Vehicle, auxiliary driving method and device thereof and computer readable storage medium

Abstract

The invention discloses a vehicle, an auxiliary driving method and device thereof and a computer readable storage medium, and the method comprises the steps: obtaining the first state information of a first traffic light of a lane where a current target vehicle is located, the first traffic light being a traffic light which is in front of the target vehicle and is closest to the target vehicle, the first state information comprises a first turned-on duration for turning on the first traffic light according to the first color and a first target turning-on duration; obtaining a difference value between the first target lightening duration and the first lightened duration to obtain a first residual lightening duration; and based on the first color and the first residual lighting duration, generating first auxiliary driving information that the target vehicle passes through the first traffic light. According to the auxiliary driving method, the flicker of the traffic light can be converted into the second reading, so that a driver can judge conveniently, and the passing efficiency and the driving safety can be improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle assisted driving method, a vehicle assisted driving device, a computer-readable storage medium and a vehicle. Background Art

[0002] As people's living standards continue to improve, the number of vehicles on the road continues to increase, and road traffic conditions are becoming more and more congested and complex. Complex traffic conditions make it very easy for drivers to have problems with inattention when driving, especially at traffic light intersections. When the driver is about to reach the zebra crossing and the traffic light starts to flash, it is impossible to determine how much time the traffic light has to switch. When the driver is driving the car a certain distance from the zebra crossing and the traffic light starts to switch, it is impossible to determine whether the current speed can safely pass the traffic light. If the user steps on the accelerator to pass the intersection, a traffic accident may occur in serious cases. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the first purpose of the present invention is to propose a vehicle assisted driving method, by obtaining the first state information of the first traffic light in the lane where the current target vehicle is located, and then obtaining the difference between the first target lighting duration and the first lighting duration, obtaining the first remaining lighting duration, and generating the first assisted driving information of the target vehicle passing the first traffic light based on the first color and the first remaining lighting duration, so that the flashing of the traffic light can be converted into a countdown, which is convenient for the driver to make a judgment, thereby improving the traffic efficiency and driving safety.

[0004] A second objective of the present invention is to provide a vehicle auxiliary driving device.

[0005] A third object of the present invention is to provide a computer-readable storage medium.

[0006] A fourth object of the present invention is to provide a vehicle.

[0007] To achieve the above-mentioned objectives, an embodiment of the first aspect of the present invention proposes a vehicle assisted driving method, the method comprising: obtaining first status information of a first traffic light in a lane where a current target vehicle is located, wherein the first traffic light is the traffic light in front of the target vehicle and closest to the target vehicle, and the first status information comprises a first lighting duration and a first target lighting duration of the first traffic light lit in a first color; obtaining the difference between the first target lighting duration and the first lighting duration to obtain a first remaining lighting duration; and generating first assisted driving information of the target vehicle passing the first traffic light based on the first color and the first remaining lighting duration.

[0008] According to the vehicle assisted driving method of the embodiment of the present invention, the first state information of the first traffic light in the lane where the current target vehicle is located is first obtained, wherein the first traffic light is the traffic light in front of the target vehicle and closest to the target vehicle, and the first state information includes the first lighting duration and the first target lighting duration of the first traffic light lit in the first color, and then the difference between the first target lighting duration and the first lighting duration is obtained to obtain the first remaining lighting duration, and finally based on the first color and the first remaining lighting duration, the first assisted driving information of the target vehicle passing the first traffic light is generated. Thus, the method can convert the flashing of traffic lights into countdowns, which is convenient for the driver to make judgments, thereby improving traffic efficiency and driving safety.

[0009] In addition, the vehicle assisted driving method according to the above embodiment of the present invention may also have the following additional technical features:

[0010] According to one embodiment of the present invention, obtaining the first status information of the first traffic light in the lane where the current target vehicle is located includes: when the target vehicle is in a networked state, obtaining the first lighting time through a camera, and obtaining the first target lighting time through the camera and / or the vehicle network; when the target vehicle is not in a networked state, obtaining the first lighting time through the camera, and obtaining the first target lighting time from the historical driving data of the target vehicle.

[0011] According to one embodiment of the present invention, the method also includes: obtaining one or more of a first distance between the target vehicle and the first traffic light, a speed of the target vehicle, and first traffic status information from the target vehicle to the first traffic light; based on the first distance, the speed, and one or more of the first traffic status information, as well as the first color and the first remaining lighting time, generating first auxiliary driving information of the target vehicle passing the first traffic light.

[0012] According to one embodiment of the present invention, the method also includes: obtaining second status information of a second traffic light in the lane where the current target vehicle is located, wherein the second traffic light is the traffic light in front of the target vehicle and is second closest to the target vehicle, and the second status information includes a second lighting time and a second target lighting time of the second traffic light lit in a second color; obtaining the difference between the second target lighting time and the second lighting time to obtain a second remaining lighting time; and generating second auxiliary driving information of the target vehicle passing the second traffic light based on the second color, the second remaining lighting time, the first color and the first remaining lighting time.

[0013] According to one embodiment of the present invention, the method of obtaining the difference between the second target lighting duration and the second illuminated duration to obtain the second remaining lighting duration includes: when the target vehicle is in a networked state, obtaining the second illuminated duration through a camera, and obtaining the second target lighting duration through the camera and / or the vehicle network; when the target vehicle is not in a networked state, obtaining the second illuminated duration and the second target lighting duration through the camera.

[0014] According to one embodiment of the present invention, the method also includes: obtaining one or more of a second distance between the target vehicle and the second traffic light, the speed of the target vehicle, and second traffic status information from the target vehicle to the second traffic light; based on the second distance, the speed, one or more of the second traffic status information, the second color, the second remaining lighting time, the first color, and the first remaining lighting time, generating second auxiliary driving information of the target vehicle passing the second traffic light.

[0015] According to one embodiment of the present invention, the first assisted driving information and the second assisted driving information include one or more of remaining lighting time reminder information, reminder information on whether the vehicle can pass the corresponding traffic light, and vehicle speed adjustment information on whether the vehicle can pass the corresponding traffic light.

[0016] To achieve the above-mentioned purpose, an embodiment of the second aspect of the present invention proposes a vehicle assisted driving device, which includes: an acquisition module, used to obtain first status information of a first traffic light in a lane where a current target vehicle is located, wherein the first traffic light is the traffic light in front of the target vehicle and closest to the target vehicle, and the first status information includes a first lighting time and a first target lighting time of the first traffic light lit in a first color; the acquisition module is also used to obtain the difference between the first target lighting time and the first lighting time to obtain a first remaining lighting time; a generation module is used to generate first assisted driving information of the target vehicle passing the first traffic light based on the first color and the first remaining lighting time.

[0017] According to the vehicle assisted driving device of the embodiment of the present invention, the acquisition module is used to acquire the first state information of the first traffic light in the lane where the current target vehicle is located, wherein the first traffic light is the traffic light in front of the target vehicle and closest to the target vehicle, and the first state information includes the first lighting duration and the first target lighting duration of the first traffic light lit in the first color, and the acquisition module is also used to acquire the difference between the first target lighting duration and the first lighting duration to obtain the first remaining lighting duration, and the generation module is used to generate the first assisted driving information of the target vehicle passing the first traffic light based on the first color and the first remaining lighting duration. Thus, the device can convert the flashing of the traffic light into a countdown, which is convenient for the driver to make judgments, thereby improving the traffic efficiency and driving safety.

[0018] To achieve the above-mentioned purpose, a third aspect of the present invention proposes a computer-readable storage medium having a program stored thereon, which implements the above-mentioned vehicle assisted driving method when executed by a processor.

[0019] According to the computer-readable storage medium of the embodiment of the present invention, by implementing the above-mentioned vehicle assisted driving method during execution, the flashing of traffic lights can be converted into countdowns, which is convenient for the driver to make judgments, thereby improving traffic efficiency and driving safety.

[0020] To achieve the above-mentioned purpose, a vehicle is proposed in an embodiment of the fourth aspect of the present invention, comprising a memory, a processor and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the above-mentioned vehicle assisted driving method is implemented.

[0021] According to the vehicle of the embodiment of the present invention, by executing the above-mentioned vehicle assisted driving method, the flashing of traffic lights can be converted into countdown, which is convenient for the driver to make judgments, thereby improving traffic efficiency and driving safety.

[0022] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a flow chart of a vehicle assisted driving method according to an embodiment of the present invention;

[0024] Figure 2 A schematic diagram of a vehicle driving process according to a specific example of the present invention;

[0025] Figure 3 is a block diagram of a vehicle driving assistance device according to an embodiment of the present invention;

[0026] Figure 4 FIG. 4 is a block diagram of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0028] The following describes a vehicle assisted driving method, a vehicle assisted driving device, a computer-readable storage medium, and a vehicle proposed in embodiments of the present invention with reference to the accompanying drawings.

[0029] Figure 1 Flowchart of a vehicle assisted driving method according to an embodiment of the present invention.

[0030] like Figure 1 As shown, the vehicle assisted driving method of the embodiment of the present invention may include the following steps:

[0031] S1, obtaining first status information of a first traffic light in a lane where a current target vehicle is located, wherein the first traffic light is a traffic light in front of the target vehicle and closest to the target vehicle, and the first status information includes a first lighting duration and a first target lighting duration of the first traffic light lit in a first color.

[0032] Specifically, when the driver is driving the target vehicle to reach an intersection with a traffic light, the first state information of the first traffic light in the lane where the target vehicle is currently located can be obtained, for example, the lane indication on the ground or the lane indication on the traffic sign corresponding to the lane indication can be obtained through a camera, such as whether the lane is a straight lane, a left turn lane, or a right turn lane, etc. Then, the first state information of the first traffic light corresponding to the lane is obtained.

[0033] For example, there are currently three lanes, namely, a left-turn lane, a through lane, and a right-turn lane. If the target vehicle is in the through lane, the first lighting duration and the first target lighting duration of the traffic light closest to the target vehicle in the first color are obtained. For example, the traffic light includes a left-turn light, a through light, and a right-turn light. Since the vehicle is in the through lane, the first lighting duration and the first target lighting duration of the through light in the first color can be obtained. For example, the current through light is green. When the target vehicle drives to the intersection from a long distance, the current green light can be photographed in advance by a camera. For example, the green light can be counted from the moment when the last red light turns green. When obtaining the total green light duration of the traffic light, the total green light duration (first target lighting duration) can be obtained by combining the location of the vehicle and querying traffic information in the cloud network.

[0034] For another example, when the target vehicle is in the left-turn lane, the first lighting duration and the first target lighting duration of the first color of the left-turn light can be obtained. For example, the current left-turn light is red, and when the target vehicle drives to the intersection from a long distance, the current red light lighting duration can be photographed in advance by the camera. For example, the red light lighting duration (first lighting duration) can be started from the moment when the last green light turns red. When obtaining the total lighting duration of the red light of the traffic light, the total lighting duration of the red light (first target lighting duration) can be obtained by combining the location of the vehicle and querying traffic information in the cloud network.

[0035] S2, obtaining a difference between a first target lighting duration and a first actual lighting duration to obtain a first remaining lighting duration.

[0036] Specifically, after obtaining the first lighting time and the first target lighting time, the difference between the first target lighting time and the first lighting time can be obtained. It can be understood that the first target lighting time is greater than or equal to the first lighting time. When calculating the difference, the first target lighting time is subtracted from the first lighting time to obtain the difference, and the difference is used as the first remaining lighting time. Therefore, by obtaining the difference between the first target lighting time and the first lighting time, the first remaining lighting time is obtained, so that the user can accurately know the remaining lighting time of the current traffic light.

[0037] For example, the traffic light currently closest to the target vehicle is green, and the first target lighting duration of the current green light obtained through the cloud is 30 seconds. If the first lighting duration of the green light currently obtained through the camera is 10 seconds, that is, the difference between the first target lighting duration and the first lighting duration is 20 seconds, then the first remaining lighting duration is obtained to be 20 seconds. Based on this duration, the user can accurately judge that the current green light will change in 20 seconds, so that the driver can control the vehicle speed according to this duration, thereby achieving the purpose of safely passing the intersection.

[0038] For another example, the traffic light currently closest to the target vehicle is a red light, and the first target lighting duration of the current red light obtained through the cloud is 60 seconds. If the first actual lighting duration of the red light currently obtained through the camera is 50 seconds, that is, the difference between the first target lighting duration and the first actual lighting duration is 10 seconds, thus obtaining the first remaining lighting duration of 10 seconds. The user can accurately judge based on this duration that the current red light will change in 10 seconds, so that the driver can control the vehicle speed based on this duration, thereby achieving the purpose of safely passing the intersection.

[0039] S3: Generate first auxiliary driving information of a target vehicle passing through a first traffic light based on the first color and the first remaining lighting time.

[0040] Specifically, after obtaining the first color of the traffic light and the first remaining lighting time corresponding to the first color, the first auxiliary driving information of the target vehicle passing the first traffic light can be generated based on the first color and the first remaining lighting time. For example, when the traffic light closest to the target vehicle is green, if the current green light has 5 seconds to switch to the red light, that is, the first remaining lighting time is 5 seconds, the first auxiliary driving information can be generated, such as a voice prompt that the current green light is about to turn red, please slow down or speed up, etc., and the first remaining lighting time is displayed or the user is reminded by voice, so that the user can accurately know the remaining lighting time of the traffic light at the intersection of the traffic light that does not display the time. In this way, the flashing of the traffic light can be converted into a countdown, which is convenient for the driver to make judgments, thereby improving traffic efficiency and driving safety.

[0041] According to one embodiment of the present invention, obtaining the first status information of the first traffic light in the lane where the current target vehicle is located includes: when the target vehicle is in a networked state, obtaining the first lighting time through a camera, and obtaining the first target lighting time through a camera and / or a vehicle network; when the target vehicle is not in a networked state, obtaining the first lighting time through a camera, and obtaining the first target lighting time from the historical driving data of the target vehicle.

[0042] Specifically, when obtaining the first state information of the first traffic light in the lane where the current target vehicle is located, it can be obtained in two ways, that is, the target vehicle is currently in a networked state to obtain it or the target vehicle is not in a networked state to obtain it. For example, when the target vehicle is in a networked state, the first lighting duration can be obtained through the camera. For example, within a period of time before the target vehicle drives to the traffic light intersection, when the traffic light changes from green to red, the lighting duration of the red light can be obtained from the moment it changes to red. When the traffic light changes from red to green, the lighting duration of the green light can be obtained from the moment it changes to green. When obtaining the first target lighting duration, it can also be obtained through the camera. For example, when the traffic light changes from red to green, the camera is used to start obtaining the lighting duration. When the next red light is turned on, the total duration of the green light can be determined, which is the first target lighting duration. For another example, when the traffic light changes from green to red, the camera is used to start obtaining the lighting duration. When the next green light is turned on, the total duration of the red light can be determined, which is the first target lighting duration.

[0043] When obtaining the first target lighting duration, it can also be obtained through the Internet of Vehicles. For example, the current position information of the vehicle is first obtained through GPS (Global Positioning System). After obtaining the position information of the vehicle, the Internet of Vehicles can obtain the traffic information of the current traffic light intersection based on the position, thereby obtaining the duration of the red light and the duration of the green light. In addition, it can also include the duration of the yellow light.

[0044] In one embodiment of the present invention, the first target lighting duration can also be obtained through the camera and the Internet of Vehicles at the same time. For example, when the traffic light changes from red to green, the camera starts to obtain the lighting duration. When the next red light is on, the total duration of the green light can be determined, that is, the first target lighting duration. For another example, when the traffic light changes from green to red, the camera starts to obtain the lighting duration. When the next green light is on, the total duration of the red light can be determined, that is, the first target lighting duration. The current location information of the vehicle can be obtained through GPS (Global Positioning System). After obtaining the location information of the vehicle, the Internet of Vehicles can obtain the traffic information of the current traffic light intersection according to the location, so as to obtain the duration of the red light and the duration of the green light, which can also include the duration of the yellow light, that is, the first target lighting duration.

[0045] If the lighting duration of the first target obtained by two acquisition methods is the same, any one of the obtained results can be used as the lighting duration of the first target. If the lighting duration of the traffic lights at some intersections changes and the traffic information is not updated in time, the lighting duration of the first target obtained through the Internet of Vehicles may be inaccurate. That is, if the lighting duration of the first target obtained through the Internet of Vehicles is different from the lighting duration of the first target obtained by the camera, the lighting duration of the first target obtained by the camera shall prevail.

[0046] When the target vehicle is not connected to the Internet, the first lighting duration can also be obtained through the camera. The first target lighting duration can be obtained from the historical driving data, that is, the historical driving data may include the lighting duration of traffic lights at multiple traffic light intersections that have been driven, so that the first target lighting duration can be obtained from the historical driving data of the target vehicle. In this way, the first target lighting duration can still be obtained when the target vehicle is not connected to the Internet.

[0047] According to one embodiment of the present invention, the vehicle assisted driving method further includes: obtaining one or more of the first distance between the target vehicle and the first traffic light, the speed of the target vehicle, and the first traffic status information from the target vehicle to the first traffic light; based on the first distance, the speed, and the first traffic status information, as well as the first color and the first remaining lighting time, generating first assisted driving information of the target vehicle passing the first traffic light. The first assisted driving information may include one or more of the remaining lighting time reminder information, the reminder information of whether the corresponding traffic light can be passed, and the speed adjustment information of the vehicle that can pass the corresponding traffic light.

[0048] Specifically, when obtaining the first distance between the target vehicle and the first traffic light, the relative distance between the stop line at the traffic light intersection closest to the target vehicle and the coordinates of the target vehicle, that is, the first distance of the first traffic light, can be identified through the front camera of the target vehicle. When obtaining the speed of the target vehicle, the speed of the target vehicle can be obtained in real time through the vehicle VCU (Vehicle Control Unit), or the speed of the target vehicle can be obtained in real time through the EMS (Engine Management System). When obtaining the first traffic status information from the target vehicle to the first traffic light, the first traffic status information may include whether there are other traffic participants around the target vehicle, such as other vehicles or pedestrians, and may also include the maximum speed limit information of the current driving section, for example, the front camera of the vehicle and the front millimeter radar can be used to determine whether there are other traffic participants in front of the lane where the target vehicle is located, the traffic sign can be identified through the camera to obtain the maximum speed limit information of the current section, or the current vehicle location can be obtained through GPS, and the traffic information can be queried based on the cloud network to determine the speed limit information of the current section. It should be noted that it is possible to obtain only the first distance between the target vehicle and the first traffic light, or only the speed of the target vehicle, or only the first traffic status information from the target vehicle to the first traffic light, or to obtain multiple information at the same time, such as obtaining the first distance between the target vehicle and the first traffic light, the speed of the target vehicle, and the first traffic status information from the target vehicle to the first traffic light. It is also possible to obtain the first distance between the target vehicle and the first traffic light and the speed of the target vehicle, or obtain the speed of the target vehicle and the first traffic status information from the target vehicle to the first traffic light, or obtain the first distance between the target vehicle and the first traffic light and the first traffic status information from the target vehicle to the first traffic light.

[0049] After obtaining one or more of the first distance between the target vehicle and the first traffic light, the speed of the target vehicle and the first traffic status information from the target vehicle to the first traffic light, the first assisted driving information of the target vehicle passing the first traffic light can be generated based on the first distance, the speed and one or more of the first traffic status information, and in combination with the first color and the first remaining lighting time.

[0050] For example, when generating the first assisted driving information of the target vehicle passing the first traffic light based on the first distance, vehicle speed, first traffic state information, first color and first remaining lighting time, if the currently acquired first distance is △s and the vehicle speed is v, the time t1=△s / v for the target vehicle to reach the stop line of the traffic light intersection closest to the target vehicle can be calculated based on the first distance and vehicle speed. Then, the first assisted driving information of the target vehicle passing the first traffic light can be generated by comparing t1 and the first remaining lighting time t and combining the first color.

[0051] For example, when the current first color is green, if the driving time t1 required for the target vehicle to reach the stop line of the traffic light intersection nearest to the target vehicle at the current driving speed v is within the first remaining lighting time t, that is, t>t1, it can be determined that the target vehicle can pass through this intersection at the current speed, and the target vehicle can maintain the current driving speed so that the target vehicle passes the stop line of the traffic light intersection ahead within the first remaining lighting time t. In addition, at this time, the first auxiliary driving information of the target vehicle passing the first traffic light can also be generated, such as displaying the remaining lighting time reminder information through the central control or instrument panel, or broadcasting the remaining lighting time reminder information through voice prompts.

[0052] If the driving time t1 required for the target vehicle to reach the stop line of the traffic light intersection nearest to the target vehicle at the current driving speed v exceeds the first remaining lighting time t range, that is, t≤t1, it is necessary to adjust the current driving speed to the predetermined safe speed (the predetermined safe speed is higher than the current speed and is within the maximum speed limit range of the current driving section) in combination with the maximum speed limit information of the current driving section obtained by the vehicle's front-view camera, and make the target vehicle pass the stop line of the traffic light intersection ahead at the predetermined safe speed within the first remaining lighting time t of the current green light. At this time, the first auxiliary driving information can be sent to the central control or instrument to display "the traffic light is about to change, please speed up to pass". If the vehicle is still unable to pass the traffic light intersection after calculating the maximum speed limit of the road, that is, the target vehicle still cannot pass the traffic light intersection when the predetermined safe speed is the maximum speed limit information, the first auxiliary driving information for controlling the vehicle to decelerate can be output, such as "the traffic light is about to change, it is impossible to pass, please brake". In addition, at this time, the remaining lighting time reminder information can be displayed through the central control or instrument panel, or the remaining lighting time reminder information can be broadcast through voice prompts.

[0053] In addition, if there are other traffic participants around the target vehicle, such as other vehicles in front of the target vehicle, the speed of the vehicle in front can be obtained and the speed of the target vehicle can be appropriately adjusted according to the speed of the vehicle in front. The information of pedestrians at the intersection can also be obtained through the camera to determine whether there are pedestrians crossing the road, cyclists and other traffic participants in the surrounding environment, and comprehensively determine whether the target vehicle can pass the current intersection, and remind the driver.

[0054] According to one embodiment of the present invention, the vehicle assisted driving method further includes: obtaining the second state information of the second traffic light in the lane where the current target vehicle is located, wherein the second traffic light is the traffic light in front of the target vehicle and the second closest to the target vehicle, and the second state information includes the second lighting time and the second target lighting time of the second traffic light lit in the second color; obtaining the difference between the second target lighting time and the second lighting time to obtain the second remaining lighting time; based on the second color, the second remaining lighting time, the first color and the first remaining lighting time, generating the second assisted driving information of the target vehicle passing the second traffic light. The second assisted driving information may include one or more of the remaining lighting time reminder information, the reminder information of whether the corresponding traffic light can be passed, and the speed adjustment information of the vehicle that can pass the corresponding traffic light.

[0055] Specifically, when the driver is driving the target vehicle to reach an intersection with a traffic light, the second state information of the second traffic light in the lane where the target vehicle is currently located (the traffic light in front of the target vehicle and the second closest to the target vehicle) can be obtained. For example, the lane indication on the ground or the lane indication on the traffic sign corresponding to the lane indication can be obtained through a camera, such as whether the lane is a straight lane, a left turn lane, or a right turn lane, etc., and then the second state information of the second traffic light corresponding to the lane can be obtained. In addition, if the current vehicle is using a navigation function, the second state information of the second traffic light in the lane where the target vehicle is located can also be determined according to the route planned by the vehicle navigation information. For example, there are currently three lanes, namely a left turn lane, a through lane and a right turn lane. If the target vehicle is in the through lane and drives to the traffic light intersection that is second closest to the target vehicle, if the lane is not changed, the second lighting time and the second target lighting time of the traffic light that is second closest to the target vehicle lit in the second color can be obtained. If the traffic light includes a left turn light, a through light and a right turn light, since the vehicle is in the through lane, the second lighting time and the second target lighting time of the through light lit in the second color can be obtained. For example, the straight-ahead light of the second traffic light is currently green and on. When the target vehicle drives to the intersection from a long distance (the traffic light intersection closest to the target vehicle), the camera can be used to capture in advance the lighting time of the current green light of the traffic light next closest to the target vehicle. For example, the lighting time of the green light (the second lighting time) can be started from the moment when the last red light turned green. When obtaining the total lighting time of the green light of the traffic light, the total lighting time of the green light (the second target lighting time) can be obtained by combining the location of the vehicle and querying traffic information in the cloud network.

[0056] After obtaining the second illuminated time and the second target illuminated time, the difference between the second target illuminated time and the second illuminated time can be obtained. It can be understood that the second target illuminated time is greater than or equal to the second illuminated time. When calculating the difference, the difference can be obtained by subtracting the second illuminated time from the second target illuminated time, and the difference is used as the second remaining illuminated time. Therefore, by obtaining the difference between the second target illuminated time and the second illuminated time, the second remaining illuminated time is obtained, which enables the user to accurately know the remaining lighting time of the traffic light that is second closest to the target vehicle.

[0057] After the second remaining lighting time is acquired, second assisted driving information of the target vehicle passing through the second traffic light may be generated based on the second color, the second remaining lighting time, the first color and the first remaining lighting time.

[0058] For example, when the traffic light closest to the target vehicle is green and the traffic light next to the target vehicle is green, the first remaining lighting time obtained is 20 seconds, and the second remaining lighting time obtained is 40 seconds, so that the remaining lighting time information can be displayed to remind the user that the current green light will change in 20 seconds, and the green light of the next intersection will change in 40 seconds, so that the driver can control the speed according to these two time lengths, so as to achieve the purpose of safely passing through the intersection and the next intersection. If it is judged that the nearest intersection can be passed within 5 seconds and the second nearest intersection can be passed within 20 seconds according to the current speed, a reminder message that the target vehicle can pass the corresponding traffic light can also be generated, such as the dashboard or the central control to display "the vehicle can pass normally". Or, if the remaining lighting time is short, the speed adjustment information of the corresponding traffic light can also be generated to change the current speed of the target vehicle so that the target vehicle can accelerate through the intersection.

[0059] According to one embodiment of the present invention, the difference between the second target lighting time and the second illuminated time is obtained to obtain the second remaining lighting time, including: when the target vehicle is in a networked state, the second illuminated time is obtained through a camera, and the second target lighting time is obtained through a camera and / or a vehicle network; when the target vehicle is not in a networked state, the second illuminated time and the second target lighting time are obtained through a camera.

[0060] Specifically, when obtaining the second target lighting duration and the second lit duration of the traffic light in front of the target vehicle and the second closest to the target vehicle, the acquisition can be performed in two ways, namely, the acquisition is performed when the target vehicle is currently in a networked state or the acquisition is performed when the target vehicle is not in a networked state. For example, when the target vehicle is in a networked state, the second lit duration can be obtained through a camera. For example, when the target vehicle is driving to the traffic light closest to the target vehicle, or when the target vehicle passes the traffic light closest to the target vehicle and drives towards the traffic light second closest to the target vehicle, when the second traffic light changes from green to red, the lit duration of the red light can be obtained; when the second traffic light changes from red to green, the lit duration of the green light can be obtained. When obtaining the second target lighting duration, it can also be obtained through the camera. For example, when the second traffic light changes from red to green, the camera is used to start obtaining the lighting duration. When the next red light is turned on, the total duration of the green light can be determined, which is the second target lighting duration. For another example, when the second traffic light changes from green to red, the camera is used to start obtaining the lighting duration. When the next green light is turned on, the total duration of the red light can be determined, which is the second target lighting duration.

[0061] When obtaining the second target lighting duration, it can also be obtained through the Internet of Vehicles. For example, when the vehicle passes the traffic light closest to the target vehicle and drives to the traffic light position that is second closest to the target vehicle, the vehicle's current position information can be obtained through GPS (Global Positioning System). The Internet of Vehicles can obtain the traffic information of the current traffic light intersection based on the position, thereby obtaining the duration of the red light and the green light, and may also include the duration of the yellow light.

[0062] In one embodiment of the present invention, the second target lighting duration can also be obtained through the camera and the vehicle network at the same time. For example, when the second traffic light changes from red to green, the camera starts to obtain the lighting duration. When the light changes to the next red light, the total duration of the green light can be determined, that is, the second target lighting duration. For another example, when the second traffic light changes from green to red, the camera starts to obtain the lighting duration. When the light changes to the next green light, the total duration of the red light can be determined, that is, the second target lighting duration. When the vehicle passes the traffic light closest to the target vehicle and drives to the traffic light position next closest to the target vehicle, the current position information of the vehicle can be obtained through GPS (Global Positioning System), and the vehicle network can obtain the traffic information of the current traffic light intersection according to the position, so as to obtain the duration of the red light and the duration of the green light, and can also include the duration of the yellow light, that is, the second target lighting duration.

[0063] If the lighting duration of the second target obtained by two acquisition methods is the same, any one of the obtained results can be used as the lighting duration of the second target. If the lighting duration of the traffic lights at some intersections changes and the traffic information is not updated in time, the lighting duration of the second target obtained through the Internet of Vehicles may be inaccurate. That is, if the lighting duration of the second target obtained through the Internet of Vehicles is different from the lighting duration of the second target obtained by the camera, the lighting duration of the second target obtained by the camera shall prevail.

[0064] When the target vehicle is not connected to the Internet, the second lighting duration and the second target lighting duration can also be obtained through the camera. For example, for the second target lighting duration, when the target vehicle is currently waiting at the traffic light closest to the target vehicle, or when the traffic light next to the target vehicle is far away (the camera can capture the complete red-green light switching process of the next closest traffic light), the camera can be used to obtain the complete lighting duration of the traffic light next to the target vehicle, that is, the total time the red light of the traffic light next to the target vehicle is on and the total time the green light is on can be recorded, that is, the second target lighting duration can be determined. In this way, the second target lighting duration can still be obtained when the target vehicle is not connected to the Internet.

[0065] According to one embodiment of the present invention, the vehicle assisted driving method further includes: obtaining one or more of the second distance between the target vehicle and the second traffic light, the speed of the target vehicle, and the second traffic status information from the target vehicle to the second traffic light; based on the second distance, the speed, and the second traffic status information, the second color, the second remaining lighting time, the first color, and the first remaining lighting time, generating second assisted driving information of the target vehicle passing the second traffic light. The second assisted driving information includes one or more of the remaining lighting time reminder information, the reminder information of whether the corresponding traffic light can be passed, and the speed adjustment information of the vehicle that can pass the corresponding traffic light.

[0066] Specifically, when obtaining the second distance between the target vehicle and the second traffic light, the relative distance between the stop line at the traffic light intersection closest to the target vehicle and the coordinates of the target vehicle can be identified by the front camera of the target vehicle, that is, the second distance of the second traffic light. When obtaining the speed of the target vehicle, the speed of the target vehicle can be obtained in real time by the vehicle VCU (Vehicle Control Unit), or the speed of the target vehicle can be obtained in real time by the EMS (Engine Management System). When obtaining the second traffic status information from the target vehicle to the second traffic light, the second traffic status information may include whether there are other traffic participants around the target vehicle, such as other vehicles, or pedestrians, etc., and may also include the maximum speed limit information of the current driving section, etc. For example, the front camera of the vehicle and the front millimeter radar can be used to determine whether there are other traffic participants in front of the lane where the target vehicle is located, the traffic sign can be identified by the camera to obtain the maximum speed limit information of the current section, or the current vehicle location can be obtained by GPS, and the traffic information can be queried according to the cloud network to determine the speed limit information of the current section. It should be noted that only the second distance between the target vehicle and the second traffic light can be obtained, or only the speed of the target vehicle can be obtained, or only the second traffic status information from the target vehicle to the second traffic light can be obtained, or multiple information can be obtained at the same time, such as simultaneously obtaining the second distance between the target vehicle and the second traffic light, the speed of the target vehicle, and the second traffic status information from the target vehicle to the second traffic light. It is also possible to obtain the second distance between the target vehicle and the second traffic light and the speed of the target vehicle, or obtain the speed of the target vehicle and the second traffic status information from the target vehicle to the second traffic light, or obtain the second distance between the target vehicle and the second traffic light and the second traffic status information from the target vehicle to the second traffic light.

[0067] After obtaining one or more of the second distance between the target vehicle and the second traffic light, the speed of the target vehicle and the second traffic status information from the target vehicle to the second traffic light, the second assisted driving information of the target vehicle passing the second traffic light can be generated based on the second distance, the speed and the second traffic status information, and in combination with the second color, the second remaining lighting time, the first color and the first remaining lighting time.

[0068] For example, when generating the second assisted driving information of the target vehicle passing the second traffic light based on the second distance, vehicle speed, second traffic state information, second color and second remaining lighting time, first color and first remaining lighting time, if the currently acquired second distance is △s1 and the vehicle speed is v1, the time t2=△s1 / v1 for the target vehicle to reach the stop line of the traffic light intersection next to the target vehicle can be calculated based on the second distance and vehicle speed. Then, the second assisted driving information of the target vehicle passing the second traffic light can be generated by comparing t2 and the second remaining lighting time T2, and combining the first color, the first remaining lighting time and the second color.

[0069] For example, when the current first color is green, if the driving time t1 required for the target vehicle to reach the stop line of the traffic light intersection nearest to the target vehicle at the current driving speed v1 is within the first remaining lighting time t, that is, t>t1, it can be determined that the target vehicle can pass through this intersection at the current speed, and the target vehicle can maintain the current driving speed so that the target vehicle can pass the stop line of the traffic light intersection ahead within the first remaining lighting time t.

[0070] When the target vehicle passes the current intersection, the remaining time t3 after subtracting t1 from the time t2 when the target vehicle reaches the stop line of the next nearest traffic light intersection to the target vehicle is compared with the second remaining lighting time T2. If the current second color is a green light and the remaining time t3 is within the second remaining lighting time T2, that is, T2>t3, it can be determined that the next intersection can be passed at the current speed, and the target vehicle can maintain the current driving speed so that the target vehicle passes the stop line of the next nearest traffic light intersection to the target vehicle within the second remaining lighting time T2. In addition, second auxiliary driving information of the target vehicle passing the second traffic light can also be generated at this time, such as displaying the remaining lighting time reminder information through the central control or instrument panel, or broadcasting the remaining lighting time reminder information through voice prompts. And it can generate a reminder message that the target vehicle can pass the corresponding traffic light, such as the dashboard or central control displaying "the vehicle can pass normally"; if the remaining time t3 required for the target vehicle to reach the stop line of the traffic light intersection next to the target vehicle at the current driving speed v1 exceeds the second remaining lighting time T2 range, that is, when T2≤t3, it is necessary to adjust the current driving speed to the predetermined safe speed (the predetermined safe speed is higher than the current speed and is within the maximum speed limit range of the current driving section) in combination with the maximum speed limit information of the current driving section obtained by the vehicle's front-view camera, and let the target vehicle pass the stop line of the traffic light intersection ahead at the predetermined safe speed within the second remaining lighting time T2 of the current green light. At this time, the second auxiliary driving information can be sent to the central control or instrument to display "the traffic light is about to change, please speed up to pass". If the target vehicle still cannot pass the traffic light intersection after the vehicle accelerates to the speed limit of the road after calculation, that is, the target vehicle still cannot pass the traffic light intersection when the predetermined safe speed is the maximum speed limit, the second auxiliary driving information for controlling the vehicle to decelerate can be output, such as "the traffic light will change soon, you cannot pass, please brake". In addition, at this time, the remaining lighting time reminder information can be displayed through the central control or instrument panel, or the remaining lighting time reminder information can be broadcast through voice prompts.

[0071] In addition, if there are other traffic participants around the target vehicle, such as other vehicles in front of the target vehicle, the speed of the vehicle in front can be obtained and the speed of the target vehicle can be appropriately adjusted according to the speed of the vehicle in front. The information of pedestrians at the intersection can also be obtained through the camera to determine whether there are pedestrians crossing the road, cyclists and other traffic participants in the surrounding environment, and comprehensively determine whether the target vehicle can pass the current intersection, and remind the driver.

[0072] In addition, when the first color indicates that the green light is on, if the driving time t1 required for the target vehicle to reach the stop line of the nearest traffic light intersection at the current driving speed v1 is not within the first remaining lighting duration t, that is, when t < t1, it can be determined that the vehicle cannot pass through this intersection at the current speed. In this case, it is necessary to adjust the current driving speed to a predetermined safe speed (the predetermined safe speed is higher than the current speed and within the maximum speed limit range of the current driving section) by combining the maximum speed limit information of the current driving section obtained by the vehicle's front view camera. Then, the target vehicle is made to pass through the stop line of the front traffic light intersection within the first remaining lighting duration t of the current green light at the predetermined safe speed. After the speed is increased, for example, when the speed is increased to v2, the time for the target vehicle to reach the second nearest traffic light intersection is determined according to the new speed. Specifically, as described in the above method, it will not be elaborated here.

[0073] In addition, when the first color indicates that the red light is on, in the same way, based on the second distance, vehicle speed, second traffic status information, second color, second remaining lighting duration, and first remaining lighting duration, the second assisted driving information for the target vehicle to pass through the second traffic light can be generated.

[0074] As a specific example, as Figure 2 shown, there is a target vehicle 1, other vehicles 2 on the road, the nearest traffic light 3 in front of the target vehicle 1, the second nearest traffic light 4 to the target vehicle, a camera 5, and a vehicle-mounted system 6. For example, Figure 2 from top to bottom, there may be a left-turn lane, a straight-through lane, and a right-turn lane respectively, and the current target vehicle 1 is driving in the straight-through lane. First, the first lit duration and the first target lit duration of the current color of the traffic light 3 can be obtained through the camera 5. For example, when the current traffic light 3 is green and the first lit duration is 5 seconds, the first target lit duration can be determined by the vehicle-mounted system 6 according to the cloud network interconnection information when the vehicle is connected to the network. For example, the first target lit duration is 30 seconds. Thus, the vehicle-mounted system 6 can calculate the first remaining lighting duration of 25 seconds based on the first lit duration of 5 seconds and the first target lit duration of 30 seconds. Therefore, when the target vehicle 1 is about to drive to the intersection where the traffic light 3 is located, the remaining time of the green light can be accurately obtained, and a remaining lighting duration reminder message can be generated. Especially when the traffic light is flashing, it is more convenient for the driver to judge how much time is left before the green light turns red.

[0075] The vehicle system 6 can calculate the time it takes for the target vehicle to pass the intersection at the current speed based on the distance between the target vehicle 1 and the traffic light 3. If it takes 10 seconds to pass, this time is within the first remaining lighting time of 25 seconds, indicating that the current target vehicle 1 can pass the intersection normally. If the time it takes to pass the intersection at the current speed is 27 seconds after calculation, and this time is not within the remaining lighting time of 25 seconds, indicating that the current target vehicle 1 will not be able to pass the intersection if the speed is not increased. Therefore, the vehicle system 6 can determine the speed that can pass the intersection by calculation to increase the speed of the vehicle, and can generate auxiliary driving information, such as the prompt information that the current speed is increased to the calculated speed and the intersection is passed as soon as possible, so as to accelerate through the intersection. When the target vehicle 1 accelerates, combined with the speed limit information of the current intersection, if it exceeds the speed limit of the current intersection, it can be determined that the target vehicle 1 cannot pass the intersection, and auxiliary driving information can be generated, such as prompt information such as the vehicle cannot pass, please brake. In addition, the camera 1 can also be used to make a comprehensive judgment on whether the current vehicle can pass through the intersection by combining the presence of pedestrians or vehicles crossing the road on the left and right sides of the intersection.

[0076] When the vehicle has not yet reached the intersection where the traffic light 3 is located, camera 4 can also obtain the second lit time and second target lit time of the current color of the traffic light 4 that is next closest to the target vehicle. For example, the current traffic light 4 is green, and camera 4 can capture in advance the time it takes for the traffic light 4 to change from green to red and then from red to green. For example, the second target lit time (green light) is 40 seconds, and the second lit time is 2 seconds, thereby determining that the second remaining lit time is 38 seconds. The vehicle system 6 can calculate the time it takes for the target vehicle to pass through the intersection at the current speed based on the distance between the target vehicle 1 and the traffic light 4, such as 10 seconds, and combine the lighting information of the current traffic light 3 and the first remaining lighting time, that is, if the current traffic light 3 is green, the first remaining time is 10 seconds, and the target vehicle takes 5 seconds to pass through the intersection where the traffic light 3 is located, which is less than the first remaining time. Therefore, it can be determined that the target vehicle can also pass through the intersection where the traffic light 3 is located at the current speed, and auxiliary driving information can be generated, such as remaining lighting time reminder information and reminders that it can pass through traffic lights 3 and traffic lights 4. Therefore, the lighting information of the next traffic light can be accurately calculated for the user, so as to appropriately adjust the speed, make judgments in advance, and reduce the waiting time for the next traffic light. In addition, information is collected through the vehicle's on-board camera, which is faster and more accurate than network navigation information, and information about vehicles around the road is detected to provide safety recommendations.

[0077] In summary, according to the vehicle assisted driving method of an embodiment of the present invention, the first state information of the first traffic light in the lane where the current target vehicle is located is first obtained, wherein the first traffic light is the traffic light in front of the target vehicle and closest to the target vehicle, and the first state information includes the first lighting duration and the first target lighting duration of the first traffic light lit in the first color, and then the difference between the first target lighting duration and the first lighting duration is obtained to obtain the first remaining lighting duration, and finally based on the first color and the first remaining lighting duration, the first assisted driving information of the target vehicle passing the first traffic light is generated. Therefore, the method can convert the flashing of traffic lights into countdowns, which is convenient for the driver to make judgments, thereby improving traffic efficiency and driving safety.

[0078] Corresponding to the above embodiment, the present invention also proposes a vehicle auxiliary driving device.

[0079] like Figure 3 As shown, the vehicle assisted driving device 100 according to the embodiment of the present invention includes: an acquisition module 110 and a generation module 120 .

[0080] The acquisition module 110 is used to acquire the first state information of the first traffic light in the lane where the current target vehicle is located, wherein the first traffic light is the traffic light in front of the target vehicle and closest to the target vehicle, and the first state information includes the first lighting duration and the first target lighting duration of the first traffic light lit in the first color. The acquisition module 110 is also used to acquire the difference between the first target lighting duration and the first lighting duration to obtain the first remaining lighting duration. The generation module 120 is used to generate the first auxiliary driving information of the target vehicle passing the first traffic light based on the first color and the first remaining lighting duration.

[0081] According to one embodiment of the present invention, the acquisition module 110 acquires the first status information of the first traffic light in the lane where the current target vehicle is located, and is specifically used for: when the target vehicle is in a networked state, obtaining the first lighting time through the camera, and obtaining the first target lighting time through the camera and / or the vehicle network; when the target vehicle is not in a networked state, obtaining the first lighting time through the camera, and obtaining the first target lighting time from the historical driving data of the target vehicle.

[0082] According to one embodiment of the present invention, the generation module 120 is also used to: obtain one or more of the first distance between the target vehicle and the first traffic light, the speed of the target vehicle, and the first traffic status information from the target vehicle to the first traffic light; based on the first distance, the speed, and one or more of the first traffic status information, as well as the first color and the first remaining lighting time, generate first auxiliary driving information of the target vehicle passing the first traffic light.

[0083] According to one embodiment of the present invention, the generation module 120 is also used to: obtain second status information of a second traffic light in a lane where the current target vehicle is located, wherein the second traffic light is the traffic light in front of the target vehicle and is second closest to the target vehicle, and the second status information includes a second lighting time and a second target lighting time of the second traffic light lit in a second color; obtain the difference between the second target lighting time and the second lighting time to obtain a second remaining lighting time; and generate second auxiliary driving information of the target vehicle passing the second traffic light based on the second color, the second remaining lighting time, the first color and the first remaining lighting time.

[0084] According to one embodiment of the present invention, the acquisition module 110 acquires the difference between the second target lighting time and the second illuminated time to obtain the second remaining lighting time, which is specifically used for: when the target vehicle is in a networked state, acquiring the second illuminated time through a camera, and acquiring the second target lighting time through a camera and / or a vehicle network; when the target vehicle is not in a networked state, acquiring the second illuminated time and the second target lighting time through a camera.

[0085] According to one embodiment of the present invention, the generation module 120 is also used to: obtain one or more of the second distance between the target vehicle and the second traffic light, the speed of the target vehicle, and the second traffic status information from the target vehicle to the second traffic light; based on the second distance, the speed, one or more of the second traffic status information, the second color, the second remaining lighting time, the first color and the first remaining lighting time, generate second auxiliary driving information of the target vehicle passing the second traffic light.

[0086] According to one embodiment of the present invention, the first assisted driving information and the second assisted driving information include one or more of remaining lighting time reminder information, reminder information on whether or not a corresponding traffic light can be passed, and vehicle speed adjustment information on whether or not a vehicle can pass a corresponding traffic light.

[0087] It should be noted that for details not disclosed in the vehicle assisted driving device of the embodiment of the present invention, please refer to the details disclosed in the vehicle assisted driving method of the embodiment of the present invention, and the details will not be repeated here.

[0088] According to the vehicle assisted driving device of the embodiment of the present invention, the acquisition module is used to acquire the first state information of the first traffic light in the lane where the current target vehicle is located, wherein the first traffic light is the traffic light in front of the target vehicle and closest to the target vehicle, and the first state information includes the first lighting duration and the first target lighting duration of the first traffic light lit in the first color, and the acquisition module is also used to acquire the difference between the first target lighting duration and the first lighting duration to obtain the first remaining lighting duration, and the generation module is used to generate the first assisted driving information of the target vehicle passing the first traffic light based on the first color and the first remaining lighting duration. Thus, the device can convert the flashing of the traffic light into a countdown, which is convenient for the driver to make judgments, thereby improving the traffic efficiency and driving safety.

[0089] Corresponding to the above embodiment, the present invention also proposes a computer-readable storage medium.

[0090] The computer-readable storage medium of the embodiment of the present invention stores a program, which implements the above-mentioned vehicle assisted driving method when executed by a processor.

[0091] According to the computer-readable storage medium of the embodiment of the present invention, by executing the above-mentioned vehicle assisted driving method, the flashing of traffic lights can be converted into countdown, which is convenient for the driver to make judgments, thereby improving traffic efficiency and driving safety.

[0092] Corresponding to the above embodiment, the present invention also provides a vehicle.

[0093] like Figure 4 As shown, the vehicle 200 of the embodiment of the present invention may include: a memory 210, a processor 220, and a program stored in the memory 210 and executable on the processor 220. When the processor 220 executes the program, the above-mentioned vehicle assisted driving method is implemented.

[0094] According to the vehicle of the embodiment of the present invention, by executing the above-mentioned vehicle assisted driving method, the flashing of traffic lights can be converted into countdown, which is convenient for the driver to make judgments, thereby improving traffic efficiency and driving safety.

[0095] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0096] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0097] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0098] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0099] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0100] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A vehicle assisted driving method, characterized in that: The method comprises: Acquire first state information of a first traffic light in a lane where the current target vehicle is located, wherein the first traffic light is a traffic light in front of the target vehicle and closest to the target vehicle, and the first state information includes a first lighting duration and a first target lighting duration of the first traffic light being lit in a first color; Obtaining a difference between the first target lighting duration and the first already lit duration to obtain a first remaining lighting duration; Based on the first color and the first remaining lighting time, first auxiliary driving information of the target vehicle passing through the first traffic light is generated.

2. The method according to claim 1, characterized in that The obtaining of first status information of a first traffic light in a lane where the target vehicle is currently located includes: When the target vehicle is in a networked state, obtaining the first lighting duration through a camera, and obtaining the first target lighting duration through the camera and / or the vehicle network; When the target vehicle is not in a networked state, the first lighting duration is obtained through the camera, and the first target lighting duration is obtained from historical driving data of the target vehicle.

3. The method according to claim 1, characterized in that The method further comprises: Acquire one or more of a first distance between the target vehicle and the first traffic light, a speed of the target vehicle, and first traffic state information from the target vehicle to the first traffic light; Based on one or more of the first distance, the vehicle speed, and the first traffic status information, as well as the first color and the first remaining lighting time, first auxiliary driving information of the target vehicle passing through the first traffic light is generated.

4. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: Acquire second state information of a second traffic light in the lane where the current target vehicle is located, wherein the second traffic light is a traffic light in front of the target vehicle and next closest to the target vehicle, and the second state information includes a second lighting duration and a second target lighting duration of the second traffic light being lit in a second color; Obtaining a difference between the second target lighting duration and the second already lit duration to obtain a second remaining lighting duration; Based on the second color, the second remaining lighting time, the first color, and the first remaining lighting time, second auxiliary driving information of the target vehicle passing through the second traffic light is generated.

5. The method according to claim 4, characterized in that The obtaining the difference between the second target lighting duration and the second already lit duration to obtain the second remaining lighting duration includes: When the target vehicle is in a networked state, obtaining the second lighting duration through a camera, and obtaining the second target lighting duration through the camera and / or the vehicle network; When the target vehicle is not in a networked state, the second lighting time and the second target lighting time are acquired through the camera.

6. The method according to claim 4, characterized in that The method further comprises: Acquire one or more of a second distance between the target vehicle and the second traffic light, a speed of the target vehicle, and second traffic status information from the target vehicle to the second traffic light; Based on the second distance, one or more of the vehicle speed and the second traffic status information, the second color, the second remaining lighting time, the first color and the first remaining lighting time, second auxiliary driving information of the target vehicle passing the second traffic light is generated.

7. The method according to claim 4, characterized in that The first assisted driving information and the second assisted driving information include one or more of remaining lighting time reminder information, reminder information on whether or not a corresponding traffic light can be passed, and speed adjustment information on whether a vehicle can pass a corresponding traffic light.

8. A vehicle driving assistance device, characterized in that: The device comprises: an acquisition module, configured to acquire first state information of a first traffic light in a lane where the current target vehicle is located, wherein the first traffic light is a traffic light in front of the target vehicle and closest to the target vehicle, and the first state information includes a first lighting duration and a first target lighting duration of the first traffic light being lit in a first color; The acquisition module is further configured to acquire a difference between the first target lighting duration and the first already lit duration to obtain a first remaining lighting duration; A generating module is used to generate first auxiliary driving information of the target vehicle passing through the first traffic light based on the first color and the first remaining lighting time.

9. A computer-readable storage medium, characterized in that: A program is stored thereon, and when the program is executed by a processor, the vehicle assisted driving method according to any one of claims 1-7 is implemented.

10. A vehicle, characterized in that: It includes a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the vehicle assisted driving method according to any one of claims 1 to 7 is implemented.

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