Auxiliary driving method, device and equipment, storage medium and vehicle

Abstract

The invention discloses an auxiliary driving method, device and equipment, a storage medium and a vehicle. The method comprises the following steps: when a target vehicle runs on a first lane according to navigation, acquiring navigation information; under the condition that the vehicle speed of the target vehicle is smaller than the preset vehicle speed, lane information of a second lane is obtained, and the second lane is a lane adjacent to the first lane; under the condition that the lane information represents that the second lane meets the driving condition corresponding to the navigation information, the speed of a first vehicle is obtained, and the first vehicle is any one of multiple vehicles driving on the second lane; when the vehicle speed of the first vehicle is not smaller than the preset vehicle speed, first lane changing prompt information is output, and the first lane changing prompt information is used for prompting a user to switch the target vehicle from the first lane to the second lane. According to the auxiliary driving method provided by the embodiment of the invention, the lane changing opportunity and the lane changing lane can be intelligently recommended to the user, and the user experience of the lane keeping auxiliary system is improved.

Description

Technical Field

[0001] The present application belongs to the field of assisted driving technology, and in particular, relates to an assisted driving method, device, equipment, storage medium and vehicle. Background Art

[0002] Lane Keeping Assist (Lane Keeping Assist, LKA) system is a kind of Advanced Driver Assistance System (ADAS). Lane Keeping Assist system uses sensors such as cameras to sense and calculate the position and movement information of the vehicle in the lane, and uses the vehicle's steering and braking systems to control the vehicle to prevent accidents caused by the vehicle deviating from the lane.

[0003] Currently, the lane keeping assist system can intelligently control the vehicle to remain in the current lane and change lanes in response to the driver's request, but it cannot intelligently determine whether the vehicle needs to change lanes and when to change lanes, resulting in a poor user experience of the lane keeping assist system. Summary of the invention

[0004] The embodiments of the present application provide an assisted driving method, apparatus, device, storage medium and vehicle, which can intelligently recommend lane changing timing and lane changing lanes to users, thereby improving the user's experience of using the lane keeping assist system.

[0005] In a first aspect, an embodiment of the present application provides a driving assistance method, the method comprising:

[0006] When the target vehicle is driving in the first lane according to the navigation, navigation information is obtained;

[0007] When the speed of the target vehicle is less than a preset speed, acquiring lane information of a second lane, where the second lane is a lane adjacent to the first lane;

[0008] When the lane information indicates that the second lane satisfies the driving condition corresponding to the navigation information, obtaining a speed of a first vehicle, where the first vehicle is any one of a plurality of vehicles traveling in the second lane;

[0009] When the speed of the first vehicle is not less than the preset speed, first lane change prompt information is output, where the first lane change prompt information is used to prompt a user to switch the target vehicle from the first lane to the second lane.

[0010] In a possible implementation, when the speed of the first vehicle is not less than the preset speed, outputting the first lane change prompt information includes:

[0011] When the speed of the first vehicle is not less than the preset speed, calculating the difference between the speed of the first vehicle and the speed of the target vehicle;

[0012] When the difference is greater than a preset vehicle speed difference, the first lane change prompt information is output.

[0013] In a possible implementation manner, after acquiring the lane information of the second lane, the method further includes:

[0014] When the lane information indicates that the second lane does not satisfy the driving condition corresponding to the navigation information and a second input from the user is received, a first safety prompt message is output, wherein the second input is used to switch the target vehicle from the first lane to the second lane, and the first safety prompt message is used to prompt the user to prohibit switching the target vehicle from the first lane to the second lane.

[0015] In a possible implementation, the navigation information includes intermediate destination information, and the intermediate destination information is location information when the target vehicle turns. After acquiring the navigation information, the method further includes:

[0016] When the first intermediate destination corresponding to the intermediate destination information is located in the second lane, obtaining a first distance between the target vehicle and a target endpoint of a target solid line, wherein the target solid line is a solid line between the first lane and the second lane, the target solid line is used to prohibit the target vehicle from switching from the first lane to the second lane, and the target endpoint is an endpoint of the target solid line close to the target vehicle;

[0017] When the first distance is within a preset distance range, the first lane change prompt information is output.

[0018] In a possible implementation manner, after outputting the first lane change prompt information, the method further includes:

[0019] receiving a first input from the user regarding the first lane change prompt information, wherein the first input is used to confirm the first lane change prompt information;

[0020] In response to the first input, the target vehicle is controlled to switch from the first lane to the second lane.

[0021] In a possible implementation, the navigation information includes intermediate destination information, and the intermediate destination information is location information when the target vehicle turns. After acquiring the navigation information, the method further includes:

[0022] acquiring, when a second intermediate destination corresponding to the intermediate destination information is located in a third lane, a lane number from the first lane to the third lane, and a second distance between the target vehicle and the second intermediate destination, the first lane and the third lane being not adjacent;

[0023] calculating a ratio between the second distance and the number of lanes to obtain a third distance;

[0024] When the target vehicle has traveled the third distance in the first target lane, second lane change prompt information is output, and the second lane change prompt information is used to prompt the user to switch the target vehicle from the first target lane to a second target lane, the first target lane is any one of a plurality of lanes except the third lane, and the second target lane is a lane adjacent to the first target lane and away from the first lane.

[0025] In a possible implementation, the navigation information includes traffic light information and a fourth distance between a first side and a second side of an intersection, the first side of the intersection being a side of the intersection close to the target vehicle, and the second side of the intersection being a side of the intersection far from the target vehicle;

[0026] After obtaining the navigation information, the method further includes:

[0027] When the distance between the target vehicle and the first side of the intersection reaches a first preset distance, obtaining first traffic light information corresponding to the first side of the intersection, and calculating a ratio between the first preset distance and a first target speed of the target vehicle to obtain a first duration, where the first duration is a predicted duration for the target vehicle to travel to the first side of the intersection at the first target speed;

[0028] Determine second traffic light information after the first duration of the first traffic light information;

[0029] When the signal light in the second traffic signal light information is a green light, determining a second duration for the signal light to switch from the green light to the red light;

[0030] Calculating a ratio between the fourth distance and the second duration to obtain a predicted vehicle speed;

[0031] When the predicted vehicle speed is greater than the first target vehicle speed and not greater than the second target vehicle speed, within the first preset distance, adjusting the first target vehicle speed to the predicted vehicle speed;

[0032] The target vehicle is controlled to pass through the intersection according to the predicted vehicle speed.

[0033] In a possible implementation, after obtaining the predicted vehicle speed, the method further includes:

[0034] When the predicted vehicle speed is greater than the second target vehicle speed, the target vehicle is controlled to decelerate within the first preset distance.

[0035] In a possible implementation manner, the navigation information includes marker information, and the marker information includes at least one marker. After acquiring the navigation information, the method further includes:

[0036] For each marking point, before the target vehicle reaches the marking point and the distance between the target vehicle and the marking point reaches a second preset distance, a second safety prompt information is output, and the second safety prompt information is used to prompt the user to slow down the target vehicle.

[0037] In a possible implementation manner, after outputting the second security prompt information, the method further includes:

[0038] receiving a third input from the user regarding the second security prompt information, wherein the third input is used to confirm the second security prompt information;

[0039] In response to the third input, the target vehicle is controlled to travel at a reduced speed.

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

[0041] A first acquisition module is used to acquire navigation information when the target vehicle is driving in the first lane according to the navigation;

[0042] A second acquisition module is used to acquire lane information of a second lane when the speed of the target vehicle is less than a preset speed, where the second lane is a lane adjacent to the first lane;

[0043] a third acquisition module, configured to acquire a speed of a first vehicle, when the lane information indicates that the second lane satisfies a driving condition corresponding to the navigation information, the first vehicle being any one of a plurality of vehicles traveling in the second lane;

[0044] The first output module is used to output first lane change prompt information when the speed of the first vehicle is not less than the preset speed, wherein the first lane change prompt information is used to prompt a user to switch the target vehicle from the first lane to the second lane.

[0045] In a third aspect, an embodiment of the present application provides an electronic device, the electronic device comprising: a processor and a memory storing computer program instructions;

[0046] When the processor executes the computer program instructions, the processor implements any possible implementation method of the first aspect described above.

[0047] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implements a method in any possible implementation method of the first aspect described above.

[0048] In a fifth aspect, an embodiment of the present application provides a vehicle, the vehicle comprising at least one of the following:

[0049] The driving assistance device as in any one of the embodiments of the second aspect;

[0050] An electronic device as in any one of the embodiments of the third aspect;

[0051] A computer-readable storage medium as in any embodiment of the fourth aspect.

[0052] The assisted driving method, device, equipment, storage medium and vehicle of the embodiment of the present application can obtain the lane information of the second lane when the target vehicle is traveling in the first lane according to the navigation and the speed is less than the preset speed, and can find the second lane that can meet the speed requirement of the target vehicle when the first lane cannot meet the speed requirement of the target vehicle. The speed of the first vehicle traveling in the second lane is obtained when the lane information indicates that the second lane meets the driving conditions corresponding to the navigation information, that is, on the premise of ensuring that the target vehicle can travel normally in the second lane, whether the second lane meets the speed requirement of the target vehicle is further determined, and the first lane change prompt information is output when the speed of the first vehicle is not less than the preset speed (the second lane meets the speed requirement of the target vehicle), which can intelligently recommend the time and lane of lane change to the user, and improve the user's experience of the lane keeping assist system. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0054] Figure 1 It is a flowchart of an assisted driving method provided in an embodiment of the present application;

[0055] Figure 2is a schematic diagram of a change in the number of lanes provided in an embodiment of the present application;

[0056] Figure 3 is a schematic diagram of lane width change provided by an embodiment of the present application;

[0057] Figure 4 is a structural schematic diagram of a driving assistance device provided in an embodiment of the present application;

[0058] Figure 5 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the scheme of the present application will be further described below. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0060] In the following description, many specific details are set forth to facilitate a full understanding of the present application, but the present application may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only part of the embodiments of the present application, rather than all of the embodiments.

[0061] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0062] As described in the background technology section, currently, the lane keeping assist system cannot intelligently determine whether the vehicle needs to change lanes and when to change lanes, resulting in the inability to assist the driver to complete a point-to-point intelligent driving experience. In addition, currently, the lane keeping assist system mostly relies on lane line information detected by the visual sensor for lane keeping. Since the detection distance of the visual sensor is short and it cannot provide more beyond-visual-range information, the lane keeping assist system cannot provide users with more lane changing experiences, and cannot improve the vehicle's traffic efficiency while ensuring the user's driving safety, resulting in a poor lane changing experience for users.

[0063] In addition, the lane keeping assist system can also intelligently control the vehicle's speed within the preset speed range. Since the visual sensor has a short detection distance and cannot provide more beyond-visual-range information, the degree of intelligent control of the vehicle speed is low, and it cannot provide users with a safer and better driving experience.

[0064] In order to solve the problems of the prior art, the embodiments of the present application provide a driving assisted method, device, equipment, storage medium and vehicle.

[0065] The following first introduces the assisted driving method provided in the embodiment of the present application.

[0066] Figure 1 FIG. 1 is a flow chart of an assisted driving method provided by an embodiment of the present application. Figure 1 As shown, the assisted driving method provided in the embodiment of the present application includes the following steps:

[0067] S110, while the target vehicle is driving in the first lane according to the navigation, obtaining navigation information;

[0068] S120, when the speed of the target vehicle is less than a preset speed, acquiring lane information of a second lane, where the second lane is a lane adjacent to the first lane;

[0069] S130, when the lane information indicates that the second lane satisfies the driving condition corresponding to the navigation information, obtaining a speed of a first vehicle, where the first vehicle is any one of a plurality of vehicles traveling in the second lane;

[0070] S140. When the speed of the first vehicle is not less than a preset speed, output first lane change prompt information, where the first lane change prompt information is used to prompt a user to switch the target vehicle from the first lane to the second lane.

[0071] The assisted driving method of the embodiment of the present application can obtain the lane information of the second lane when the target vehicle is traveling in the first lane according to the navigation and the speed is less than the preset speed, and can find the second lane that can meet the speed requirement of the target vehicle when the first lane cannot meet the speed requirement of the target vehicle. The speed of the first vehicle traveling in the second lane is obtained when the lane information indicates that the second lane meets the driving conditions corresponding to the navigation information, that is, on the premise of ensuring that the target vehicle can travel normally in the second lane, whether the second lane meets the speed requirement of the target vehicle is further determined, and the first lane change prompt information is output when the speed of the first vehicle is not less than the preset speed (the second lane meets the speed requirement of the target vehicle), which can intelligently recommend the time and lane of lane change to the user, and improve the user's experience of the lane keeping assist system.

[0072] The specific implementation methods of the above steps are introduced below.

[0073] In some embodiments, in S110, the navigation information may include navigation map information and driving route information. Among them, the navigation map information may include lane information of the first lane where the target vehicle is traveling, lane information of the second lane adjacent to the first lane, lane information of the third lane not adjacent to the first lane, and intersection information between lanes, etc. The lane information may include first identification information and second identification information of the lane. The first identification information of the lane may determine whether the lane is a straight lane, a left turn lane, a right turn lane, or a composite lane. The second identification information of the lane may determine whether the lane is a dedicated lane. Dedicated lanes may include bus lanes, emergency parking lanes, taxi parking lanes, etc. The lane information may also include intermediate destination information. The intermediate destination information may be location information when the vehicle turns. For example, if the third lane is a right turn lane, the junction between the third lane and the intersection may be the intermediate destination. The location information corresponding to the intermediate destination may be the intermediate destination information. The lane information may also include marking point information. The marking point information may include location information corresponding to at least one marking point. Among them, the marking point may be a specific point pre-marked on the map. The marking point may be used to prompt that there is danger on the road ahead, please slow down. In addition, the intersection information may include traffic light information, the distance between traffic lights on both sides of the intersection, and the like.

[0074] As an example, after turning on navigation, the target vehicle can drive in the first lane according to the navigation information in the navigation software. During the driving process of the vehicle, the lane keeping assist system can obtain navigation information from the navigation software. The first lane can be a lane determined by the navigation software and corresponding to the driving route information.

[0075] In some embodiments, in S120, the preset speed may be a preset speed at which the lane keeping assist system controls the target vehicle to travel normally. That is, under normal circumstances, the lane keeping assist system may control the target vehicle to travel at the preset speed. If the speed of the target vehicle in the first lane is less than the preset speed, it may be determined that the first lane cannot meet the speed requirement of the target vehicle. In the case that the first lane cannot meet the speed requirement of the target vehicle, a second lane that can meet its speed requirement may be searched for the target vehicle. The second lane may be located on the left side of the first lane or on the right side of the first lane, which is not limited here.

[0076] As an example, the target vehicle may include a visual sensor. The lane line of the second lane may be detected by the visual sensor to obtain lane information of the second lane.

[0077] As another example, since the navigation information may include lane information, the lane information of the second lane may be acquired from the navigation information.

[0078] Based on this, in order to improve driving safety and further enhance the user experience of the lane keeping assist system, in some embodiments, after the above S120, the following steps may also be included:

[0079] When the lane information indicates that the second lane does not satisfy the driving condition corresponding to the navigation information and a second input from the user is received, a first safety prompt message is output, the second input is used to switch the target vehicle from the first lane to the second lane, and the first safety prompt message is used to prompt the user to prohibit switching the target vehicle from the first lane to the second lane.

[0080] Here, the second input may include any one of the user turning the steering wheel and turning on the turn signal. In addition, the first safety prompt information may include at least one of text prompt information, voice prompt information, and vibration prompt information. In the case where the first safety prompt information includes vibration prompt information, the user may be prompted by vibrating the steering wheel.

[0081] As an example, if the lane information of the second lane includes the second identification information corresponding to the dedicated lane, it can be determined that the second lane does not meet the driving conditions corresponding to the navigation information. If the lane information of the second lane includes the first identification information, but the driving direction corresponding to the first identification information is different from the driving direction in the navigation information, it can be determined that the second lane does not meet the driving conditions corresponding to the navigation information. If the lane information of the second lane includes a long solid line, and the end point of the long solid line close to the target vehicle is close to the target vehicle, that is, if the lane is changed at this time, it may cause the target vehicle to pass through the long solid line, violating traffic regulations. In this case, it can be determined that the second lane does not meet the driving conditions corresponding to the navigation information. If the second lane does not meet the driving conditions corresponding to the navigation information, the second lane information can continue to be obtained, and it is not recommended that the user switch the target vehicle from the first lane to the second lane.

[0082] If the second lane does not meet the driving conditions corresponding to the navigation information, but it is detected that the user is about to switch the target vehicle from the first lane to the second lane, a first safety prompt message may be output to prompt the user to prohibit switching the target vehicle from the first lane to the second lane.

[0083] In this way, by outputting the first safety prompt information when the lane information indicates that the second lane does not meet the driving conditions corresponding to the navigation information and receiving the user's second input, driving safety can be improved and the user's experience of the lane keeping assist system can be further enhanced.

[0084] In some embodiments, in S130, if the lane information of the second lane satisfies the above-mentioned multiple conditions at the same time, that is, the driving direction corresponding to the second lane is the same as the driving direction corresponding to the first lane, the second lane is not a dedicated lane, and the target vehicle can switch from the first lane to the second lane, then it can be determined that the second lane meets the driving condition corresponding to the navigation information. If the second lane meets the driving condition corresponding to the navigation information, the speed of the first vehicle traveling in the second lane can be further obtained to further determine whether the second lane meets the speed requirement of the target vehicle.

[0085] As an example, the target vehicle may include a speed sensor. The speed sensor may be used to detect the speed of the first vehicle.

[0086] In some embodiments, in S140, the first lane change prompt information may include at least one of text prompt information, voice prompt information, and vibration prompt information. When the first lane change prompt information includes text prompt information, the first lane change information may be displayed on a display interface corresponding to a human-machine interface (HMI). When the first lane change prompt information includes vibration prompt information, the steering wheel may be vibrated to prompt the user to change lanes.

[0087] As an example, if the second lane meets the speed requirement of the target vehicle, that is, if the second lane meets both the driving conditions corresponding to the navigation information and the speed requirement of the target vehicle, it can be determined that the second lane meets the lane change condition of the target vehicle, and then the first lane change prompt information can be output to prompt the user that the target vehicle can be switched from the first lane to the second lane at this time. Among them, the second lane meeting the speed requirement of the target vehicle can be that the speed of the first vehicle is not less than the preset speed. That is, if the speed of the first vehicle is greater than or equal to the preset speed, the first lane change prompt information can be output.

[0088] In actual situations, if the speed of the first vehicle is equal to the preset speed, and the preset speed is 40 kph, and the speed of the target vehicle is 35 kph, that is, the speed of the target vehicle is not much different from that of the first vehicle, then for the user, the driving experience brought by the target vehicle switching from the first lane to the second lane may not be much different. Therefore, in order to further improve the user's driving experience, in some embodiments, the above S140 may specifically include:

[0089] When the speed of the first vehicle is not less than a preset speed, calculating a difference between the speed of the first vehicle and the speed of the target vehicle;

[0090] When the difference is greater than the preset vehicle speed difference, a first lane change prompt message is output.

[0091] Here, the preset speed difference may be, for example, 30 kph. If the speed of the first vehicle is more than 30 kph faster than the speed of the target vehicle, the target vehicle will be able to travel more smoothly in the second lane than in the first lane. Therefore, the user's driving experience can be further improved.

[0092] As an example, after the lane keeping assist system outputs the first lane change prompt information, the user can turn the steering wheel to change lanes by himself, or the system can receive a user's confirmation operation for the first lane change prompt information. When the user confirms that the lane change can be made, the target vehicle is controlled to switch from the first lane to the second lane.

[0093] Based on this, in order to further improve the user experience of the lane keeping assist system, in some embodiments, after the above S150, the following steps may also be included:

[0094] receiving a first input from a user regarding the first lane change prompt information, the first input being used to confirm the first lane change prompt information;

[0095] In response to the first input, the target vehicle is controlled to switch from the first lane to the second lane.

[0096] Here, the first input may include the user selecting a confirmation button on a display interface corresponding to the human-computer interaction interface, or giving a voice reply of “confirm lane change”.

[0097] As an example, the display interface corresponding to the human-computer interaction interface may include a confirmation button and a rejection button. If the first lane change prompt information is displayed in text form on the display interface, the user can send a "confirm lane change" instruction to the lane keeping assist system by clicking the confirmation button in the display interface.

[0098] As an example, if the first lane change prompt information is a voice output, the user can directly respond with voice to send a "confirm lane change" command to the lane keeping assist system.

[0099] After receiving user instructions, the lane keeping assist system can control the target vehicle to switch from the first lane to the second lane.

[0100] In this way, by responding to the first input and controlling the target vehicle to switch from the first lane to the second lane, rather than the user turning the steering wheel to change lanes, the user's experience of the lane keeping assist system can be further improved.

[0101] In addition, the navigation information may also include intermediate destination information. The intermediate destination information may be location information when the target vehicle turns. For example, if the second lane is a right-turn lane, the junction between the second lane and the intersection may be the first intermediate destination.

[0102] Based on this, in order to ensure both the compliance and legality of driving and the driving experience of the user, in some embodiments, after S110, the following steps may also be included:

[0103] When the first intermediate destination corresponding to the intermediate destination information is located in the second lane, obtaining a first distance between the target vehicle and a target endpoint of a target solid line, where the target solid line is a solid line between the first lane and the second lane, the target solid line is used to prohibit the target vehicle from switching from the first lane to the second lane, and the target endpoint is an endpoint of the target solid line close to the target vehicle;

[0104] When the first distance is within a preset distance range, first lane change prompt information is output.

[0105] Here, the preset distance range may include the distance between the third preset distance and the fourth preset distance. The third preset distance may be less than the fourth preset distance. The third preset distance and the fourth preset distance may be predetermined according to experiments. Since a portion of the distance needs to be reserved for the target vehicle to change lanes, changing lanes when the first distance is less than the third preset distance may cause the target vehicle to pass through the target solid line, violating traffic regulations. Therefore, when the first distance is not less than the third preset distance, the first lane change prompt information may be output. In addition, if the target vehicle changes lanes too early, the user's driving experience may be reduced due to traffic congestion and other reasons. Therefore, the first lane change prompt information may be output when the first distance is less than the fourth preset distance.

[0106] As an example, when the target vehicle is traveling in the first lane, if the navigation information shows that the target vehicle is going to turn right ahead and the second lane is a right turn lane, the first lane can be switched to the second lane at a first distance before the long solid line.

[0107] In this way, by outputting the first lane change prompt information when the first distance is within the preset distance range, it is possible to ensure both the compliance and legality of driving and the user's driving experience.

[0108] In addition, if the third lane is a right turn lane, the junction between the third lane and the intersection may be the second intermediate destination.

[0109] Based on this, in order to ensure driving safety, in some embodiments, after S110, the following steps may also be included:

[0110] acquiring, in a case where a second intermediate destination corresponding to the intermediate destination information is located in the third lane, a lane number from the first lane to the third lane, and a second distance between the target vehicle and the second intermediate destination, the first lane and the third lane being not adjacent;

[0111] Calculate the ratio between the second distance and the number of lanes to obtain a third distance;

[0112] When the target vehicle has traveled a third distance in the first target lane, second lane change prompt information is output, and the second lane change prompt information is used to prompt the user to switch the target vehicle from the first target lane to the second target lane, the first target lane is any one of the multiple lanes except the third lane, and the second target lane is a lane adjacent to the first target lane and away from the first lane.

[0113] Here, when the target vehicle is driving in the first lane, if the navigation information shows that the target vehicle is going to turn right ahead and the third lane is a right-turn lane, multiple lanes need to be switched continuously ahead to switch the target vehicle from the first lane to the third lane. Therefore, in order to avoid urgent continuous lane changes, the timing of lane changes can be planned in advance.

[0114] As an example, the lane keeping assist system may control the target vehicle to switch lanes every time the target vehicle travels a third distance until the target vehicle is switched to the third lane.

[0115] In this way, if you need to switch multiple lanes continuously ahead, you can avoid emergency continuous lane changes and ensure driving safety by planning the lane change timing in advance.

[0116] In addition, the navigation information may also include traffic light information and a fourth distance between a first side and a second side of the intersection, wherein the first side of the intersection is a side of the intersection close to the target vehicle, and the second side of the intersection is a side of the intersection far from the target vehicle.

[0117] Based on this, in order to improve the user's driving experience while ensuring driving safety, in some embodiments, after S110, the following steps may also be included:

[0118] When the distance between the target vehicle and the first side of the intersection reaches a first preset distance, first traffic light information corresponding to the first side of the intersection is obtained, and a ratio between the first preset distance and a first target speed of the target vehicle is calculated to obtain a first duration, where the first duration is a predicted duration for the target vehicle to travel to the first side of the intersection at the first target speed;

[0119] Determine second traffic light information after the first traffic light information for the first duration;

[0120] When the signal light in the second traffic signal light information is green, determining a second duration for the signal light to switch from green to red;

[0121] Calculate the ratio between the fourth distance and the second duration to obtain the predicted vehicle speed;

[0122] When the predicted vehicle speed is greater than the first target vehicle speed and not greater than the second target vehicle speed, within the first preset distance, adjusting the first target vehicle speed to the predicted vehicle speed;

[0123] Control the target vehicle to pass through the intersection according to the predicted speed.

[0124] Here, the first preset distance may be a pre-set safety distance for adjusting the vehicle speed. The first preset distance may be determined by experiment. In addition, the first target speed may be the speed when the distance between the vehicle and the first side of the intersection is the first preset distance. In actual situations, if the first target speed is not adjusted, the lane keeping assist system may control the target vehicle to continue driving at the first target speed. In addition, the second target speed may be a pre-set fixed speed, or a speed determined based on the first target speed, or a smaller one of the two, which is not limited here. Among them, the fixed speed may be the speed limit value corresponding to the intersection. In addition, for example, if the first target speed is 40 kph and the second target speed is 1.2 times the first target speed, the second target speed may be 48 kph.

[0125] As an example, when the distance between the target vehicle and the first side of the intersection reaches the first preset distance, assuming that the target vehicle continues to travel at the first target speed, the first duration of the target vehicle arriving at the first side of the intersection can be predicted based on the first preset distance and the first target speed, and the first traffic light information at this moment can be obtained from the navigation information, and the second traffic light information after the first duration of the first traffic light information is predicted. That is, before the target vehicle enters the intersection, the traffic light information of the target vehicle at the first side of the intersection can be predicted. If the second traffic light information indicates that the traffic light is red when the target vehicle is at the intersection, the target speed can be adjusted. If the second traffic light information indicates that the traffic light is green when the target vehicle is at the intersection, it can be further determined whether the target vehicle can pass through the intersection within the display time period of the green light. Specifically, since the fourth distance and the second duration are fixed, the predicted speed can be calculated based on the fourth distance and the second duration under the assumption that the target vehicle can pass through the intersection. That is, if the target vehicle travels at the predicted speed, it can pass through the intersection within the display time period of the green light.

[0126] As an example, if the difference between the predicted speed and the first target speed is small, the first target speed can be adjusted to the predicted speed within the first preset distance. If the predicted speed is lower than the speed limit of the intersection, the safety of the target vehicle passing through the intersection can be guaranteed.

[0127] In this way, by adjusting the first target speed to the predicted speed within the first preset distance, and controlling the target vehicle to pass through the intersection at the predicted speed, the user's driving experience can be improved while ensuring driving safety.

[0128] Based on this, in order to improve the user's driving experience while ensuring driving safety, in some embodiments, after obtaining the predicted vehicle speed, the following steps may also be performed:

[0129] When the predicted vehicle speed is greater than the second target vehicle speed, the target vehicle is controlled to decelerate within the first preset distance.

[0130] Here, if the predicted speed is greater than the second target speed, it can be determined that the preset speed has exceeded the speed range for safe driving, and the target vehicle can be controlled to decelerate to ensure driving safety. In addition, the user's driving experience can be improved by controlling the target vehicle to decelerate in advance.

[0131] In addition, the navigation information may also include marker information, and the marker information includes at least one marker. In a single navigation process, the target vehicle may pass by one marker or multiple markers. The markers may be pre-marked in the navigation map. The markers may be points with collision risks. The markers may include points where the number of lanes changes and points where the lane width changes. The schematic diagram of the change in the number of lanes may be as follows: Figure 2 The schematic diagram of lane width change can be shown as Figure 3 The marking points may also include, for example, occlusion scenes obtained through big data statistics.

[0132] Based on this, in order to improve the driving safety of the user, in some embodiments, after S110, the following steps may also be included:

[0133] For each marking point, before the target vehicle reaches the marking point and the distance between the target vehicle and the marking point reaches a second preset distance, a second safety prompt information is output, and the second safety prompt information is used to prompt the user to slow down the target vehicle.

[0134] Here, the second preset distance may be a pre-set safety distance that can ensure the safe driving of the target vehicle. The second preset distance is determined in advance through experiments. The second safety prompt information may include at least one of text prompt information, voice prompt information, and vibration prompt information. When the second safety prompt information includes vibration prompt information, the user may be prompted by vibrating the steering wheel.

[0135] As an example, after the lane keeping assist system outputs the second safety prompt information, the user can slow down, or the system can receive a user's confirmation operation for the second safety prompt information. If the user confirms that deceleration is possible, the target vehicle is controlled to slow down.

[0136] In this way, by outputting the second safety prompt information, the user's driving safety can be improved.

[0137] Based on this, in order to further improve the user experience of the lane keeping assist system, in some embodiments, after outputting the second safety prompt information, the following may also be included:

[0138] receiving a third input from the user regarding the second security prompt information, where the third input is used to confirm the second security prompt information;

[0139] In response to the third input, the target vehicle is controlled to travel at a reduced speed.

[0140] Here, the third input may include any one of the following: the user selecting a confirmation button on the display interface corresponding to the human-computer interaction interface, or a voice reply of "confirm deceleration". If the user issues a "confirm deceleration" instruction to the lane keeping assist system through the third input, the lane keeping assist system may control the target vehicle to decelerate in response to the third input. In this way, the user's experience of the lane keeping assist system can be further improved.

[0141] In summary, the embodiments of the present application enable the lane keeping assist system to obtain more beyond-visual-range information by acquiring navigation information. By performing assisted driving based on beyond-visual-range information, it is possible to provide users with a smarter and safer driving experience and improve the user's utilization rate of the lane keeping assist system.

[0142] Based on the assisted driving method provided in the above embodiment, the present application also provides a specific implementation of the assisted driving device. Please refer to the following embodiment.

[0143] like Figure 4 As shown, the driving assistance device 400 provided in the embodiment of the present application includes the following modules:

[0144] The first acquisition module 410 is used to acquire navigation information when the target vehicle is driving in the first lane according to the navigation;

[0145] A second acquisition module 420 is used to acquire lane information of a second lane when the speed of the target vehicle is less than a preset speed, where the second lane is a lane adjacent to the first lane;

[0146] A third acquisition module 430 is used to acquire a speed of a first vehicle when the lane information indicates that the second lane satisfies the driving condition corresponding to the navigation information, where the first vehicle is any one of the multiple vehicles traveling in the second lane;

[0147] The first output module 440 is used to output first lane change prompt information when the speed of the first vehicle is not less than a preset speed. The first lane change prompt information is used to prompt the user to switch the target vehicle from the first lane to the second lane.

[0148] The above-mentioned driving assistance device 400 is described in detail below, as shown below:

[0149] In some embodiments, the first output module 440 may specifically include:

[0150] A calculation submodule, used for calculating the difference between the speed of the first vehicle and the speed of the target vehicle when the speed of the first vehicle is not less than a preset speed;

[0151] The output submodule is used to output the first lane change prompt information when the difference is greater than the preset vehicle speed difference.

[0152] In some embodiments, the driving assistance device 400 may further include:

[0153] The second output module is used to output a first safety prompt message when the lane information indicates that the second lane does not meet the driving conditions corresponding to the navigation information and a second input from the user is received, the second input is used to switch the target vehicle from the first lane to the second lane, and the first safety prompt message is used to prompt the user to prohibit switching the target vehicle from the first lane to the second lane.

[0154] In some embodiments, the navigation information includes intermediate destination information, which is location information when the target vehicle turns. Based on this, the auxiliary driving device 400 may also include:

[0155] a fourth acquisition module, configured to acquire, when a first intermediate destination corresponding to the intermediate destination information is located in the second lane, a first distance between the target vehicle and a target endpoint of a target solid line, the target solid line being a solid line between the first lane and the second lane, the target solid line being used to prohibit the target vehicle from switching from the first lane to the second lane, and the target endpoint being an endpoint of the target solid line close to a side of the target vehicle;

[0156] The third output module is used to output first lane change prompt information when the first distance is within a preset distance range.

[0157] In some embodiments, the driving assistance device 400 may further include:

[0158] A first receiving module, configured to receive a first input of the first lane change prompt information from a user after outputting the first lane change prompt information, wherein the first input is used to confirm the first lane change prompt information;

[0159] The first control module is used to control the target vehicle to switch from the first lane to the second lane in response to the first input.

[0160] In some embodiments, the navigation information includes intermediate destination information, which is location information when the target vehicle turns. Based on this, the auxiliary driving device 400 may also include:

[0161] a fifth acquisition module, for acquiring, when a second intermediate destination corresponding to the intermediate destination information is located in the third lane, a lane number from the first lane to the third lane and a second distance between the target vehicle and the second intermediate destination, and the first lane and the third lane are not adjacent;

[0162] A first calculation module is used to calculate the ratio between the second distance and the number of lanes to obtain a third distance;

[0163] The fourth output module is used to output second lane change prompt information when the target vehicle has traveled a third distance in the first target lane. The second lane change prompt information is used to prompt the user to switch the target vehicle from the first target lane to the second target lane. The first target lane is any one of the multiple lanes except the third lane, and the second target lane is a lane adjacent to the first target lane and away from the first lane.

[0164] In some embodiments, the navigation information includes traffic light information and a fourth distance between a first side and a second side of the intersection, wherein the first side of the intersection is a side of the intersection close to the target vehicle and the second side of the intersection is a side of the intersection far from the target vehicle.

[0165] Based on this, the driving assistance device 400 may further include:

[0166] a sixth acquisition module, configured to acquire first traffic light information corresponding to the first side of the intersection when the distance between the target vehicle and the first side of the intersection reaches a first preset distance, and calculate a ratio between the first preset distance and a first target speed of the target vehicle to obtain a first duration, where the first duration is a predicted duration for the target vehicle to travel to the first side of the intersection at the first target speed;

[0167] A first determining module, used to determine second traffic light information after the first traffic light information for a first duration;

[0168] A second determining module, configured to determine a second duration for the traffic light to switch from green to red when the traffic light in the second traffic light information is green;

[0169] A second calculation module is used to calculate the ratio between the fourth distance and the second time length to obtain a predicted vehicle speed;

[0170] an adjustment module, configured to adjust the first target vehicle speed to the predicted vehicle speed within a first preset distance when the predicted vehicle speed is greater than the first target vehicle speed and not greater than the second target vehicle speed;

[0171] The second control module is used to control the target vehicle to pass through the intersection according to the predicted speed.

[0172] In some embodiments, the driving assistance device 400 may further include:

[0173] The third control module is used to control the target vehicle to decelerate within a first preset distance after obtaining the predicted vehicle speed and when the predicted vehicle speed is greater than the second target vehicle speed.

[0174] In some of the embodiments, the navigation information includes marker information, and the marker information includes at least one marker.

[0175] Based on this, the driving assistance device 400 may further include:

[0176] The fifth output module is used to output a second safety prompt message for each marking point before the target vehicle reaches the marking point and when the distance between the target vehicle and the marking point reaches a second preset distance, wherein the second safety prompt message is used to prompt the user to slow down the target vehicle.

[0177] In some embodiments, the driving assistance device 400 may further include:

[0178] A second receiving module, used for receiving a third input of the user on the second security prompt information after outputting the second security prompt information, the third input being used for confirming the second security prompt information;

[0179] The fourth control module is used to control the target vehicle to decelerate in response to the third input.

[0180] The assisted driving device of the embodiment of the present application can obtain the lane information of the second lane when the target vehicle is traveling in the first lane according to the navigation and the speed is less than the preset speed, and can find the second lane that can meet the speed requirement of the target vehicle when the first lane cannot meet the speed requirement of the target vehicle. The speed of the first vehicle traveling in the second lane is obtained when the lane information indicates that the second lane meets the driving conditions corresponding to the navigation information, that is, on the premise of ensuring that the target vehicle can travel normally in the second lane, whether the second lane meets the speed requirement of the target vehicle is further determined, and the first lane change prompt information is output when the speed of the first vehicle is not less than the preset speed (the second lane meets the speed requirement of the target vehicle), which can intelligently recommend the time and lane of lane change to the user, and improve the user's experience of the lane keeping assist system.

[0181] Based on the assisted driving method provided in the above embodiment, the embodiment of the present application also provides a specific implementation of the electronic device. Figure 5 A schematic diagram of an electronic device 500 provided in an embodiment of the present application is shown.

[0182] The electronic device 500 may include a processor 510 and a memory 520 storing computer program instructions.

[0183] Specifically, the processor 510 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0184] The memory 520 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 520 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 520 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 520 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 520 is a non-volatile solid-state memory.

[0185] The memory may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to the first aspect of the present application.

[0186] The processor 510 implements any one of the assisted driving methods in the above embodiments by reading and executing computer program instructions stored in the memory 520.

[0187] In one example, the electronic device 500 may further include a communication interface 530 and a bus 540. Figure 5 As shown, the processor 510, the memory 520, and the communication interface 530 are connected via a bus 540 and communicate with each other.

[0188] The communication interface 530 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0189] Bus 540 includes hardware, software or both, and the parts of electronic equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 540 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the application considers any suitable bus or interconnection.

[0190] Exemplarily, the electronic device 500 may be a mobile phone, a tablet computer, a laptop computer, a PDA, an in-vehicle electronic device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA).

[0191] The electronic device can execute the assisted driving method in the embodiment of the present application, thereby realizing the combination Figure 1 and Figure 4 Described is a driving assistance method and device.

[0192] In addition, in combination with the assisted driving method in the above embodiments, the embodiments of the present application may provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any one of the assisted driving methods in the above embodiments is implemented.

[0193] In addition, the embodiment of the present application further provides a vehicle, which may include at least one of the following:

[0194] The driving assistance device as in any one of the embodiments of the second aspect;

[0195] An electronic device as in any one of the embodiments of the third aspect;

[0196] The computer-readable storage medium in any one of the embodiments of the fourth aspect will not be described in detail here.

[0197] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0198] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0199] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0200] The above reference is according to the method of the embodiment of the present application, the flow chart of the device (system) and the computer program product and / or the block diagram described various aspects of the present application.It should be understood that each square box in the flow chart and / or the block diagram and the combination of each square box in the flow chart and / or the block diagram can be realized by computer program instructions.These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the realization of the function / action specified in one or more square boxes of the flow chart and / or the block diagram.Such a processor can be but is not limited to a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit.It can also be understood that each square box in the block diagram and / or the flow chart and the combination of the square boxes in the block diagram and / or the flow chart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

[0201] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A driving assistance method, characterized in that: include: When the target vehicle is driving in the first lane according to the navigation, navigation information is obtained; When the speed of the target vehicle is less than a preset speed, acquiring lane information of a second lane, where the second lane is a lane adjacent to the first lane; When the lane information indicates that the second lane satisfies the driving condition corresponding to the navigation information, obtaining a speed of a first vehicle, where the first vehicle is any one of a plurality of vehicles traveling in the second lane; When the speed of the first vehicle is not less than the preset speed, first lane change prompt information is output, where the first lane change prompt information is used to prompt a user to switch the target vehicle from the first lane to the second lane.

2. The method according to claim 1, characterized in that The outputting first lane change prompt information when the speed of the first vehicle is not less than the preset speed includes: When the speed of the first vehicle is not less than the preset speed, calculating the difference between the speed of the first vehicle and the speed of the target vehicle; When the difference is greater than a preset vehicle speed difference, the first lane change prompt information is output.

3. The method according to claim 1, characterized in that After acquiring the lane information of the second lane, the method further includes: When the lane information indicates that the second lane does not satisfy the driving condition corresponding to the navigation information and a second input from the user is received, a first safety prompt message is output, wherein the second input is used to switch the target vehicle from the first lane to the second lane, and the first safety prompt message is used to prompt the user to prohibit switching the target vehicle from the first lane to the second lane.

4. The method according to claim 1, characterized in that: The navigation information includes intermediate destination information, and the intermediate destination information is location information when the target vehicle turns. After acquiring the navigation information, the method further includes: When the first intermediate destination corresponding to the intermediate destination information is located in the second lane, obtaining a first distance between the target vehicle and a target endpoint of a target solid line, wherein the target solid line is a solid line between the first lane and the second lane, the target solid line is used to prohibit the target vehicle from switching from the first lane to the second lane, and the target endpoint is an endpoint of the target solid line close to the target vehicle; When the first distance is within a preset distance range, the first lane change prompt information is output.

5. The method according to claim 1 or 4, characterized in that: After outputting the first lane change prompt information, the method further includes: receiving a first input from the user regarding the first lane change prompt information, wherein the first input is used to confirm the first lane change prompt information; In response to the first input, the target vehicle is controlled to switch from the first lane to the second lane.

6. The method according to claim 1, characterized in that The navigation information includes intermediate destination information, and the intermediate destination information is location information when the target vehicle turns. After acquiring the navigation information, the method further includes: acquiring, when a second intermediate destination corresponding to the intermediate destination information is located in a third lane, a lane number from the first lane to the third lane, and a second distance between the target vehicle and the second intermediate destination, the first lane and the third lane being not adjacent; calculating a ratio between the second distance and the number of lanes to obtain a third distance; When the target vehicle has traveled the third distance in the first target lane, second lane change prompt information is output, and the second lane change prompt information is used to prompt the user to switch the target vehicle from the first target lane to a second target lane, the first target lane is any one of a plurality of lanes except the third lane, and the second target lane is a lane adjacent to the first target lane and away from the first lane.

7. The method according to claim 1, characterized in that The navigation information includes traffic light information and a fourth distance between a first side and a second side of an intersection, wherein the first side of the intersection is a side of the intersection close to the target vehicle, and the second side of the intersection is a side of the intersection far from the target vehicle; After obtaining the navigation information, the method further includes: When the distance between the target vehicle and the first side of the intersection reaches a first preset distance, obtaining first traffic light information corresponding to the first side of the intersection, and calculating a ratio between the first preset distance and a first target speed of the target vehicle to obtain a first duration, where the first duration is a predicted duration for the target vehicle to travel to the first side of the intersection at the first target speed; Determine second traffic light information after the first duration of the first traffic light information; When the signal light in the second traffic signal light information is a green light, determining a second duration for the signal light to switch from the green light to the red light; Calculating a ratio between the fourth distance and the second duration to obtain a predicted vehicle speed; When the predicted vehicle speed is greater than the first target vehicle speed and not greater than the second target vehicle speed, within the first preset distance, adjusting the first target vehicle speed to the predicted vehicle speed; The target vehicle is controlled to pass through the intersection according to the predicted vehicle speed.

8. The method according to claim 7, characterized in that After obtaining the predicted vehicle speed, the method further includes: When the predicted vehicle speed is greater than the second target vehicle speed, the target vehicle is controlled to decelerate within the first preset distance.

9. The method according to claim 1, characterized in that: The navigation information includes marking point information, and the marking point information includes at least one marking point. After acquiring the navigation information, the method further includes: For each marking point, before the target vehicle reaches the marking point and the distance between the target vehicle and the marking point reaches a second preset distance, a second safety prompt information is output, and the second safety prompt information is used to prompt the user to slow down the target vehicle.

10. The method according to claim 8, characterized in that After outputting the second safety prompt information, the method further includes: receiving a third input from the user regarding the second security prompt information, wherein the third input is used to confirm the second security prompt information; In response to the third input, the target vehicle is controlled to travel at a reduced speed.

11. A driving assistance device, characterized in that: The device comprises: A first acquisition module is used to acquire navigation information when the target vehicle is driving in the first lane according to the navigation; A second acquisition module is used to acquire lane information of a second lane when the speed of the target vehicle is less than a preset speed, where the second lane is a lane adjacent to the first lane; a third acquisition module, configured to acquire a speed of a first vehicle, when the lane information indicates that the second lane satisfies a driving condition corresponding to the navigation information, the first vehicle being any one of a plurality of vehicles traveling in the second lane; The first output module is used to output first lane change prompt information when the speed of the first vehicle is not less than the preset speed, wherein the first lane change prompt information is used to prompt a user to switch the target vehicle from the first lane to the second lane.

12. An electronic device, characterized in that: The electronic device comprises: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the assisted driving method as described in any one of claims 1-10 is implemented.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by the processor, the assisted driving method according to any one of claims 1 to 10 is implemented.

14. A vehicle, characterized in that: Include at least one of the following: The driving assistance device according to claim 11; The electronic device as claimed in claim 12; The computer readable storage medium of claim 13.

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