehicle is less than the inter-vehicle safety distance, the first warning information can be presented in time and / or the first braking intervention operation can be performed. Figure 2 Compared with the embodiments, the method clarifies the specific calculation method of the vehicle-to-vehicle safety distance, thereby improving the timeliness of presenting the first warning information and / or executing the first braking intervention operation, so that the vehicle still retains a distance from the vehicle in front when braking to stop, thereby leaving a margin for the safe driving and parking of the vehicle, so that the vehicle can maintain a better distance from the vehicle in front during driving, improving the safety and reliability of the vehicle during driving, and reducing the occurrence of traffic accidents.

[0090] In some optional implementations of this embodiment, the above Figure 2 The method may further include: in response to monitoring that the vehicle deviates from the lane, generating a vehicle driving control strategy based on the degree of deviation and the state data of the vehicle, and using the control strategy to control the driving of the vehicle.

[0091] In this implementation, the above-mentioned execution entity (such as an intelligent driving assistance system or a lane keeping assistance system in an intelligent driving assistance system, etc.) includes a sensor 1 and an image capture module; the sensor 1 installed on the vehicle can perceive the environment around the vehicle in real time, and the sensor 1 includes a radar, an ultrasonic sensor, and a camera; the image capture module can capture the lane line image on the road through the sensor 1, and collect the vehicle speed signal through the speed sensor, and collect the steering signal through the steering wheel angle sensor, so as to fully perceive the driving state of the vehicle.

[0092] The image capture module is internally provided with an information extraction module, a judgment and correction module and an execution module 1; the information extraction module: by comparing the lane line and the driving direction of the vehicle, the computer calculates whether the vehicle has deviated from the lane and determines the degree and direction of the deviation; the judgment and correction module: formulates a corresponding control strategy according to the degree of deviation and the current state of the vehicle; the execution module 1: after the control strategy is determined, the corresponding actuator will be adjusted according to the control instruction.

[0093] The intelligent driving assistance method in this implementation can generate a vehicle driving control strategy based on the degree of deviation and the vehicle's status data when the vehicle deviates from the lane, and use the vehicle driving control strategy to control the vehicle's driving to enhance the assisted driving control of the vehicle and help keep the vehicle within the lane, thereby improving the safety and reliability of the vehicle during driving and reducing the occurrence of traffic accidents.

[0094] Alternatively or additionally, the above method may further include: in response to monitoring that the driver of the vehicle performs emergency braking, sending a braking enhancement instruction to the brake to enhance braking.

[0095] In this implementation, the above-mentioned execution subject (such as an intelligent driving assistance system or a brake assistance system in an intelligent driving assistance system, etc.) may include a monitoring module, an emergency identification module, and an actuator. The monitoring module continuously monitors the status of the wheel speed sensor, the acceleration sensor, and the pressure sensor; then, the monitoring module transmits the collected data to the emergency identification module, which analyzes the collected data to determine whether the driver is performing emergency braking; then, when the emergency identification module determines that it is emergency braking, it will immediately issue a command to the actuator to quickly increase the braking force to stop the vehicle faster.

[0096] The intelligent driving assistance method in this implementation can send a braking enhancement command to the brake when it detects that the driver is performing emergency braking, so as to enhance braking and improve the effectiveness of the braking operation, thereby improving the safety and reliability of the vehicle during driving and reducing the occurrence of traffic accidents.

[0097] Alternatively or additionally, the above Figure 2 The method may further include: in response to determining that the vehicle is in a safety abnormal state based on the perceived environmental information behind the vehicle, presenting a second warning information and / or performing a second brake intervention operation.

[0098] In this implementation, the above-mentioned execution entity (such as an intelligent driving assistance system or a reversing assistance system in an intelligent driving assistance system, etc.) includes a second sensor, a second data collection module, an obstacle recognition module and an evaluation module; the second sensor: through the radar sensor, ultrasonic sensor and camera equipment installed at the rear of the vehicle, it perceives the environment behind the vehicle in real time; the second data collection module: is used to collect the distance, angle and speed information between the vehicle and the rear obstacle, and transmit the data to the control unit of the system, and after the control unit receives the data transmitted by the sensor, it performs rapid data processing and analysis; the obstacle recognition module: by analyzing the data, the system can identify the obstacle behind the vehicle; the evaluation module: is used to evaluate the impact of obstacles on the reversing of the vehicle, and determine whether braking intervention operations and / or other safety warning measures are needed.

[0099] The intelligent driving assistance method in this implementation can present a second warning message and / or perform a second braking intervention operation when it is determined that the vehicle is in a safety abnormal state based on the perceived environmental information behind the vehicle, so that the vehicle can maintain an optimal distance from the obstacles behind it during the reversing process, thereby improving the safety and reliability of the vehicle during the reversing process and reducing the occurrence of traffic accidents.

[0100] Alternatively or additionally, the above Figure 2 The method may further include: drawing a parking map based on the perceived parking environment around the vehicle, drawing a parking path according to the parking map, and controlling the steering, throttle and brake of the vehicle based on the parking path to complete parking.

[0101] In this implementation, the above-mentioned execution subject (such as an intelligent driving assistance system or an automatic parking assistance system in an intelligent driving assistance system, etc.) may include a detection module, a planning module, and an execution module 2. Among them, the detection module can detect the surrounding parking environment through a camera, ultrasonic sensor, and infrared sensor device installed on the vehicle body; the planning module can automatically draw a parking map based on the collected information, and dynamically plan the best parking path in real time; the execution module 2 can control the steering wheel, accelerator, and brake after the driver confirms the parking path, and park according to the planned path.

[0102] The intelligent driving assistance method in this implementation can draw a parking map based on the perceived parking environment around the vehicle, and then further draw a parking path based on the parking map. Based on the parking path, the vehicle's steering, throttle and brakes are intelligently controlled to complete parking, thereby improving the safety and reliability of the vehicle during the parking process and reducing the occurrence of traffic accidents.

[0103] Please refer to Figure 3 , Figure 3 The method for implementing the above-mentioned Figure 1 and Figure 2 An exemplary structural diagram of an intelligent driving assistance system of an intelligent driving assistance method is shown in FIG. Figure 3 As shown, the intelligent driving assistance system includes: a driving assistance system, a lane keeping assistance system, a braking assistance system, a reversing assistance system and an automatic parking assistance system.

[0104] In this embodiment, the driving assistance system can provide necessary assistance and warnings to the driver by real-time monitoring and analyzing the vehicle's surroundings; the lane keeping assistance system can identify the marking lines of the driving lane through a camera. When the vehicle deviates from the lane, the system will issue a warning or automatically adjust the steering wheel to keep the vehicle driving within the lane; the brake assistance system can monitor the vehicle's driving status through sensors. When the system determines that emergency braking is required, it will assist the driver to apply greater braking force; the reversing assistance system can use equipment such as ultrasonic radar or cameras to provide warnings of rear obstacles when reversing, helping the driver avoid collisions; the automatic parking assistance system can use equipment such as ultrasonic radar or cameras to automatically detect parking spaces and control the vehicle to complete parking operations, thereby reducing the driver's parking burden.

[0105] Specifically, the driving assistance system may include a sensor 1, a data collection module 1, a state judgment module and a warning module. The sensor 1 is installed on the vehicle to sense the environment around the vehicle in real time. The sensor 1 includes a radar, an ultrasonic sensor and a camera. The data collected by the sensor 1 is transmitted to the control unit of the system by the data collection module 1, and the control unit performs rapid data processing and analysis after receiving the data transmitted by the sensor. The state judgment module determines the current state of the vehicle based on the processed data. The warning module warns the driver through sound prompts when the system detects potential dangers or abnormal conditions.

[0106] In a specific example, during driving, the calculation formula for the safe driving distance between the vehicle and the vehicle in front is:

[0107]

[0108] Where S is the safe driving distance; v m is the initial braking speed of the vehicle, obtained by the vehicle speed sensor, that is, the current speed of the vehicle in the above embodiment; t1 is the braking reaction time of the vehicle driver, which can be determined according to the historical reaction speed, fatigue level and average reaction time of the vehicle driver; t0 is the braking coordination time of the vehicle, which can be obtained according to the vehicle model; L is the distance between the vehicle and the front vehicle after the vehicle stops, J afis the braking deceleration of the vehicle, which can be obtained based on the data uploaded by the vehicle network; J a The braking deceleration of the front vehicle can be obtained by scanning the front vehicle with a camera, and by retrieving the data uploaded by the front vehicle on the network based on the front vehicle information.

[0109] During driving, the calculation formula for the safe distance between the vehicle and the vehicle in front is:

[0110] d s =γv h +d0

[0111] Among them, d s is the safe distance between the vehicle and the vehicle in front; γ is the safe time between the vehicles, which can be set to 1.2s to 2.5s based on experience; v h is the current speed of the vehicle, which can be compared with v m The value of is the same as or is obtained based on experience; d0 is the stationary distance between the vehicle and the preceding vehicle when the vehicle is stationary, which can be set to 2 to 5 meters based on experience. It is understandable that during driving, the driving safety distance must be higher than the vehicle safety distance. When the driving safety distance is lower than the vehicle safety distance, the driver is warned through the warning module.

[0112] During driving, the above-mentioned execution entity can store the braking data of various types of vehicles through the in-vehicle storage module, determine the model of the vehicle in front through cameras and other equipment, then match the model, and retrieve the locally stored vehicle braking information. The value L is obtained by using this data, so that the distance required for the braking of the vehicle in front can be known more accurately, making the data calculated by the formula of this application more accurate.

[0113] Specifically, the lane keeping assist system may include a sensor 1 and an image capture module. The sensor 1 may sense the environment around the vehicle in real time through the sensor 1 installed on the vehicle, and the sensor 1 may include a radar, an ultrasonic sensor, and a camera; the image capture module may capture the lane line image on the road through the sensor 1, and collect the vehicle speed signal through the speed sensor, and collect the steering signal through the steering wheel angle sensor, so as to fully sense the driving state of the vehicle.

[0114] The image capture module is also equipped with an information extraction module, a judgment and correction module, and an execution module 1; in the information extraction module, the computer calculates whether the vehicle has deviated from the lane by comparing the lane line and the vehicle's driving direction, and determines the degree and direction of the deviation; the judgment and correction module formulates a corresponding control strategy based on the degree of deviation and the current state of the vehicle; in the execution module 1, once the control strategy is determined, the corresponding actuator will be adjusted according to the control instruction.

[0115] Specifically, the brake assist system includes a monitoring module, an emergency identification module, and an actuator. The monitoring module can continuously monitor the status of the wheel speed sensor, acceleration sensor, and pressure sensor through the monitoring module; the emergency identification module can transmit the collected data to the controller of the brake assist system, and the emergency identification module in the controller analyzes the collected data to determine whether the driver is performing emergency braking; the actuator, when the emergency identification module determines that it is emergency braking, will immediately send a command to the actuator to quickly increase the braking force to stop the vehicle faster.

[0116] Specifically, the reversing assistance system may include a second sensor, a second data collection module, an obstacle recognition module, and an evaluation module. The second sensor can sense the environment behind the vehicle in real time through the radar sensor, ultrasonic sensor, and camera device installed at the rear of the vehicle; the second data collection module is used to collect the distance, angle, and speed information between the vehicle and the rear obstacle, and transmit the data to the control unit of the system, and after the control unit receives the data transmitted by the sensor, it performs rapid data processing and analysis; the obstacle recognition module can identify the obstacle behind the vehicle by analyzing the data; the evaluation module is used to evaluate the impact of obstacles on the vehicle's reversing and determine whether braking or other safety measures are needed.

[0117] Specifically, the automatic parking assistance system includes a detection module, a planning module and an execution module 2; the detection module detects the surrounding parking environment through cameras, ultrasonic sensors and infrared sensor devices installed on the vehicle body; the planning module automatically draws a parking map based on the collected information, and dynamically plans the best parking path in real time; in the execution module 2, after the driver confirms the parking path, the system controls the steering wheel, accelerator and brake to park according to the planned path.

[0118] Based on the above Figure 3 The intelligent driving assistance system in some specific example scenarios of this embodiment may include the following steps:

[0119] S1. During driving, turn on sensor 1 and use the radar, ultrasonic sensor and camera installed on the vehicle to perceive the environment around the vehicle in real time. The collected data will be transmitted to the system's control unit for further processing and analysis. After that, the system will judge the current state of the vehicle and the surrounding environment. When the system detects potential danger or abnormal situation, it will warn the driver through sound prompts.

[0120] S2. The lane line images on the road are captured by radar, ultrasonic sensors and cameras installed on the vehicle, and the captured lane line images are then transmitted to the on-board computer. The on-board computer compares the lane lines with the vehicle's driving direction, and the computer calculates whether the vehicle has deviated from the lane and determines the degree and direction of the deviation.

[0121] S3. According to the degree of deviation and the current state of the vehicle, a corresponding control strategy is formulated. After the control strategy is determined, the corresponding actuator is adjusted according to the control instruction, and the vehicle is returned to the correct lane by fine-tuning the steering.

[0122] S4. The monitoring module continuously monitors the status of the vehicle and transmits the collected data to the controller. The controller analyzes the collected data to determine whether the driver is performing emergency braking. When the controller determines that emergency braking is in progress, it immediately sends a command to the actuator to enhance the braking effect.

[0123] S5. When the car is reversing, the radar sensor, ultrasonic sensor and camera equipment installed at the rear of the vehicle can sense the environment behind the vehicle in real time, collect the distance, angle and speed information between the vehicle and the rear obstacles, and evaluate the impact of the obstacles on the vehicle's reversing, and determine whether braking or other safety measures are needed. When the system detects that the distance between the vehicle and the rear obstacle is too close, it will warn the driver through sound prompts.

[0124] S6. When the car needs to be parked, the camera, ultrasonic sensor, and infrared sensor equipment installed on the car body detect the surrounding parking environment, and based on the collected information, draw a parking map and plan the best parking route in real time. After the driver confirms the parking route, the system controls the steering wheel, accelerator, and brake to park according to the planned route.

[0125] In this embodiment, an intelligent driving assistance system is also provided, and the device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0126] This embodiment provides an intelligent driving assistance system. Figure 4 As shown, the intelligent driving assistance system includes: a driving assistance system; the driving assistance system includes:

[0127] The status data acquisition module 401 is used to acquire the environment data and status data of the vehicle.

[0128] The target data analysis module 402 is used to process and analyze the environmental data to obtain target data.

[0129] The vehicle distance determination module 403 is used to determine the reaction distance of the vehicle and the braking distance of the vehicle based on the state data.

[0130] The preceding vehicle distance determination module 404 is configured to determine the braking distance of the preceding vehicle based on the relevant data of the preceding vehicle in the target data.

[0131] The safety distance determination module 405 is used to determine the driving safety distance of the vehicle based on the reaction distance of the vehicle, the braking distance of the vehicle and the braking distance of the preceding vehicle.

[0132] The auxiliary operation execution module 406 is used to execute an intelligent driving assistance operation in response to the vehicle's driving safety distance being less than the vehicle-to-vehicle safety distance; the intelligent driving assistance operation includes: presenting a first warning message and / or executing a first braking intervention operation.

[0133] In some optional implementations, the driving assistance system further includes at least one of the following:

[0134] The vehicle distance determination module 403 is further used to: generate the reaction distance of the vehicle by using the current speed of the vehicle in the vehicle status data, the braking reaction time of the driver of the vehicle, and the braking coordination time of the vehicle; determine the braking distance of the vehicle by using the current speed of the vehicle in the vehicle status data and the braking deceleration of the vehicle; the leading vehicle distance determination module 404 is further used to: determine the braking distance of the vehicle based on the current speed of the vehicle in the vehicle status data and the braking deceleration of the leading vehicle.

[0135] In some optional embodiments, the safety distance determination module 405 is further used to determine the vehicle's safe driving distance based on the vehicle's reaction distance, the vehicle's braking distance, the vehicle's front vehicle's braking distance and the vehicle's front vehicle's distance after the vehicle stops.

[0136] In some optional embodiments, the driving assistance system also includes: a parking distance determination module (not shown in the figure), which is used to: generate a braking distance of the vehicle based on the current speed of the vehicle and the braking deceleration of the vehicle in the vehicle status data; generate a braking distance of the leading vehicle based on the current speed of the vehicle and the braking deceleration of the leading vehicle; and obtain the distance between the vehicle and the leading vehicle after parking by subtracting the braking distance of the leading vehicle from the braking distance of the vehicle.

[0137] In some optional embodiments, the workshop safety distance in the auxiliary operation execution module 406 is determined based on the workshop safety module, and the workshop safety module is used to: generate the driving distance of the vehicle according to the workshop time and the current speed of the vehicle in the status data of the vehicle; obtain the workshop static distance between the vehicle and the preceding vehicle when they are stationary; and use the sum of the driving distance and the workshop static distance as the workshop safety distance.

[0138] In some optional embodiments, the intelligent driving assistance system also includes at least one of the following: a lane keeping assist system, which is used to generate a vehicle driving control strategy in response to monitoring the vehicle deviating from the lane, based on the degree of deviation and the status data of the vehicle, and adopt the control strategy to control the driving of the vehicle; a brake assist system, which is used to send a braking instruction to the brake to strengthen the braking in response to monitoring the driver of the vehicle performing emergency braking; a reversing assist system, which is used to present a second warning information and / or perform a second braking intervention operation in response to determining that the vehicle is in a safety abnormal state based on the environmental information perceived behind the vehicle; an automatic parking assist system, which is used to draw a parking map based on the perceived parking environment around the vehicle, draw a parking path according to the parking map, and control the steering, throttle and brake of the vehicle based on the parking path to complete parking.

[0139] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0140] The intelligent driving assistance system in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0141] See also Figure 5 , Figure 51 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present disclosure, and the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the computer device, including instructions stored in or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system).

[0142] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0143] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0144] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0145] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0146] The embodiments of the present disclosure also provide a computer-readable storage medium. The above-mentioned method according to the embodiments of the present disclosure can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium and downloaded through a network, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0147] A part of the present disclosure may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present disclosure through the operation of the computer. Those skilled in the art should understand that the existence of computer program instructions in computer-readable media includes, but is not limited to, source files, executable files, installation package files, etc., and accordingly, the way in which computer program instructions are executed by a computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to the computer.

[0148] Although the embodiments of the present disclosure have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present disclosure, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. An intelligent driving assistance method, characterized in that: The method comprises: Obtain vehicle environmental data and status data; Processing and analyzing the environmental data to obtain target data; determining a reaction distance of the vehicle and a braking distance of the vehicle based on the status data; Determining a braking distance of the preceding vehicle based on relevant data of the preceding vehicle in the target data; Determining a safe driving distance of the vehicle based on a reaction distance of the vehicle, a braking distance of the vehicle, and a braking distance of the preceding vehicle; In response to the vehicle's driving safety distance being less than the vehicle-to-vehicle safety distance, an intelligent driving assistance operation is performed; the intelligent driving assistance operation includes: presenting a first warning message and / or performing a first braking intervention.

2. The method according to claim 1, characterized in that The method further comprises at least one of the following: Determining the reaction distance of the vehicle and the braking distance of the vehicle based on the state data includes: generating the reaction distance of the vehicle by using the current speed of the vehicle in the state data of the vehicle, the braking reaction time of the driver of the vehicle, and the braking coordination time of the vehicle; determining the braking distance of the vehicle by using the current speed of the vehicle in the state data of the vehicle and the braking deceleration of the vehicle; The determining the braking distance of the leading vehicle based on the relevant data of the leading vehicle in the target data includes: determining the braking distance of the vehicle based on the current speed of the vehicle and the braking deceleration of the leading vehicle in the status data of the vehicle.

3. The method according to claim 1, characterized in that The determining the safe driving distance of the vehicle based on the reaction distance of the vehicle, the braking distance of the vehicle and the braking distance of the vehicle ahead of the vehicle comprises: The safe driving distance of the vehicle is determined based on the reaction distance of the vehicle, the braking distance of the vehicle, the braking distance of the vehicle in front of the vehicle, and the distance between the vehicle and the vehicle in front after the vehicle stops.

4. The method according to claim 3, characterized in that The method further comprises: generating a braking distance of the vehicle according to the current speed of the vehicle and the braking deceleration of the vehicle in the vehicle status data; generating a braking distance of the preceding vehicle according to the current speed of the vehicle and the braking deceleration of the preceding vehicle; The braking distance of the vehicle in front is subtracted from the braking distance of the vehicle in front to obtain the distance between the vehicle in front and the vehicle in front after the vehicle stops.

5. The method according to any one of claims 1 to 4, characterized in that: The workshop safety distance is determined based on the following steps: generating a travel distance of the vehicle according to the vehicle-to-vehicle time and the current speed of the vehicle in the vehicle status data; Obtaining a stationary distance between the vehicle and the preceding vehicle when the vehicle is stationary; The sum of the driving distance and the inter-vehicle stationary distance is used as the inter-vehicle safety distance.

6. The method according to claim 1, characterized in that The method further comprises at least one of the following: In response to monitoring that the vehicle deviates from the lane, generating a vehicle driving control strategy based on the degree of deviation and the state data of the vehicle, and using the control strategy to control the driving of the vehicle; In response to monitoring that the driver of the vehicle performs emergency braking, sending a braking enhancement instruction to the brake to enhance braking; In response to determining that the vehicle is in a safety abnormality state based on the perceived environment information behind the vehicle, presenting a second warning information and / or performing a second brake intervention operation; A parking map is drawn based on the perceived parking environment around the vehicle, a parking path is drawn according to the parking map, and the steering, throttle and brake of the vehicle are controlled based on the parking path to complete parking.

7. An intelligent driving assistance system, characterized in that: The intelligent driving assistance system includes: a driving assistance system; the driving assistance system includes: A status data acquisition module, used to acquire environmental data and status data of the vehicle; A target data analysis module, used for processing and analyzing the environmental data to obtain target data; a vehicle distance determination module, for determining a reaction distance of the vehicle and a braking distance of the vehicle based on the state data; A preceding vehicle distance determination module, configured to determine a braking distance of the preceding vehicle based on relevant data of the preceding vehicle in the target data; A safety distance determination module, used to determine the driving safety distance of the vehicle based on the reaction distance of the vehicle, the braking distance of the vehicle and the braking distance of the preceding vehicle; The auxiliary operation execution module is used to execute an intelligent driving assistance operation in response to the vehicle's driving safety distance being less than the vehicle-to-vehicle safety distance; the intelligent driving assistance operation includes: presenting a first warning message and / or executing a first braking intervention operation.

8. A smart cockpit, characterized in that: The smart cockpit includes: an intelligent driving assistance system, and the intelligent driving assistance system includes: a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the intelligent driving assistance method described in any one of claims 1 to 6 by executing the computer instructions.

9. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the intelligent driving assistance method according to any one of claims 1 to 6 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the intelligent driving assistance method according to any one of claims 1 to 6.

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