Bend vehicle safe auxiliary driving method, device, equipment, medium and product

Abstract

The invention discloses a curve vehicle safe auxiliary driving method, device and equipment, a medium and a product, and relates to the technical field of intelligent traffic control, and the method comprises the steps: firstly, when a target vehicle enters a preset range, sending a connection control request to the target vehicle, and then when the target vehicle is connected, sending the connection control request to the target vehicle; the method comprises the steps of obtaining operation information and environment information of a target vehicle, determining a prompting scheme and a control scheme of the target vehicle according to the operation information and the environment information, and finally prompting and controlling the target vehicle according to the prompting scheme and the control scheme. According to the invention, intelligent management and safety improvement of curve passage of the parking lot are realized, and the probability of occurrence of vehicle collision accidents is significantly reduced.

Description

Technical Field

[0001] The present application relates to the field of intelligent traffic control technology, and in particular to methods, devices, equipment, media and products for safe assisted driving of vehicles on curves. Background Art

[0002] With the acceleration of urbanization, the construction scale of underground parking lots is constantly expanding. Due to the limitation of space resources, underground parking lots usually need to set up long guide curves to connect different floors or areas. These curves are often narrow and have limited vision, which brings safety hazards to vehicle traffic. Especially in commercial areas with large flow of people and vehicles, the safety problem of meeting vehicles on curves is particularly prominent, which puts higher requirements on the driving skills of drivers.

[0003] The current parking lot management system mainly uses video surveillance and ground sensor coils to manage vehicle traffic. These systems collect vehicle information and perform license plate recognition through cameras, and use ground sensor coils to detect the presence and passage of vehicles, thereby achieving basic monitoring and management of vehicles in the parking lot. The system also sets up reflectors and warning signs at key locations such as bends to remind drivers to pay attention to safety. In addition, some parking lots are also equipped with display screens to display remaining parking space information and simple traffic instructions to assist vehicles to pass in an orderly manner.

[0004] However, this one-way monitoring and management method has obvious limitations. Since the system cannot exchange information with the vehicle in real time, it is difficult to accurately grasp the specific operating status of the vehicle. At the same time, in complex scenarios such as meeting vehicles on curves, relying solely on passive warning facilities cannot provide effective warnings and assistance to drivers, which can easily cause accidents such as vehicle collisions. Especially in conditions of insufficient light or obstructed vision, it is difficult for drivers to accurately judge the driving environment and the status of other vehicles, increasing driving risks. In addition, for novice drivers who lack driving experience, steering operations and distance control in narrow curves are quite difficult, and the existing management system cannot provide targeted auxiliary guidance. Summary of the invention

[0005] The main purpose of this application is to provide a method, device, equipment, medium and product for safe assisted driving of vehicles on curves, aiming to solve the technical problem of how to prevent traffic accidents from occurring on curves.

[0006] To achieve the above objectives, the present application proposes a method for safely assisting vehicle driving on a curved road, the method comprising:

[0007] When the target vehicle enters the preset range, sending a connection control request to the target vehicle;

[0008] When connected to the target vehicle, obtaining operation information and environment information of the target vehicle;

[0009] Determine the prompting scheme and control scheme of the target vehicle according to the operation information and environmental information;

[0010] According to the prompting scheme and the control scheme, the target vehicle is prompted and controlled.

[0011] In one embodiment, the step of prompting and controlling the target vehicle according to the prompting scheme and the control scheme specifically includes:

[0012] According to the speed difference between the real-time speed in the operation information and the speed of the vehicle in front, the real-time relative distance to the vehicle in front, and the road condition in front of the target vehicle in the environmental information, evaluating whether to enter different preset assisted driving modes, the preset assisted driving modes including: a low-level assisted driving mode, a medium-level assisted driving mode, a first high-level assisted driving mode, and a second high-level assisted driving mode;

[0013] According to different preset assisted driving modes, different warnings are performed on the driver of the target vehicle and / or the target vehicle is controlled to perform different deceleration operations.

[0014] In one embodiment, the steps of performing different warnings on the driver of the target vehicle and / or controlling the target vehicle to perform different deceleration operations according to different preset assisted driving modes specifically include:

[0015] When in low-level assisted driving mode, provide real-time relative distance and relative speed reminders;

[0016] When in the intermediate assisted driving mode, a real-time relative distance warning and a relative speed warning are performed, and when the road condition in front of the target vehicle meets the preset abnormal road condition, a first deceleration signal is output to control the vehicle to decelerate;

[0017] When in the first advanced driver assistance mode, advanced real-time relative distance warning and vehicle speed relative speed warning are provided;

[0018] When in the second advanced driver assistance mode, a danger warning is issued, and at the same time, based on whether the road condition in front of the target vehicle satisfies several preset road conditions, the vehicle is controlled to slow down and the real-time vehicle speed or the real-time relative distance is controlled.

[0019] In one embodiment, when in the second advanced driver assistance mode, a danger warning is given, and different deceleration operation schemes are provided according to whether the road condition ahead of the target vehicle satisfies a plurality of preset road conditions, so that the target vehicle controls the real-time vehicle speed or the real-time relative distance, and the step also includes:

[0020] During the deceleration operation, when the road condition ahead of the target vehicle meets the preset abnormal road condition, a second deceleration signal is output until the real-time vehicle speed and the real-time relative distance are within a preset range;

[0021] When the real-time vehicle speed and the real-time relative distance are within the preset range, the step of evaluating whether to enter a different preset assisted driving mode is re-executed based on the speed difference between the real-time speed in the operating information and the speed of the vehicle in front, the real-time relative distance to the vehicle in front, and the road condition in front of the target vehicle in the environmental information.

[0022] In one embodiment, the step of obtaining the operating information and environmental information of the target vehicle when connected to the target vehicle comprises:

[0023] When the road slope in the environmental information changes, the illumination angle and illumination brightness of the headlights are adjusted in real time according to the change amplitude of the slope in the environmental information, the real-time position and real-time speed of the vehicle in the operation information of the target vehicle.

[0024] In one embodiment, when the target vehicle enters the preset range, the step of sending a connection control request to the target vehicle specifically includes:

[0025] When the target vehicle enters the preset range, query whether there is a connection request record sent to the target vehicle and a connection approval record and a connection rejection record of the target vehicle, and at the same time detect whether the target vehicle is in the communication connection state;

[0026] When the target vehicle has the sending connection request record, has the rejection connection record less than or equal to the approval connection record within the preset time and is not in the first record state of the communication connection state, or does not have the second record state of the sending connection request record, sending a connection request to the target vehicle;

[0027] When the target vehicle has the record of sending the connection request, the number of rejected connection records within the preset time is greater than the number of agreed connection records, and it is not in the third record state of the communication connection state, or is in the fourth record state of the communication connection state, the target vehicle is stopped from sending the connection request.

[0028] In addition, to achieve the above-mentioned purpose, the present application also proposes a safety auxiliary driving device for a curved vehicle, the device comprising:

[0029] A connection module, used for detecting that when the target vehicle enters a preset range, the target vehicle sends a connection control request;

[0030] A data acquisition module, used to obtain the operation information and environmental information of the target vehicle when connected to the target vehicle;

[0031] The control module determines a prompting scheme and a control scheme for the target vehicle according to the operation information and the environmental information, and prompts and controls the target vehicle according to the prompting scheme and the control scheme.

[0032] In addition, to achieve the above-mentioned purpose, the present application also proposes a device for assisting safe driving of a vehicle on a curve, the device comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the method for assisting safe driving of a vehicle on a curve as described above.

[0033] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the method for safe assisted driving of a vehicle on a curve as described above are implemented.

[0034] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the method for safe assisted driving of a vehicle on a curve as described above.

[0035] One or more technical solutions proposed in this application have at least the following technical effects:

[0036] The present application first sends a connection control request to the target vehicle when the target vehicle enters a preset range, and then obtains the operating information and environmental information of the target vehicle when connected to the target vehicle, and then determines the prompt scheme and control scheme of the target vehicle according to the operating information and environmental information, and finally prompts and controls the target vehicle according to the prompt scheme and the control scheme.

[0037] Specifically, in this application, due to the adoption of a technical solution of establishing an active connection with the target vehicle and obtaining vehicle operation information and environmental information in real time, it is possible to achieve two-way real-time data interaction between the parking lot control system and the vehicle, and formulate personalized prompting schemes and control schemes based on the comprehensive information obtained, effectively solving the technical problem that the traditional parking lot management system cannot grasp the real-time operation status of the vehicle and cannot perform active warning and control. Specifically, the system can obtain the speed, position, steering and other operating data of the target vehicle, as well as environmental information such as the curve environment and the status of other vehicles, so as to make accurate predictions of potential dangerous conditions; at the same time, the system can issue different levels of warning prompts to the driver according to the risk level in different scenarios, and intervene in vehicle control when necessary to help the driver avoid risks in time. In this way, the intelligent management and safety improvement of parking lot curve traffic are realized, the probability of vehicle collision accidents is significantly reduced, and the traffic efficiency of the parking lot is improved. In particular, it provides a strong safety guarantee for drivers with insufficient driving experience, so that they can more calmly deal with complex curve meeting scenes, and finally achieve the purpose of improving the overall service level and user experience of the parking lot, and solve the technical problem of how to prevent traffic accidents at curves. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0039] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0040] Figure 1 A schematic diagram of a process flow provided for Embodiment 1 of the method for safe assisted driving of a vehicle on a curve of the present application;

[0041] Figure 2 A schematic diagram of a flow chart provided for Embodiment 2 of the method for safe assisted driving of a vehicle on a curved road of the present application;

[0042] Figure 3 A flowchart diagram of the third embodiment of the method for safe assisted driving of a vehicle on a curved road in the present application;

[0043] Figure 4 This is a schematic diagram of the device structure of the hardware operating environment involved in the method for safe assisted driving of a vehicle on a curve in an embodiment of the present application.

[0044] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0045] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0046] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0047] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, etc. The following takes the curved vehicle safety auxiliary driving system as an example to illustrate this embodiment and the following embodiments.

[0048] Based on this, the embodiment of the present application provides a method for safe assisted driving of a vehicle on a curved road, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the method for safe assisted driving of a vehicle on a curve in the present application.

[0049] Step S10, when the target vehicle enters a preset range, sending a connection control request to the target vehicle;

[0050] Among them, the target vehicle refers to the vehicle that needs safety assisted driving; the preset range refers to the guide roads inside and outside the parking lot, usually including the road section before the vehicle is about to enter the curve. Communication can be established in advance and safety warnings can be issued within this range; the connection control request represents the signal or data packet used to establish a communication link between vehicles, including necessary information such as identity identification and communication parameters.

[0051] Specifically, when the system detects that a vehicle enters the parking lot guideway, it first determines whether the vehicle is a target vehicle that requires safety assistance. The guideway, as the front area of ​​the curve, is a key area for the system to establish a connection. If it is confirmed to be a target vehicle, the system will send a connection request at the appropriate time when the vehicle enters the guideway to ensure that the communication link is established before the vehicle enters the curve.

[0052] In some embodiments, the connection control of the guide track area can be achieved in multiple ways:

[0053] Optionally, the system can deploy sensors at the entrance of the guideway, trigger the sending of a connection request when a vehicle passes by, and establish a connection through the nearest roadside communication device;

[0054] Optionally, the system can also set multiple detection points on the guide road, judge the driving status according to the time when the vehicle passes through different detection points, and select the optimal connection time to initiate the request.

[0055] It is understandable that other methods may be used to implement vehicle connection control in the guide road area, which is not limited here.

[0056] Step S20, when connected with the target vehicle, obtaining the operation information and environment information of the target vehicle;

[0057] Among them, the operating information represents the real-time driving status data of the target vehicle, usually including speed, position, steering angle, etc.; the environmental information specifically includes three aspects: road conditions (such as slope, curve curvature, speed bumps, road dividing lines, etc.), obstacle information (such as static roadside obstacles, temporary construction areas, etc.), and the situation of the vehicle ahead (such as the distance to the vehicle ahead, speed, driving trajectory, etc.); acquisition means receiving and processing this information through the established communication link.

[0058] Specifically, after successfully establishing a communication connection with the target vehicle, the system will focus on collecting data related to cornering safety. This includes the vehicle's own status data, the road environment data ahead, and the driving data of other vehicles. The system will analyze this data in real time, paying special attention to situations that may affect cornering safety, such as the speed of the vehicle ahead and the distance to the target vehicle.

[0059] In some embodiments, environmental information acquisition can be achieved in a variety of ways:

[0060] Optionally, the system can obtain comprehensive environmental data through a network of onboard sensors, including millimeter-wave radar to detect vehicles ahead, cameras to identify road conditions, and wheel speed sensors to detect road adhesion;

[0061] Optionally, the system can also obtain environmental information through roadside infrastructure, such as real-time monitoring of road conditions through cameras deployed at bends and detecting road conditions through road sensors.

[0062] It is understandable that other sensing methods such as basic data measured in advance may also be used to obtain environmental information, which is not limited here.

[0063] Step S30, determining a prompting scheme and a control scheme for the target vehicle according to the operation information and the environmental information;

[0064] Among them, the prompt scheme refers to the combination of various warning information issued to the driver, including visual prompts, sound warnings, vibration feedback, etc.; the control scheme refers to the specific strategy for active intervention in the vehicle's driving status, including speed adjustment, steering assistance, etc.; determination means selecting the most suitable prompt and control combination based on the current situation; the scheme represents a complete set of decision-making and execution rules.

[0065] Specifically, the system will analyze the vehicle's operating status and surrounding environment in real time to assess the current safety risk level of driving. Based on the risk level, the system will select appropriate prompts and control strategies from the preset solution library. For low-risk situations, it may only be necessary to issue a prompt message; for high-risk situations, it may be necessary to initiate active control intervention. The system will take into account multiple factors such as vehicle speed, road conditions, and driver status, and dynamically adjust the specific parameters of the solution.

[0066] In some embodiments, the determination of the solution can be achieved in a variety of ways:

[0067] Optionally, the system can adopt a rule-based decision-making method, first calculating the safety margin of the current driving, then selecting the corresponding level of warning threshold and control parameters according to the safety margin, and finally generating a complete execution plan;

[0068] Optionally, the system can also use machine learning methods to establish a risk prediction model by analyzing historical data, evaluate the current situation in real time, and generate the best prompt and control strategy. It is understandable that other decision algorithms can also be used to determine the solution, which is not limited here.

[0069] Step S40, prompting and controlling the target vehicle according to the prompting scheme and the control scheme;

[0070] Among them, prompt means conveying safety information to the driver through the on-board human-computer interaction equipment, including instrument panel display, head-up display, sound reminder, etc.; control means implementing safety intervention through the vehicle execution system, including braking system, steering system, power system, etc.; perform means executing specific prompts and control actions; target vehicle means a specific vehicle that receives prompts and control.

[0071] Specifically, the system will perform prompts and control operations according to the determined plan. Prompt information will be simultaneously conveyed to the driver through multiple channels to ensure the timeliness and perceptibility of the information. Control instructions will be converted into specific execution parameters and sent to the vehicle, which will be controlled through the corresponding execution components. The system will monitor the execution effect in real time and make dynamic adjustments when necessary to ensure the effectiveness of safety intervention.

[0072] In some embodiments, prompting and control can be performed in a variety of ways:

[0073] Optionally, the system can adopt a hierarchical execution strategy, first issuing a warning prompt, and if the driver does not respond in time, gradually increasing the prompt intensity, and finally initiating active control;

[0074] Optionally, the system can also adopt a collaborative control method to adjust the parameters of multiple actuators at the same time, such as reducing the vehicle speed while assisting steering to achieve smooth and safe intervention.

[0075] It is understandable that other execution modes may be used to implement prompting and control, which are not limited here.

[0076] In general, in this application, due to the adoption of a technical solution of establishing an active connection with the target vehicle and obtaining vehicle operation information and environmental information in real time, it is possible to achieve two-way real-time data interaction between the parking lot control system and the vehicle, and formulate personalized prompting schemes and control schemes based on the comprehensive information obtained, effectively solving the technical problem that the traditional parking lot management system cannot grasp the real-time operation status of the vehicle and cannot perform active warning and control. Specifically, the system can obtain the speed, position, steering and other operating data of the target vehicle, as well as environmental information such as the curve environment and the status of other vehicles, so as to make accurate predictions of potential dangerous conditions; at the same time, the system can issue different levels of warning prompts to the driver according to the risk level in different scenarios, and intervene in vehicle control when necessary to help the driver avoid risks in time. In this way, the intelligent management and safety improvement of parking lot curve traffic are realized, the probability of vehicle collision accidents is significantly reduced, and the traffic efficiency of the parking lot is improved. In particular, it provides a strong safety guarantee for drivers with insufficient driving experience, so that they can more calmly deal with complex curve meeting scenes, and finally achieve the purpose of improving the overall service level and user experience of the parking lot, and solve the technical problem of how to prevent traffic accidents at curves.

[0077] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 2 Based on the first embodiment, this embodiment provides a more specific method for assisting safe driving of a vehicle on a curved road, as follows:

[0078] Step S201, when the target vehicle enters a preset range, query whether there is a connection request record sent to the target vehicle and a connection approval record and a connection rejection record of the target vehicle, and detect whether the target vehicle is in the communication connection state;

[0079] Among them, the sending connection request record indicates the historical record of the system sending connection requests to the target vehicle before; the agreeing connection record refers to the historical record of the target vehicle accepting the connection request; the rejecting connection record indicates the historical record of the target vehicle rejecting the connection request; the communication connection status is used to indicate whether a valid communication link has been established with the target vehicle; and the query indicates retrieving relevant historical record information from the system database.

[0080] Specifically, when the system detects that the target vehicle enters the parking lot guideway, it will immediately start a multi-dimensional historical record query process. First, the system will access the connection request database to retrieve the vehicle's connection request records in the past 240 hours, including detailed information such as the request sending time, request parameters, and request results. Secondly, the system will query the vehicle response database to obtain the vehicle's handling of historical connection requests, including the time point of agreeing to connect, the duration of the connection, and the potential reasons and frequency of rejecting the connection. At the same time, the system will also detect the current communication status of the vehicle in real time and confirm whether there is an active communication link by sending a detection packet. The system will comprehensively analyze this information and establish a connection tendency profile for the vehicle to provide a basis for subsequent connection strategy formulation. For example, if it is found that the vehicle has a higher connection acceptance rate during peak hours in the morning and evening, the system will adjust the connection strategy for these time periods accordingly. This multi-dimensional information query and analysis mechanism ensures that the system can make smarter connection decisions based on sufficient historical data.

[0081] In some embodiments, querying of connection records can be implemented in multiple ways:

[0082] Optionally, the system can establish an index database based on the vehicle identification number, quickly retrieve historical records by identifying vehicle information in real time, and detect the current connection status through heartbeat packets to comprehensively analyze the vehicle's connection history;

[0083] Optionally, the system can also use a distributed storage method to save local connection records in different roadside units, and automatically summarize relevant records for analysis when a vehicle enters.

[0084] It is understandable that other data storage and query methods may also be used to implement connection record management, which is not limited here.

[0085] Step S202, when the target vehicle has the sending connection request record, has the rejection connection record less than or equal to the approval connection record within the preset time, and is not in the first record state of the communication connection state, or does not have the second record state of the sending connection request record, send a connection request to the target vehicle;

[0086] Among them, the target vehicle represents a specific vehicle that needs to establish a communication connection; the connection request record refers to the record data of the vehicle's historical communication requests; the preset time represents the statistical time range preset by the system; the connection rejection record is used to indicate the number of times the connection is rejected within the preset time; the connection approval record refers to the number of times the connection is successfully established within the preset time; the first record status refers to the combination of historical records that meet the conditions for sending the request; the second record status indicates the status of the first attempt to establish a connection.

[0087] Specifically, when the system needs to establish a communication connection with the target vehicle, this step will be executed to determine whether the conditions for sending a connection request are met. Specifically, the system will first query the historical connection record database of the target vehicle to obtain all connection attempt records within a preset time window (such as the last 240 hours). In the case where there is a sending record, the system will count the number of times the connection is agreed and the number of times the connection is rejected, and compare them. If the number of rejections is less than or equal to the number of approvals, and the target vehicle is not currently connected to the system, it is deemed to meet the first record status. In the case where there is no sending record at all, the system will determine it as the second record status. When one of these two states is detected, the system will generate a new connection request, including request timestamp, vehicle identification and other information, and send the request to the target vehicle through the communication module. At the same time, the system will record this sending operation in the database for subsequent status judgment.

[0088] Step S203, when the target vehicle has the record of sending the connection request, the number of the rejected connection records within the preset time is greater than the agreed connection records, and the target vehicle is not in the third record state of the communication connection state, or is in the fourth record state of the communication connection state, stop the target vehicle from sending the connection request;

[0089] The third record state indicates a combination of historical records that are not suitable for sending a request; and the fourth record state refers to a state in which a connection is currently established.

[0090] When the system needs to determine whether to stop sending connection requests, this step will be executed to perform status evaluation. Specifically, the system will monitor the connection status and historical records of the target vehicle in real time. First, check the historical connection records. If the number of connection rejections is significantly greater than the number of connection approvals within the preset time window (for example, the number of rejections is 1.5 times the number of approvals), it means that the target vehicle may be in a state that is not suitable or unwilling to establish a connection. At this time, it will be judged as the third record state. Secondly, the system will check the current communication status. If it is found that a valid communication connection has been established with the target vehicle, it will be judged as the fourth record state. When the system detects one of these two states, it will immediately terminate the current connection request sending process, clear the request queue to be sent, and update the status record in the database. This mechanism can effectively avoid unnecessary communication attempts and improve the operating efficiency of the system.

[0091] Step S204, when connected with the target vehicle, obtaining the operation information and environment information of the target vehicle;

[0092] This step refers to step S20 and will not be described in detail again.

[0093] Step S205, evaluating whether to enter different preset assisted driving modes according to the speed difference between the real-time speed in the operation information and the speed of the vehicle in front, the real-time relative distance to the vehicle in front, and the road condition in front of the target vehicle in the environmental information, wherein the preset assisted driving modes include: a low-level assisted driving mode, an intermediate-level assisted driving mode, a first high-level assisted driving mode, and a second high-level assisted driving mode;

[0094] Among them, the speed difference indicates the relative movement speed between the target vehicle and the vehicle in front; the real-time relative distance refers to the actual distance between the current target vehicle and the vehicle in front; the road condition is used to indicate the road condition, slope, curve and other characteristics of the road ahead; the preset assisted driving mode indicates the driving assistance strategy level pre-set according to different driving scenarios; the low-level assisted driving mode refers to a mode that only provides basic warnings; the intermediate assisted driving mode refers to a mode that provides warnings and mild interventions; the advanced assisted driving mode refers to a mode that provides strong interventions.

[0095] Specifically, the system will monitor the driving status of the vehicle in real time and comprehensively evaluate the current driving risk level based on multi-dimensional information. First, the system obtains the speed of the target vehicle through the on-board sensor, and measures the relative speed and distance to the vehicle in front through the millimeter-wave radar or lidar. Secondly, the system uses sensors such as cameras to identify the road conditions ahead, usually including information such as slope changes and curve curvature. The system inputs this information into the risk assessment model, calculates the current safety margin, and selects the appropriate assisted driving mode accordingly. When the target vehicle is in a connected control state with the system, the system periodically evaluates whether the target vehicle needs to enter the corresponding different levels of driving modes mentioned above according to the current situation. When the speed difference is small and the distance is moderate, the low-level assisted driving mode is enabled, and when potential risks are found, it switches to the intermediate assisted driving mode. When an emergency is detected, the advanced mode is immediately started to achieve step-by-step safety protection.

[0096] Furthermore, this embodiment provides a more specific judgment method as follows:

[0097] When the relative distance between the target vehicle and the vehicle ahead is within the third preset distance range (relative distance greater than S2) or when the relative distance between the target vehicle and the vehicle ahead is within the first preset distance range (relative distance between S1 and S2) and the target vehicle is traveling at a speed lower than the vehicle ahead, the system does not enter any assisted driving mode, and the system does not take any intervention measures on the target vehicle;

[0098] When the relative distance between the target vehicle and the vehicle ahead is within the first preset distance range, and the speed difference between the target vehicle and the vehicle ahead is within the first preset speed range (the speed difference is between 0 and V1), the system determines that the target vehicle enters the low-level assisted driving mode;

[0099] When the relative distance between the target vehicle and the vehicle in front is within a first preset distance range, and the target vehicle's driving speed is greater than the vehicle in front's driving speed, and the speed difference is within a second preset speed range (the speed difference is between V1 and V2), the system determines that the target vehicle enters the intermediate assisted driving mode.

[0100] When the relative distance between the target vehicle and the vehicle in front is within the second preset distance range (relative distance is less than S1), the target vehicle's driving speed is greater than the driving speed of the vehicle in front, and the speed difference between the target vehicle and the vehicle in front is within the first preset speed range, and (road curvature a≥a1, vertical slope of the ramp ≥b1, there is a speed bump within a certain distance of the front vehicle, the front vehicle has a lane center dividing line, a vehicle traveling in the opposite direction within a certain distance of the target vehicle has a lane center dividing line, and there is a vehicle traveling in the opposite direction within a certain distance in front of the target vehicle), etc., when none of the conditions are met, the system determines that the target vehicle enters the first advanced driver assistance mode.

[0101] When the relative distance between the target vehicle and the vehicle in front is within the first preset distance range, the target vehicle's driving speed is greater than the driving speed of the vehicle in front, and the speed difference is within the third preset speed range (speed difference>V2), and (road curvature a≥a1, the vertical slope of the ramp ≥b1, there is a speed bump within a certain distance of the front vehicle, the front vehicle has a lane center dividing line, a vehicle traveling in the opposite direction within a certain distance of the target vehicle has a lane center dividing line, and there is a vehicle traveling in the opposite direction within a certain distance in front of the target vehicle), etc., when none of the conditions are met, the system determines that the target vehicle enters the first advanced driver assistance mode.

[0102] When the relative distance between the target vehicle and the vehicle in front is within the first preset distance range, the target vehicle's driving speed is greater than the driving speed of the vehicle in front, and the speed difference is within the third preset speed range, and (road curvature a≥a1, the vertical slope of the ramp ≥b1, there is a speed bump within a certain distance of the front vehicle, the front vehicle has a lane center dividing line, a vehicle traveling in the opposite direction within a certain distance of the target vehicle has a lane center dividing line, and there is a vehicle traveling in the opposite direction within a certain distance in front of the target vehicle), at least one of the following conditions is met, the system determines that the target vehicle enters the second advanced driver assistance mode.

[0103] When the relative distance between the target vehicle and the vehicle in front is within the second preset distance range, the target vehicle's driving speed is greater than the driving speed of the vehicle in front, and the speed difference between the target vehicle and the vehicle in front is within the first preset speed range, and (road curvature a≥a1, the vertical slope of the ramp ≥b1, there is a speed bump within a certain distance of the front vehicle, the front vehicle has a lane center dividing line, a vehicle traveling in the opposite direction within a certain distance of the target vehicle has a lane center dividing line, and there is a vehicle traveling in the opposite direction within a certain distance in front of the target vehicle), at least one of the following conditions is met, the system determines that the target vehicle enters the second advanced driver assistance mode.

[0104] Among them, the first distance preset range represents the distance interval that the system determines to need to start paying attention to; the second distance preset range represents the distance interval that the system determines to be high-risk; the first preset speed range represents the speed difference range that requires relatively general attention; the second preset speed range represents the speed difference range that requires relatively special attention; the third preset speed range represents a high-risk speed difference range; the road curvature indicates a road condition with a large turn; the speed bump indicates a mandatory deceleration facility on the road; the reverse-driving vehicle indicates the oncoming vehicle situation, and various ranges or values ​​can be modified based on actual conditions, among which 0<S1<S2, 0<V1<V2.

[0105] In some embodiments, the switching of the assisted driving mode can be achieved in a variety of ways:

[0106] Optionally, the system can adopt a threshold-based switching strategy, first establishing a threshold table for multiple safety parameters, then calculating the current parameter value in real time and comparing it with the threshold, and finally selecting the corresponding level of assistance mode according to the degree of exceeding the threshold, while taking into account the driver's operating intention to fine-tune the mode;

[0107] Optionally, the system can also use machine learning methods to train a mode selection model by analyzing historical driving data, predict the most suitable assisted driving mode in real time, and continuously optimize the selection strategy based on actual results.

[0108] It is understandable that other decision-making methods may also be used to implement mode switching, which is not limited here.

[0109] Step S206, performing different warnings on the driver of the target vehicle and / or controlling the target vehicle to perform different deceleration operations according to different preset assisted driving modes;

[0110] Specifically, the system adopts different warning and control strategies according to different assisted driving modes. In the low-level assisted driving mode, the system mainly conveys the distance information of the vehicle in front to the driver through voice or text prompts. In the intermediate assisted driving mode, the system issues a clearer danger warning to the target vehicle, and actively controls the deceleration operation under specific conditions (such as detecting the horn of the vehicle in front, turning on the double flashes, or the activity of people). In the first advanced assistance mode, the system simultaneously enables multiple warning methods for the target vehicle, including voice reminders, steering wheel shaking and visual warnings. In the second advanced assistance mode, when the warning methods are enabled, the system will also perform different degrees of deceleration control on the target vehicle according to the specific situation.

[0111] In some embodiments, warning and control can be achieved in a variety of ways:

[0112] Optionally, the system can adopt a multi-modal collaborative strategy, first broadcasting specific danger information through the voice system, while displaying corresponding text and icon prompts on the central control screen, and then coordinating with steering wheel vibration and sound and light warnings to achieve a full range of driver reminders;

[0113] Optionally, the system can also adopt an adaptive control strategy to dynamically adjust the intensity of the warning signal and the intensity of the deceleration control according to the driver's reaction and vehicle status, ensuring the intervention effect while avoiding excessive intervention.

[0114] It is understandable that other methods may be used to implement warning and control operations, which are not limited here.

[0115] Furthermore, this solution provides a specific solution for performing different warnings on the driver of the target vehicle and / or controlling the target vehicle to perform different deceleration operations according to different preset assisted driving modes, as follows:

[0116] Step S207, when in the low-level assisted driving mode, providing real-time relative distance and relative speed reminders;

[0117] Among them, the low-level assisted driving mode indicates a working state in which the system determines that the current driving risk is relatively low; the real-time relative distance refers to the actual interval between the target vehicle and the vehicle in front; the relative speed indicates the speed difference between the two vehicles; the reminder is used to indicate a gentle information prompt issued by the system to the driver; the working state refers to the current operating mode of the system; the information prompt indicates the information transmitted to the driver through visual or auditory means.

[0118] Specifically, when the system detects a low-risk driving state, it will start the basic information prompt function. First, the system will calculate and display the distance information to the vehicle in front in real time, usually directly presented in meters. Secondly, the system will calculate the relative speed between the two vehicles to determine whether the target vehicle is faster or the vehicle in front is faster. The system will convey this information to the driver in a friendly manner at an appropriate frequency (such as updating every 30 seconds). This prompt method usually uses a gentle voice broadcast or concise text display to avoid interfering with the driver. For example, the system may prompt "There is a car 8 meters ahead, and the target vehicle is faster than the vehicle in front", or display the corresponding value and icon on the central control screen.

[0119] In some embodiments, information prompts can be implemented in a variety of ways:

[0120] Optionally, the system can adopt an intelligent prompt strategy, first selecting the appropriate prompt timing based on the driver's attention state, then automatically adjusting the prompt volume based on the ambient noise level, and finally dynamically adjusting the prompt frequency based on the driving scenario to ensure the effectiveness of information delivery while avoiding interruptions to driving;

[0121] Optionally, the system can also adopt a personalized prompt strategy by learning the driver's driving habits and preferences and adjusting the method and timing of prompts. For example, some drivers may prefer sound prompts, while others prefer visual prompts.

[0122] It is understandable that the information prompt function may also be implemented in other ways, which are not limited here.

[0123] Step S208, when in the intermediate assisted driving mode, a real-time relative distance warning and a relative speed warning are performed, and when the road condition ahead of the target vehicle meets the preset abnormal road condition, a first deceleration signal is output to control the vehicle to decelerate;

[0124] Among them, the intermediate assisted driving mode indicates that the system determines that there is currently a working state with potential risks; warning refers to information feedback that is stronger than reminder; preset abnormal road conditions indicate road conditions that require special attention that are pre-defined by the system; the first deceleration signal refers to a lower-level deceleration control instruction issued by the system; controlling the vehicle to decelerate indicates that the system actively intervenes in the vehicle's driving status.

[0125] Specifically, when the system switches to the intermediate assisted driving mode, a more active intervention strategy will be adopted. In this mode, the system will continuously monitor the vehicle status and surrounding environment, and issue warning information in a more eye-catching way. When abnormal road conditions are detected, such as the system detects that a vehicle on the road in front of the target vehicle has honked continuously or for a long time, or there are vehicles with double flashes turned on or moving human bodies within a certain distance in front of the target vehicle, the system will immediately start the active intervention mechanism. This intervention includes issuing clear sound and light warnings, and sending deceleration instructions to the vehicle control system to smoothly reduce the speed of the vehicle to a safe range. When executing deceleration, the system will take into account the current road conditions, weather conditions and vehicle status to ensure the safety and comfort of the deceleration process.

[0126] In some embodiments, warning and deceleration control can be implemented in a variety of ways:

[0127] Optionally, the system may adopt a progressive control strategy, first by increasing the warning intensity to attract the driver's attention, then slightly applying braking force to prompt the driver to slow down, and if the driver still does not respond appropriately, gradually increasing the braking force until a predetermined safe speed is reached;

[0128] Optionally, the system can also adopt a predictive control strategy to calculate the optimal deceleration curve in advance by analyzing the road conditions and traffic flow characteristics ahead, and smoothly perform deceleration operations at the appropriate time to avoid the impact of sudden braking on vehicle stability.

[0129] It is understandable that warning and deceleration control may also be implemented in other ways, which are not limited here.

[0130] Step S209, when in the first advanced driver assistance mode, performing advanced real-time relative distance warning and vehicle speed relative speed warning;

[0131] Among them, the first advanced assisted driving mode indicates a working mode in which the system determines that there is a high risk but has not reached an emergency state; the advanced real-time relative distance warning refers to the highest level of distance warning information issued by the system; the relative speed warning indicates a graded warning based on the degree of speed difference; the working mode refers to the current operating state of the system; the warning information refers to the risk prompt issued by the system to the driver; the graded warning indicates different levels of reminders according to the degree of risk; the risk level refers to the current driving hazard level evaluated by the system.

[0132] Specifically, the first advanced assisted driving mode is triggered when the system detects a higher-risk situation. In this mode, the system will enable multiple warning mechanisms at the same time, including sound, visual and tactile feedback. For distance warnings, the system will display the exact distance to the vehicle in front through high-frequency updates (such as updates per second) and use eye-catching red fonts or flashing effects. For speed difference warnings, the system will accurately calculate the relative speed and convert it into an easy-to-understand warning message, such as "The target vehicle is moving too fast, it is recommended to slow down immediately." At the same time, the system will enhance the warning effect through tactile methods such as low-frequency vibration of the steering wheel or vibration of the seat. All warning messages will be displayed in a striking manner on the central control screen to ensure that the driver can detect it in time.

[0133] In some embodiments, the advanced warning function can be implemented in a variety of ways:

[0134] Optionally, the system can adopt a multi-dimensional collaborative warning strategy, first determining the most suitable warning combination for the current scenario through big data analysis, then adjusting the intensity and frequency of warnings based on the driver's response, and finally optimizing the timing of warnings through artificial intelligence algorithms to achieve accurate and effective risk warnings;

[0135] Optionally, the system can also adopt a scenario-adaptive strategy to dynamically adjust the presentation of warnings by analyzing the driving environment and driver status in real time, such as increasing the brightness of visual warnings at night and increasing the intensity of tactile feedback when driving at high speeds.

[0136] It is understandable that the advanced warning function may also be implemented in other ways, which are not limited here.

[0137] Step S210, when in the second advanced driver assistance mode, a danger warning is issued, and at the same time, according to whether the road condition ahead of the target vehicle satisfies a plurality of preset road conditions, the vehicle is controlled to decelerate, and the real-time vehicle speed or the real-time relative distance is controlled;

[0138] Among them, the second advanced assisted driving mode indicates a working state in which the system determines that there is a serious risk and immediate intervention is required; danger warning refers to the highest level warning signal issued by the system; preset road conditions refer to various types of dangerous road conditions pre-defined by the system; real-time vehicle speed refers to the current vehicle speed; real-time relative distance refers to the instantaneous interval with the vehicle in front; control refers to the system's active intervention operation on the vehicle.

[0139] Specifically, the second advanced driver assistance mode is the highest level of intervention state of the system, which is activated when multiple risk factors are detected. In this mode, the system will first issue the strongest warning signal, including continuous sound and light alarms and strong tactile feedback. At the same time, the system will comprehensively analyze the current road conditions, such as the degree of road curvature, road friction coefficient, visibility, etc., and calculate the optimal intervention strategy based on the combination of these factors. The system will automatically take over vehicle control and perform precise deceleration operations to ensure that the speed and distance are maintained within a safe range. This intervention will continue until the system determines that the risk has been reduced to an acceptable level.

[0140] Furthermore, this embodiment provides a more specific deceleration control method as follows:

[0141] When the relative distance between the target vehicle and the vehicle in front is within the first preset distance range, the target vehicle's speed is greater than the speed of the vehicle in front, and the speed difference is within the third preset speed range, and (the curvature of the road a ≥ a1, the vertical slope of the ramp ≥ b1, there is a speed bump within a certain distance of the vehicle in front, the vehicle in front is on the middle dividing line of the lane, the vehicle in the opposite direction within a certain distance of the target vehicle is on the middle dividing line of the lane, and there is a vehicle in the opposite direction within a certain distance in front of the target vehicle), at least one of the following conditions is met, the system will give the target vehicle a danger notification + execute deceleration, such as the prompt "Please note that the vehicle in front may slow down, and the distance to the vehicle in front is 8 meters", and at the same time shake the steering wheel at a high frequency for a period of time, and a striking red light or icon prompt will appear on the central control screen. The deceleration action is performed according to the following different situations to control the relative speed:

[0142] If only one of the following conditions is met (the curvature of the road a ≥ a1, the vertical slope of the ramp ≥ b1, there is a speed bump within a certain distance of the front vehicle, the front vehicle is on the middle dividing line of the lane, a vehicle traveling in the opposite direction within a certain distance of the target vehicle is on the middle dividing line of the lane, and there is a vehicle traveling in the opposite direction within a certain distance in front of the target vehicle), the system sends a request to the on-board unit of the target vehicle, and the target vehicle performs H1 deceleration until the target vehicle speed is less than the speed of the vehicle in front;

[0143] When only two of the following conditions are met (the curvature of the road a ≥ a1, the vertical slope of the ramp ≥ b1, there is a speed bump within a certain distance of the front vehicle, the front vehicle is on the middle dividing line of the lane, the vehicle traveling in the opposite direction within a certain distance of the target vehicle is on the middle dividing line of the lane, and there is a vehicle traveling in the opposite direction within a certain distance in front of the target vehicle), the system sends a request to the on-board unit of the target vehicle, and the target vehicle executes H2 deceleration until the target vehicle speed is less than the speed of the vehicle in front;

[0144] When three of the following conditions are met (the curvature of the road a≥a1, the vertical slope of the ramp ≥b1, there is a speed bump within a certain distance of the front vehicle, the front vehicle is on the middle dividing line of the lane, a vehicle traveling in the opposite direction within a certain distance of the target vehicle is on the middle dividing line of the lane, and there is a vehicle traveling in the opposite direction within a certain distance in front of the target vehicle) - the system sends a request to the on-board unit of the target vehicle, and the target vehicle executes H3 deceleration until the target vehicle speed is less than the speed of the vehicle in front;

[0145] When 4 of the following conditions are met (the curvature of the road a≥a1, the vertical slope of the ramp ≥b1, there is a speed bump within a certain distance of the front vehicle, the front vehicle is on the middle dividing line of the lane, the vehicle traveling in the opposite direction within a certain distance of the target vehicle is on the middle dividing line of the lane, and there is a vehicle traveling in the opposite direction within a certain distance in front of the target vehicle) - the system sends a request to the on-board unit of the target vehicle, and the target vehicle executes H4 deceleration until the speed of the target vehicle is less than the speed of the vehicle in front;

[0146] When the number of conditions satisfied among the following is greater than or equal to 5 (the curvature of the road a≥a1, the vertical slope of the ramp ≥b1, there is a speed bump within a certain distance of the front vehicle, the front vehicle has pressed the middle dividing line of the lane, the reverse-traveling vehicle within a certain distance of the target vehicle has pressed the middle dividing line of the lane, and there is a reverse-traveling vehicle within a certain distance in front of the target vehicle) - the system sends a request to the on-board unit of the target vehicle, and the target vehicle executes H5 deceleration until the target vehicle speed is less than the speed of the vehicle in front;

[0147] When the relative distance between the target vehicle and the vehicle in front is within the second preset distance range, the target vehicle's speed is greater than the speed of the vehicle in front, and the speed difference between the target vehicle and the vehicle in front is within the first preset speed range, and (the curvature of the road a ≥ a1, the vertical slope of the ramp ≥ b1, there is a speed bump within a certain distance of the vehicle in front, the vehicle in front is on the middle dividing line of the lane, the vehicle in the opposite direction within a certain distance of the target vehicle is on the middle dividing line of the lane, and there is a vehicle in the opposite direction within a certain distance in front of the target vehicle), at least one of the following conditions is met, the system will give the target vehicle a danger notification + execute deceleration, such as the prompt "Please pay attention to avoid danger, the distance to the vehicle in front is 3 meters, the vehicle in front may slow down, and the target vehicle will automatically slow down in advance", and a striking red light or icon prompt will appear on the central control screen. The deceleration action is performed according to the following different situations to control the relative distance:

[0148] When one of the following conditions is met (the curvature of the road a ≥ a1, the vertical slope of the ramp ≥ b1, there is a speed bump within a certain distance of the front vehicle, the front vehicle has pressed the middle dividing line of the lane, the vehicle traveling in the opposite direction within a certain distance of the target vehicle has pressed the middle dividing line of the lane, and there is a vehicle traveling in the opposite direction within a certain distance in front of the target vehicle) - the system sends a request to the on-board unit of the target vehicle, and the target vehicle performs H1 deceleration until the relative distance ≥ S1;

[0149] When two of the following conditions are met (the curvature of the road a≥a1, the vertical slope of the ramp ≥b1, there is a speed bump within a certain distance of the front vehicle, the front vehicle has pressed the middle dividing line of the lane, the reverse-traveling vehicle within a certain distance of the target vehicle has pressed the middle dividing line of the lane, and there is a reverse-traveling vehicle within a certain distance in front of the target vehicle) - the system sends a request to the on-board unit of the target vehicle, and the target vehicle executes H2 deceleration until the relative distance ≥S1;

[0150] When three of the following conditions are met (the curvature of the road a≥a1, the vertical slope of the ramp ≥b1, there is a speed bump within a certain distance of the front vehicle, the front vehicle has pressed the middle dividing line of the lane, the vehicle traveling in the opposite direction within a certain distance of the target vehicle has pressed the middle dividing line of the lane, and there is a vehicle traveling in the opposite direction within a certain distance in front of the target vehicle) - the system sends a request to the on-board unit of the target vehicle, and the target vehicle performs H3 deceleration until the relative distance ≥S1;

[0151] When 4 of the following conditions are met (the curvature of the road a ≥ a1, the vertical slope of the ramp ≥ b1, there is a speed bump within a certain distance of the front vehicle, the front vehicle has pressed the middle dividing line of the lane, the vehicle traveling in the opposite direction within a certain distance of the target vehicle has pressed the middle dividing line of the lane, and there is a vehicle traveling in the opposite direction within a certain distance in front of the target vehicle) - the system sends a request to the on-board unit of the target vehicle, and the target vehicle performs H4 deceleration until the relative distance ≥ S1;

[0152] When the number of conditions satisfied among the following is greater than or equal to 5 (the curvature of the road a ≥ a1, the vertical slope of the ramp ≥ b1, there is a speed bump within a certain distance of the preceding vehicle, there is a lane center dividing line on the preceding vehicle, there is a reverse-traveling vehicle within a certain distance of the target vehicle and there is a reverse-traveling vehicle within a certain distance in front of the target vehicle), the system sends a request to the on-board unit of the target vehicle, and the target vehicle executes H5 deceleration until the relative distance ≥ S1;

[0153] Among them, a1, b1, H1, H2, H3, H4 and H5 only represent preset values ​​and have no practical significance. The deceleration rates of H1, H2, H3, H4 and H5 increase successively to meet more urgent situations.

[0154] In general, in the embodiments of the present application, a technical solution is adopted to enter different preset assisted driving modes based on operating information (the difference between the real-time speed and the speed of the vehicle in front, the real-time relative distance to the vehicle in front) and environmental information (road conditions ahead), and differentiated warning and control strategies are implemented in each mode: basic real-time relative distance and relative speed reminders are performed in the low-level mode; the intermediate mode is upgraded to distance warning and speed warning, and the first deceleration signal is actively output in abnormal road conditions; the first advanced mode performs more stringent advanced distance warnings and speed warnings; the second advanced mode not only issues a danger warning, but also automatically executes different deceleration operation plans according to the road conditions, and continuously monitors the entire process until the vehicle speed and / or relative distance returns to a safe range, so It can realize accurate graded warning and intelligent control according to the risk level of the actual driving scene, and take corresponding intervention measures for different degrees of danger, effectively solving a series of technical problems existing in traditional parking lot management systems: unable to realize real-time information interaction with vehicles, unable to accurately perceive and predict the degree of danger, unable to provide differentiated assistance for different risk levels, unable to realize accurate warning and intelligent control, unable to provide targeted guidance for novice drivers, etc., thereby realizing a set of adaptive, intelligent and humanized assisted driving system, which can dynamically adjust the assisted driving strategy according to the real-time driving conditions, avoid excessive intervention while ensuring driving safety to the greatest extent, and provide a smooth driving experience. It is especially suitable for use in complex scenarios such as bends in underground parking lots with limited vision and narrow space.

[0155] Based on the first and second embodiments of the present application, in the third embodiment of the present application, the same or similar contents as those of the above-mentioned first and second embodiments can be referred to the above introduction, and will not be described in detail later. Figure 3 This embodiment provides a vehicle light control method based on a curve vehicle safety assisted driving method and a deceleration operation under specific abnormal road conditions, as follows:

[0156] The vehicle light control method of this embodiment based on the vehicle safety assisted driving method on a curved road is as follows:

[0157] Step S301, when the road slope in the environmental information changes, the illumination angle and illumination brightness of the headlight are adjusted in real time according to the change amplitude of the slope in the environmental information, the real-time position and real-time speed of the vehicle in the operation information of the target vehicle;

[0158] Among them, environmental information refers to real-time monitoring data of the road environment around the vehicle; road slope refers to the inclination angle of the road; the amplitude of the slope change is used to indicate the degree and direction of the slope change; the target vehicle indicates a specific vehicle that needs to adjust the headlights; the operation information refers to real-time data reflecting the driving status of the vehicle; the real-time position of the vehicle indicates the current coordinates of the vehicle on the road; the real-time speed of the vehicle refers to the current driving speed of the vehicle; the headlight illumination angle is used to indicate the projection direction of the headlight beam; the illumination brightness indicates the intensity of light emitted by the headlight.

[0159] When the vehicle encounters a change in road conditions during driving, the system will execute this step to achieve intelligent adjustment of the headlights. Specifically, the system first continuously monitors the changes in road slopes, including uphill, downhill, and slope transition sections, through high-precision sensors. When a change in slope is detected, the system will comprehensively analyze multiple key parameters: first, the specific amplitude and direction of the slope change are obtained, and then the precise position of the vehicle on the slope is determined by combining the vehicle's GPS positioning information and the position information of the target vehicle sensed by the sensor equipment arranged near the guide road, and at the same time, the real-time speed data of the target vehicle sensed by the vehicle speed sensor and the sensor equipment near the guide road is read. Based on this information, the system will calculate the optimal lighting parameters in real time, including the vertical and horizontal illumination angles of the headlights, and determine the appropriate lighting intensity according to the ambient brightness and driving speed. The illumination angle of the headlights is adjusted through the motor drive device, and the output power of the bulb is adjusted through the lighting control unit, so as to achieve dynamic optimization control of the headlights, ensuring that the driver always has the best view of the road ahead and reduces the impact on surrounding vehicles.

[0160] Furthermore, this solution provides a more specific control solution as follows:

[0161] When the road on which the target vehicle is traveling is about to change from a horizontal road to a downhill road in the vertical direction, the system automatically adjusts the height of the headlights based on the change amplitude of the horizontal road and the slope collected in advance, and the real-time position and speed of the target vehicle. Specifically, at the moment when the road is about to change from a horizontal road in the vertical direction to a downhill road, the headlight lighting height is adjusted to the lowest level, and as the vehicle gradually drives away from the transition point between the horizontal road in the vertical direction and the downhill road, the headlight lighting height is slowly raised until the target vehicle completely drives onto the downhill road, at which point the headlight lighting height is restored to the height before the adaptive adjustment is turned on.

[0162] When the road on which the target vehicle is traveling is about to change from a horizontal road to an uphill road, or from a downhill road to a horizontal road, or from an uphill road to a horizontal road in the vertical direction, the system automatically adjusts the height of the headlights according to the change amplitude of the horizontal road and the ramp collected in advance, and the real-time position and speed of the target vehicle. Specifically, at the moment of the above road change, the headlight lighting height is adjusted to the highest, highest, and lowest respectively. As the vehicle gradually leaves the ramp transition point, the headlight lighting height is slowly lowered, lowered, and raised respectively, until the target vehicle completely drives the road after the transition point, and the headlight lighting height is restored to the height before the adaptive adjustment is turned on.

[0163] refer to Figure 3 The deceleration operation under the specific abnormal road conditions of this embodiment is as follows:

[0164] Step S302, during the deceleration operation, when the road condition ahead of the target vehicle meets the preset abnormal road condition, outputting a second deceleration signal until the real-time vehicle speed and the real-time relative distance are within a preset range;

[0165] Among them, the deceleration operation refers to the process of the system controlling the vehicle to reduce the driving speed; the preset abnormal road condition refers to the dangerous road condition type pre-defined by the system; the second deceleration signal represents the deceleration control instruction issued by the system; the preset range refers to the safe speed and distance interval pre-set by the system; and the dangerous road condition refers to the road condition that may affect driving safety.

[0166] Specifically, the system will continue to monitor the road conditions ahead while executing the deceleration operation in the above-mentioned second advanced assisted driving mode. When a preset abnormal condition is detected ahead (such as a sharp bend, water accumulation, ice, or a vehicle on the road ahead honking continuously or for a long time, or a vehicle with double flashes turned on or a moving person within a certain distance ahead), the system will immediately start a higher level of deceleration control. This control will calculate a more conservative target speed and safe distance based on the severity of the abnormal condition. The system will continue to output a second deceleration signal, perform a stronger deceleration through the braking system, and accurately control the distance to the vehicle in front. The whole process will continue until the vehicle speed and distance are reduced to a preset safety range. This safety range is dynamically calculated based on the current road conditions, weather conditions and vehicle status to ensure maximum safety.

[0167] Step S303, when the real-time vehicle speed and the real-time relative distance are within the preset range, re-execute the step of evaluating whether to enter a different preset assisted driving mode according to the speed difference between the real-time speed in the operation information and the speed of the vehicle in front, the real-time relative distance to the vehicle in front, and the road condition in front of the target vehicle in the environmental information;

[0168] Specifically, when the system detects that the vehicle speed and the distance between vehicles have returned to a safe range, step S205 will be re-executed to evaluate whether to enter a different preset assisted driving mode based on the speed difference between the real-time speed in the operating information and the speed of the vehicle in front, the real-time relative distance to the vehicle in front, and the road condition in front of the target vehicle in the environmental information.

[0169] In general, in the embodiment of the present application, due to the design of an intelligent headlight control system based on a high-precision sensor, the headlight illumination angle and brightness can be accurately adjusted according to the slope change amplitude, vehicle position and speed, especially the dynamic optimization of the height of the headlights when switching between different road conditions, so the intelligent adjustment of the lighting system can be realized, which effectively solves the technical problems of insufficient lighting and limited vision of traditional vehicles under complex road conditions, and thus realizes a set of precise and adaptive intelligent lighting control systems, which can actively predict and quickly respond to changes in road conditions and provide the best driving vision guarantee. At the same time, in the embodiment of the present application, due to the design of a complete set of emergency handling mechanisms for abnormal conditions, when specific abnormal road conditions (such as sharp bends, water accumulation, ice, etc.) are detected, a higher level of deceleration control will be immediately started, a more conservative target speed and safety distance will be calculated according to the degree of abnormality, and a second deceleration signal will be continuously output until it is safe, and the appropriate auxiliary driving mode will be re-evaluated, so that a rapid response and processing of sudden dangers can be realized, which effectively solves the technical problems of insufficient response and inability to intervene in secondary situations of traditional systems, and thus realizes a set of dynamic, closed-loop emergency control systems, which can quickly switch to conservative strategies in abnormal situations and automatically restore to normal mode after the situation is alleviated.

[0170] In addition, an embodiment of the present application further provides a device for assisting safe driving of a vehicle on a curved road, the device comprising:

[0171] A connection module, used for detecting that when the target vehicle enters a preset range, the target vehicle sends a connection control request;

[0172] A data acquisition module, used to obtain the operation information and environmental information of the target vehicle when connected to the target vehicle;

[0173] The control module determines a prompting scheme and a control scheme for the target vehicle according to the operation information and the environmental information, and prompts and controls the target vehicle according to the prompting scheme and the control scheme.

[0174] The curved vehicle safety assisted driving device provided in the embodiment of the present application adopts the curved vehicle safety assisted driving method in the above embodiment, which can solve the technical problem of how to prevent traffic accidents from occurring at curves. Compared with the prior art, the curved vehicle safety assisted driving device provided in the embodiment of the present application has the same beneficial effects as the curved vehicle safety assisted driving method provided in the above embodiment, and other technical features in the curved vehicle safety assisted driving device are the same as the features disclosed in the above embodiment method, which will not be described in detail here.

[0175] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the method for safe assisted driving of curved vehicles of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0176] The present application provides a device for assisting safe driving of a vehicle on a curve, the device comprising: at least one processor; and a memory in communication with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for assisting safe driving of a vehicle on a curve in the first embodiment described above.

[0177] Reference below Figure 4 , which shows a schematic diagram of the structure of a device for assisting safe driving of a vehicle on a curve suitable for implementing the embodiment of the present application. The device for assisting safe driving of a vehicle on a curve in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 4 The curved vehicle safety assistance driving device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0178] like Figure 4As shown, the curve vehicle safety auxiliary driving device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the curve vehicle safety auxiliary driving device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the curve vehicle safety assistance driving device to communicate with other devices wirelessly or by wire to exchange data. Although the curve vehicle safety assistance driving device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0179] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0180] The curved vehicle safety assisted driving device provided by the present application adopts the curved vehicle safety assisted driving method in the above embodiment, which can solve the technical problem of how to prevent traffic accidents at curves. Compared with the prior art, the curved vehicle safety assisted driving device provided by the present application has the same beneficial effects as the curved vehicle safety assisted driving method provided by the above embodiment, and the other technical features of the curved vehicle safety assisted driving device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0181] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0182] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0183] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the method for safe assisted driving of a vehicle on a curve in the above-mentioned embodiment.

[0184] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0185] The above-mentioned computer-readable storage medium may be included in the device for assisting driving safety on a curved vehicle; or may exist independently without being assembled into the device for assisting driving safety on a curved vehicle.

[0186] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0187] The readable storage medium provided in this application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned method for safe assisted driving of vehicles on curved roads, and can solve the technical problem of how to prevent traffic accidents from occurring at curved roads. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the method for safe assisted driving of vehicles on curved roads provided in the above-mentioned embodiments, and will not be elaborated on here.

[0188] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for safe assisted driving of a vehicle on a curve.

[0189] The computer program product provided by this application can solve the technical problem of how to prevent traffic accidents on curves. Compared with the prior art, the beneficial effects of the computer program product provided by this application are the same as the beneficial effects of the method for safe auxiliary driving of vehicles on curves provided by the above embodiment, which will not be repeated here.

[0190] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for assisting safe driving of a vehicle on a curved road, characterized in that: The method for safe auxiliary driving of a vehicle on a curved road comprises: When the target vehicle enters the preset range, sending a connection control request to the target vehicle; When connected to the target vehicle, obtaining operation information and environment information of the target vehicle; Determine the prompting scheme and control scheme of the target vehicle according to the operation information and environmental information; According to the prompting scheme and the control scheme, the target vehicle is prompted and controlled.

2. The method according to claim 1, characterized in that The step of prompting and controlling the target vehicle according to the prompting scheme and the control scheme specifically includes: According to the speed difference between the real-time speed in the operation information and the speed of the vehicle in front, the real-time relative distance to the vehicle in front, and the road condition in front of the target vehicle in the environmental information, evaluating whether to enter different preset assisted driving modes, the preset assisted driving modes including: a low-level assisted driving mode, a medium-level assisted driving mode, a first high-level assisted driving mode, and a second high-level assisted driving mode; According to different preset assisted driving modes, different warnings are performed on the driver of the target vehicle and / or the target vehicle is controlled to perform different deceleration operations.

3. The method according to claim 2, characterized in that The steps of performing different warnings on the driver of the target vehicle and / or controlling the target vehicle to perform different deceleration operations according to different preset assisted driving modes specifically include: When in low-level assisted driving mode, provide real-time relative distance and relative speed reminders; When in the intermediate assisted driving mode, a real-time relative distance warning and a relative speed warning are performed, and when the road condition in front of the target vehicle meets the preset abnormal road condition, a first deceleration signal is output to control the vehicle to decelerate; When in the first advanced driver assistance mode, advanced real-time relative distance warning and vehicle speed relative speed warning are provided; When in the second advanced driver assistance mode, a danger warning is issued, and at the same time, based on whether the road condition in front of the target vehicle satisfies several preset road conditions, the vehicle is controlled to slow down and the real-time vehicle speed or the real-time relative distance is controlled.

4. The method according to claim 3, characterized in that The step of performing a danger warning when in the second advanced driver assistance mode and providing different deceleration operation schemes according to whether the road condition ahead of the target vehicle satisfies a plurality of preset road conditions, so that the target vehicle controls the real-time vehicle speed or the real-time relative distance, further includes: During the deceleration operation, when the road condition ahead of the target vehicle meets the preset abnormal road condition, a second deceleration signal is output until the real-time vehicle speed and the real-time relative distance are within a preset range; When the real-time vehicle speed and the real-time relative distance are within the preset range, the step of evaluating whether to enter a different preset assisted driving mode is re-executed based on the speed difference between the real-time speed in the operating information and the speed of the vehicle in front, the real-time relative distance to the vehicle in front, and the road condition in front of the target vehicle in the environmental information.

5. The method according to claim 1, characterized in that The step of obtaining the operation information and environment information of the target vehicle when connected to the target vehicle comprises: When the road slope in the environmental information changes, the illumination angle and illumination brightness of the headlights are adjusted in real time according to the change amplitude of the slope in the environmental information, the real-time position and real-time speed of the vehicle in the operation information of the target vehicle.

6. The method according to claim 1, characterized in that When the target vehicle enters the preset range, the step of sending a connection control request to the target vehicle specifically includes: When the target vehicle enters the preset range, query whether there is a connection request record sent to the target vehicle and a connection approval record and a connection rejection record of the target vehicle, and at the same time detect whether the target vehicle is in the communication connection state; When the target vehicle has the sending connection request record, has the rejection connection record less than or equal to the approval connection record within the preset time and is not in the first record state of the communication connection state, or does not have the second record state of the sending connection request record, sending a connection request to the target vehicle; When the target vehicle has the record of sending the connection request, the number of rejected connection records within the preset time is greater than the number of agreed connection records, and it is not in the third record state of the communication connection state, or is in the fourth record state of the communication connection state, the target vehicle is stopped from sending the connection request.

7. A safety auxiliary driving device for vehicles on curved roads, characterized in that: The device comprises: A connection module, used for detecting that when the target vehicle enters a preset range, the target vehicle sends a connection control request; A data acquisition module, used to obtain the operation information and environmental information of the target vehicle when connected to the target vehicle; The control module determines a prompting scheme and a control scheme for the target vehicle according to the operation information and the environmental information, and prompts and controls the target vehicle according to the prompting scheme and the control scheme.

8. A safety auxiliary driving device for vehicles on curved roads, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the method for safe assisted driving of a vehicle on a curve as claimed in any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for safe assisted driving of a vehicle on a curve as claimed in any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the method for safe assisted driving of a vehicle on a curve as claimed in any one of claims 1 to 6 are implemented.

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