Control method, system, vehicle and medium for co-pilot assisted driving

Abstract

The present application relates to the field of vehicle assisted driving technology, and mainly to a control method, system, vehicle and medium for co-pilot assisted driving, including: determining the current speed of a target vehicle and the safety distance corresponding to the current speed; when the current distance between the target vehicle and the front or rear obstacle is less than or equal to the safety distance, and the current speed exceeds the preset speed, a co-pilot assisted driving interface pops up; and the target vehicle is controlled according to the co-pilot assisted driving interface and the control signal input by the main driver. By applying the embodiments of the present application, the speed is added as a condition, the pop-up logic of the co-pilot assisted driving interface is optimized, and the co-pilot assisted driving scenario is used accurately, which improves the customer experience and effectively reduces customer complaints.

Description

Technical Field

[0001] The present application relates to the field of vehicle assisted driving technology, and mainly to a control method, system, vehicle and medium for co-pilot assisted driving. Background Art

[0002] At present, intelligent driving technology has been widely used. Usually, when the vehicle is performing intelligent driving, the main driver is required to keep his hands on the steering wheel, which causes the main driver to be in a state of fatigue after driving for a long time. In related technologies, the co-pilot assisted driving technology is introduced to help the main driver control the vehicle. However, in the commonly used co-pilot assisted driving technology, the distance to the vehicle in front is used as a judgment condition to determine whether to pop up the co-pilot assisted driving interface to start assisted driving. This method causes the system to mistakenly pop up the co-pilot assisted driving interface frequently when the vehicle is static or following a vehicle at low speed, causing customer complaints. Therefore, how to control the co-pilot assisted driving to improve the adaptability of intelligent driving and improve customer experience is a difficult problem that needs to be solved. Summary of the invention

[0003] One of the purposes of this application is to propose a control method for co-pilot assisted driving to solve or at least partially solve the problems in the related technology. The second purpose of this application is to propose a control system for co-pilot assisted driving; the third purpose of this application is to propose a vehicle; the fourth purpose of this application is to propose a medium.

[0004] In order to achieve the above purpose, the technical solution of this application is as follows: A control method for co-pilot assisted driving, comprising: Determine the current speed of the target vehicle and the safety distance corresponding to the current speed; When the current distance between the target vehicle and the front or rear obstacle is less than or equal to the safety distance, and the current vehicle speed exceeds the preset vehicle speed, the co-pilot assisted driving interface pops up; The target vehicle is controlled according to the co-pilot auxiliary driving interface and the control signal input by the main driver.

[0005] Optionally, the control signal includes a turn signal; The control of the target vehicle according to the co-pilot auxiliary driving interface and the control signal input by the main driver includes: Obtaining a first turn signal input from the co-pilot auxiliary driving interface and a second turn signal input from the main driver; When the first turn signal is greater than or equal to the second turn signal, the target vehicle is controlled according to the first turn signal.

[0006] Optionally, the control signal includes a brake signal; The control of the target vehicle according to the co-pilot auxiliary driving interface and the control signal input by the main driver includes: Obtaining a first brake signal input from the co-pilot auxiliary driving interface and a second brake signal input from the main driver; When the first brake signal is greater than or equal to the second brake signal, the target vehicle is controlled according to the first brake signal.

[0007] Optionally, determining the current speed of the target vehicle and the safety distance corresponding to the current speed includes: Determining the current speed of the target vehicle according to the vehicle speed signal; Acquire a first mapping relationship between the current vehicle speed and the safety distance; The safety distance is determined according to the first mapping relationship and the current vehicle speed.

[0008] Optionally, the method further includes: Acquire a second mapping relationship between the current vehicle speed, the minimum braking distance, and the vehicle mass; Determining a minimum braking distance corresponding to the current vehicle speed according to the second mapping relationship; When the distance between the target vehicle and the front or rear obstacle is less than the minimum braking distance, the target vehicle is automatically emergency braked according to the preset value of the braking signal.

[0009] Optionally, before the co-pilot assisted driving interface pops up, the method further includes: When the current vehicle speed exceeds the preset speed and a lane departure warning signal is received, the co-pilot assisted driving interface pops up.

[0010] Optionally, before the co-pilot assisted driving interface pops up, the method further includes: Receiving a target start signal; the target start signal is generated after the target button is triggered; Based on the target start signal, the co-pilot assisted driving interface pops up.

[0011] A control system for co-pilot assisted driving, comprising: A determination module, used to determine the current speed of the target vehicle and the safety distance corresponding to the current speed; A pop-up module, used to pop up a co-pilot assisted driving interface when the current distance between the target vehicle and the front or rear obstacle is less than or equal to the safety distance and the current vehicle speed exceeds a preset vehicle speed; The control module is used to control the target vehicle according to the co-pilot auxiliary driving interface and the control signal input by the main driver.

[0012] A vehicle is provided with the above-mentioned system.

[0013] A storage medium stores a computer program, which, when executed by a processor, implements the control method for co-pilot assisted driving as described above.

[0014] Beneficial effects of this application: In this application, by determining the current speed of the target vehicle and the safety distance corresponding to the current speed; when the current distance between the target vehicle and the front or rear obstacle is less than or equal to the safety distance, and the current speed exceeds the preset speed, the co-pilot assisted driving interface pops up, that is, based on the current speed of the target vehicle and the current distance between the target vehicle and the front and rear obstacles, it is judged whether to start the co-pilot assisted driving. For the scene where the vehicle is temporarily stationary or following the vehicle at a low speed, the co-pilot assisted driving interface will not be automatically popped up frequently; according to the co-pilot assisted driving interface and the control signal input by the main driver, the target vehicle is controlled, and the control signals input by the main driver and the co-pilot auxiliary are used. When the main driver is tired or distracted, the auxiliary driving is used to perform auxiliary control to ensure the safe driving of the vehicle. Applying the technical solution of this application, adding the speed as a condition, optimizing the pop-up logic of the co-pilot assisted driving interface, and accurately using the co-pilot assisted driving scene, the customer experience is improved and customer complaints are effectively reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] 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 description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 is a flow chart of a control method for co-pilot assisted driving described in an embodiment of the present application; Figure 2 is a schematic diagram of the relationship between vehicle speed and safety distance in one embodiment of the present application; Figure 3 It is a logical schematic diagram of the co-pilot assisted driving interface popping up in one embodiment of the present application; Figure 4 is a logic diagram of the automatic emergency brake described in an embodiment of the present application; Figure 5 It is a partial logic diagram of the co-pilot controlling the vehicle in one embodiment of the present application; Figure 6 This is a schematic diagram of signal monitoring of a vehicle control unit described in one embodiment of the present application; Figure 7 It is a schematic diagram of the framework of the control system for the co-pilot assisted driving described in one embodiment of the present application.

[0017] Among them, 700-co-pilot assisted driving control system, 701-determination module, 702-pop-up module, 703-control module. DETAILED DESCRIPTION

[0018] The following will describe the implementation methods of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, not for limiting the scope of protection of the present application.

[0019] Reference Figure 1 , Figure 1 1 is a flow chart of a control method for co-pilot assisted driving described in an embodiment of the present application. Figure 1 As shown, in one embodiment of the present application, the control method of the co-pilot assisted driving is specifically performed according to the following steps: Step S101, determining the current speed of the target vehicle and the safety distance corresponding to the current speed.

[0020] Specifically, the safe distance of a vehicle can be regarded as limiting the minimum distance between the vehicle and the vehicle in front or behind in order to ensure safe driving of the vehicle and deal with unexpected accidents. In a feasible implementation, the above step S101, determining the current speed of the target vehicle and the safe distance corresponding to the current speed, includes: Determining the current speed of the target vehicle according to the vehicle speed signal; Acquire a first mapping relationship between the current vehicle speed and the safety distance; The safety distance is determined according to the first mapping relationship and the current vehicle speed.

[0021] Specifically, the vehicle control unit can receive the vehicle speed signal sent by the vehicle speed sensor, and can determine the current vehicle speed according to the vehicle speed signal. The first mapping relationship between the vehicle speed and the safety distance can be stored in advance in the form of a table or image, and when making a judgment, the first mapping relationship is retrieved for query. Figure 2 , Figure 2 Schematic diagram of the relationship between vehicle speed and safety distance in one embodiment of the present application. Figure 2 As shown, V0 is the preset speed of the vehicle, and S0 is the safety distance corresponding to the current speed of the vehicle. Based on the table or linear relationship, the first mapping relationship can be obtained. Furthermore, the safety distance at the current speed can be calculated by looking up the table or the linear relationship. Optionally, the first mapping relationship can also be adjusted in combination with the influence of driving weather, environment, etc., so as to improve adaptability.

[0022] In this embodiment, the safety distance is determined based on a first mapping relationship between the current vehicle speed and the safety distance; different vehicle speeds correspond to different safety distances, and the current safety distance corresponding to the vehicle is determined based on the current vehicle speed, so that whether the vehicle is safe can be flexibly judged from various scenarios.

[0023] Step S102, when the current distance between the target vehicle and the front or rear obstacle is less than or equal to the safety distance, and the current vehicle speed exceeds the preset vehicle speed, a co-pilot assisted driving interface pops up.

[0024] Specifically, the preset speed is a speed threshold, which serves as a basis for judging whether the vehicle is in a low-speed following state. The target vehicle is equipped with a device for measuring the current speed of the vehicle (such as a speed sensor) and a device for measuring the distance between the front and rear obstacles (such as a distance sensor). After obtaining the speed and distance information from the device, it can be judged whether to pop up the co-pilot assisted driving interface for the co-pilot to assist in driving. If the current distance between the target vehicle and the front or rear obstacle is less than or equal to the safety distance S0, and the current speed is greater than the preset speed, the co-pilot assisted driving interface pops up. If the current distance between the target vehicle and the front or rear obstacle is less than or equal to the safety distance S0, and the current speed does not exceed the preset speed, the target vehicle may be in a low-speed following state. No co-pilot assisted driving is required.

[0025] Step S103, controlling the target vehicle according to the co-pilot auxiliary driving interface and the control signal input by the main driver.

[0026] Specifically, after the co-pilot assisted driving interface pops up, the co-pilot passenger can input control signals on the interface. At this time, control judgment can be made based on the control signals input by the main driver and the control signals input through the co-pilot assisted driving interface to accurately control the vehicle.

[0027] In this embodiment, by determining the current speed of the target vehicle and the safety distance corresponding to the current speed; when the current distance between the target vehicle and the front or rear obstacle is less than or equal to the safety distance, and the current speed exceeds the preset speed, the co-pilot assisted driving interface pops up, that is, based on the current speed of the target vehicle and the current distance between the target vehicle and the front and rear obstacles, it is judged whether to start the co-pilot assisted driving. For the scene where the vehicle is temporarily stationary or following the vehicle at a low speed, the co-pilot assisted driving interface will not be automatically popped up frequently; according to the co-pilot assisted driving interface and the control signal input by the main driver, the target vehicle is controlled, and the control signals input by the main driver and the co-pilot auxiliary are used. When the main driver is tired or distracted, the auxiliary driving is used to perform auxiliary control to ensure safe driving of the vehicle. Applying the technical solution of this application, adding the speed as a condition, optimizing the pop-up logic of the co-pilot assisted driving interface, and accurately using the co-pilot assisted driving scene, the customer experience is improved and customer complaints are effectively reduced.

[0028] In one embodiment of the present application, the signal input by the co-pilot assisted driving interface includes a first brake signal and a first steering signal. Exemplarily, the control signal input by the assisted driving includes two types, one is to control the brakes, and the other is to control the steering.

[0029] If the main driver does not input a control signal, the vehicle is controlled based on the control signal input by the auxiliary driver. If the main driver is still inputting a control signal to the vehicle, judgment and control are performed based on the signals input by the main and co-drivers.

[0030] In a feasible implementation manner, the control signal includes a steering signal, and the step S103 controls the target vehicle according to the co-pilot auxiliary driving interface and the control signal input by the main driver, including: Obtain a first turn signal input from the co-pilot auxiliary driving interface and a second turn signal input from the main driver; and when the first turn signal is greater than or equal to the second turn signal, control the target vehicle according to the first turn signal.

[0031] Specifically, after the co-pilot assisted driving interface pops up, the co-pilot user can input a signal in the assisted driving interface to control the steering. For example, if the co-pilot user inputs the first turn signal in the co-pilot assisted driving interface, the system can obtain the first turn signal input in the co-pilot assisted driving interface and the second turn signal input by the main driver, and compare them. If the first turn signal is greater than or equal to the second turn signal, the target vehicle is controlled according to the first turn signal. If the first turn signal is less than the second turn signal, the target vehicle is controlled according to the second turn signal.

[0032] In this embodiment, the actual control process of the vehicle when the co-pilot and the main driver control the steering of the vehicle is described. By obtaining the first steering signal input from the co-pilot's assisted driving interface and the second steering signal input from the main driver; when the first steering signal is greater than or equal to the second steering signal, the target vehicle is controlled according to the first steering signal, further ensuring the safety of steering control during the assisted driving process. In a feasible implementation manner, the control signal includes a brake signal, and the step S103 controls the target vehicle according to the co-pilot auxiliary driving interface and the control signal input by the main driver, including: Obtain a first brake signal input from the co-driver's assisted driving interface and a second brake signal input from the main driver; when the first brake signal is greater than or equal to the second brake signal, control the target vehicle according to the first brake signal.

[0033] Specifically, after the co-pilot assisted driving interface pops up, the co-pilot user can input a signal in the assisted driving interface to control the vehicle's brakes. For example, if the co-pilot user inputs a first brake signal in the co-pilot assisted driving interface, the system can obtain the first brake signal input in the co-pilot assisted driving interface and the second brake signal input by the main driver, and compare them. If the first brake signal is greater than or equal to the second brake signal, the target vehicle is controlled according to the first brake signal. If the first brake signal is less than the second brake signal, the target vehicle is controlled according to the second brake signal.

[0034] In this embodiment, the actual control process of the vehicle when the co-pilot and the main driver control the vehicle by braking is described. By obtaining the first brake signal input by the co-pilot auxiliary driving interface and the second brake signal input by the main driver; when the first brake signal is greater than or equal to the second brake signal, the target vehicle is controlled according to the first brake signal, further ensuring the safety of the brake control during the auxiliary driving process. In this embodiment, some control scenarios for starting co-pilot assisted driving are exemplarily described. The vehicle can be braked and steered by combining the control signals input by the co-pilot and the main driver, so that the vehicle can be conveniently and accurately controlled for safe driving, thereby improving the user experience.

[0035] In a feasible implementation manner, the above method further includes: Acquire a second mapping relationship between the current vehicle speed, the minimum braking distance, and the vehicle mass; Determining a minimum braking distance corresponding to the current vehicle speed according to the second mapping relationship; When the distance between the target vehicle and the front or rear obstacle is less than the minimum braking distance, the target vehicle is automatically emergency braked according to the preset value of the braking signal.

[0036] Specifically, the minimum braking distance refers to the distance traveled from the moment the foot touches the brake pedal until the vehicle stops when the vehicle brakes suddenly at a certain initial speed (current vehicle speed). The minimum braking distance is the data obtained by testing the braking distance of the vehicle at different speeds. Based on the minimum braking distance obtained from the test, the minimum braking distance, vehicle speed, and vehicle mass are formed into a three-dimensional coordinate diagram and stored in the control system as the second mapping relationship. When the minimum braking distance of the vehicle needs to be calculated, the second mapping relationship can be obtained.

[0037] In this embodiment, the co-pilot assisted driving function of the target vehicle is also configured with an automatic emergency braking module. After the co-pilot assisted driving interface automatically pops up, based on the co-pilot assisted driving control function, when the distance between the target vehicle and the front and rear obstacles is less than the minimum braking distance corresponding to the current vehicle speed, the brake control can be automatically performed according to the preset value of the brake signal configured by the automatic emergency braking module, thereby further ensuring the safe driving of the vehicle.

[0038] In a feasible implementation manner, before the co-pilot assisted driving interface pops up, the co-pilot assisted driving control method further includes: When the current vehicle speed exceeds the preset speed and a lane departure warning signal is received, the co-pilot assisted driving interface pops up.

[0039] Specifically, the lane departure warning signal is generated when it is detected that the lane departure parameter of the target vehicle meets the preset conditions. The lane departure parameter is used to determine the deviation of the vehicle from the lane line during driving. The preset condition of the lane departure parameter is that the vehicle exceeds the preset threshold of the lane line of the current driving lane. In this embodiment, the vehicle speed and lane departure warning signal are further used as the judgment conditions for whether to enable the co-driver assisted driving, so as to ensure the safe driving of the vehicle when the main driver drives dangerously.

[0040] In a feasible implementation manner, before the co-pilot assisted driving interface pops up, the method further includes: Receiving a target start signal; the target start signal is generated after the target button is triggered; Based on the target start signal, the co-pilot assisted driving interface pops up.

[0041] Specifically, the target activation signal may be: a signal sent when the target key or button is triggered, and after the main driver triggers the target key, the co-driver auxiliary driving interface pops up with one click. In some intelligent driving technologies, when the vehicle is in an intelligent driving state, the main driver's hands are required not to leave the steering wheel, which may cause the main driver to be in a fatigued state after driving for a long time. By applying this embodiment, the main driver can greatly improve driving safety and comfort by authorizing the co-driver to monitor with one click.

[0042] In a feasible implementation, the target vehicle stores the user information of the co-pilot in advance. Before the co-pilot driver inputs a control signal through the co-pilot auxiliary driving interface, the authority can be determined by fingerprint or facial recognition technology to prevent the interface from accidentally touching and inputting an erroneous control signal.

[0043] In actual application, a display screen is set on the co-pilot (which can be independent of the main screen of the main driver or a split screen in a whole screen), which can display the virtual driving display interface. A co-pilot auxiliary driving button (i.e., target button) is set on the main driver, and the main driver can pop up the co-pilot auxiliary driving interface by pressing the 'co-pilot auxiliary driving button'. When the main driver makes an error operation or other emergencies, the vehicle automatically pops up the co-pilot auxiliary driving interface. Under the above working conditions, the co-pilot can control the steering and braking of the vehicle through the virtual auxiliary display interface.

[0044] In one embodiment of the present application, illustratively, referring to Figure 2 and Figure 3 , further explains the automatic pop-up logic of the co-pilot assisted driving interface. Figure 3 : is a logical schematic diagram of the co-pilot assisted driving interface pop-up in one embodiment of the present application. Figure 3 As shown, the distance detected by the current rear distance detection sensor is less than the distance measured by the table lookup or linear relationship (such as Figure 2 ) The distance S0 calculated by the driver's hand is S0. When the current vehicle speed is greater than the preset speed, the co-pilot's auxiliary driving interface pops up automatically, which supports the co-pilot to assist the main driver in braking.

[0045] Further, combined with Figure 4 , further explanation is given on enabling the automatic emergency braking function after the co-pilot assisted driving interface pops up. Figure 4 Schematic diagram of the logic of the automatic emergency brake described in one embodiment of the present application. Figure 4 As shown, after the co-pilot assisted driving interface pops up, the system can determine whether to perform automatic emergency braking based on the minimum braking distance.

[0046] In combination with the description of the above embodiments, in the technical solution of the present application, on the one hand, the system is prevented from mistakenly popping up the co-pilot assistance driving interface when the vehicle is static or following a vehicle at low speed; on the other hand, the vehicle speed judgment condition is actually also used to determine the distance to the vehicle in front or an obstacle, and to determine whether the minimum braking distance is met. If the vehicle speed is very high, but the braking distance is smaller than the distance to the vehicle in front, there is no need for a warning.

[0047] For example, in combination with the above embodiments, refer to Figure 5 , to further illustrate the implementation logic of assisted driving to control the vehicle. Figure 5 This is a partial logic diagram of the co-pilot controlling the vehicle in one embodiment of the present application. Figure 5 As shown, a virtual driving interface (co-pilot assisted driving interface) pops up on the co-pilot display screen, and the co-pilot inputs a control signal to the vehicle based on the virtual driving interface. During the co-pilot's control of the vehicle, when the co-pilot inputs a steering signal L1 ≥ the main driver's steering signal L0, the vehicle's steering is executed according to the co-pilot signal L1; when the co-pilot inputs a steering signal L1 < the main driver's steering signal L0, the vehicle's steering is executed according to the main driver's signal L0; when the co-pilot inputs a brake signal K1 ≥ the main driver's brake signal K0, the vehicle's braking is executed according to K1; when the co-pilot inputs a brake signal K1 < the main driver's brake signal K0, the vehicle's braking is executed according to the main driver's brake signal.

[0048] In one embodiment of the present application, the above method can be applied to the vehicle control unit (VCU) or ECU (Electronic Control Unit) of the target vehicle. Figure 6 , Figure 6 Schematic diagram of signal monitoring of the vehicle control unit in one embodiment of the present application. Figure 6 As shown, the vehicle VCU can receive front distance detection sensor signals, rear distance detection sensor signals, vehicle speed signals, main driver steering wheel steering signals (carrying turning angle information), main driver throttle signals, main driver brake signals, co-driver assisted driving authorization signals, co-driver virtual steering wheel steering signals, co-driver virtual throttle signals, co-driver virtual brake signals, tire pressure sensor signals, etc., to support the operation of co-driver assisted driving.

[0049] Reference Figure 7 , Figure 7 Schematic diagram of the framework of the control system of the co-pilot assisted driving described in one embodiment of the present application. Figure 7 As shown, in one embodiment of the present application, the co-pilot assisted driving control system 700 includes: A determination module 701 is used to determine the current speed of the target vehicle and the safety distance corresponding to the current speed; A pop-up module 702 is used to pop up a co-pilot assisted driving interface when the current distance between the target vehicle and the front or rear obstacle is less than or equal to the safety distance and the current vehicle speed exceeds a preset vehicle speed; The control module 703 is used to control the target vehicle according to the co-pilot auxiliary driving interface and the control signal input by the main driver.

[0050] In this embodiment, by determining the current speed of the target vehicle and the safety distance corresponding to the current speed; when the current distance between the target vehicle and the front or rear obstacle is less than or equal to the safety distance, and the current speed exceeds the preset speed, the co-pilot assisted driving interface pops up, that is, based on the current speed of the target vehicle and the current distance between the target vehicle and the front and rear obstacles, it is judged whether to start the co-pilot assisted driving. For the scene where the vehicle is temporarily stationary or following the vehicle at a low speed, the co-pilot assisted driving interface will not be automatically popped up frequently; according to the co-pilot assisted driving interface and the control signal input by the main driver, the target vehicle is controlled, and the control signals input by the main driver and the co-pilot auxiliary are used. When the main driver is tired or distracted, the auxiliary driving is used to perform auxiliary control to ensure safe driving of the vehicle. Applying the technical solution of this application, adding the speed as a condition, optimizing the pop-up logic of the co-pilot assisted driving interface, and accurately using the co-pilot assisted driving scene, the customer experience is improved and customer complaints are effectively reduced.

[0051] In a feasible implementation manner, the control signal includes a turn signal; the control module 703 includes: A first acquisition module is used to acquire a first turn signal input by the co-pilot auxiliary driving interface and a second turn signal input by the main driver; The first control module is used to control the target vehicle according to the first turn signal when the first turn signal is greater than or equal to the second turn signal.

[0052] In a feasible implementation manner, the control signal includes a brake signal; the control module 703 includes: A second acquisition module is used to acquire the first brake signal input by the co-pilot auxiliary driving interface and the second brake signal input by the main driver; The second control module is used to control the target vehicle according to the first brake signal when the first brake signal is greater than or equal to the second brake signal.

[0053] In a feasible implementation manner, the determination module 701 includes: A current vehicle speed determination module, used to determine the current vehicle speed of the target vehicle according to the vehicle speed signal; A third acquisition module is used to acquire a first mapping relationship between the current vehicle speed and the safety distance; A safety distance determination module is used to determine the safety distance according to the first mapping relationship and the current vehicle speed.

[0054] In a feasible implementation manner, the above-mentioned co-pilot assisted driving control system 700 further includes: A fourth acquisition module is used to acquire a second mapping relationship between the current vehicle speed, the minimum braking distance, and the vehicle mass; a minimum braking distance determination module, configured to determine the minimum braking distance corresponding to the current vehicle speed according to the second mapping relationship; The third control module is used to perform automatic emergency braking on the target vehicle according to a preset value of a brake signal when the distance between the target vehicle and a front or rear obstacle is less than a minimum braking distance.

[0055] In a feasible implementation manner, the above-mentioned co-pilot assisted driving control system 700 further includes: The first sub-pop-up module is used to pop up the co-pilot assisted driving interface when the current vehicle speed exceeds the preset vehicle speed and a lane departure warning signal is received.

[0056] In a feasible implementation manner, the above-mentioned co-pilot assisted driving control system 700 further includes: A receiving module, used for receiving a target start signal; the target start signal is generated after the target button is triggered; The second sub-pop-up module is used to pop up the co-pilot assisted driving interface based on the target start signal.

[0057] In the present application, the description of the system embodiment is relatively short, and specific details can be referred to the above method embodiment, which will not be repeated here.

[0058] In one embodiment of the present application, a vehicle is provided, wherein the vehicle is equipped with the co-pilot assisted driving control system described in the above embodiment.

[0059] In one embodiment of the present application, a storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the control method of the co-pilot assisted driving as described in the above embodiment is implemented.

[0060] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0061] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the embodiments of the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0062] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0063] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0064] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0065] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0066] Finally, it should be noted that, in this article, relational terms such as first and second, etc. 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 terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal 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 terminal 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 terminal device including the elements.

[0067] The above is a detailed introduction to the control method, system, vehicle and medium for co-pilot assisted driving. Specific examples are used in this article to illustrate the principles and embodiments of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific embodiments and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A control method for co-pilot assisted driving, characterized in that: The method comprises: Determine the current speed of the target vehicle and the safety distance corresponding to the current speed; When the current distance between the target vehicle and the front or rear obstacle is less than or equal to the safety distance, and the current vehicle speed exceeds the preset vehicle speed, the co-pilot assisted driving interface pops up; The target vehicle is controlled according to the co-pilot auxiliary driving interface and the control signal input by the main driver.

2. The method according to claim 1, characterized in that The control signal includes a turn signal; The control of the target vehicle according to the co-pilot auxiliary driving interface and the control signal input by the main driver includes: Obtaining a first turn signal input from the co-pilot auxiliary driving interface and a second turn signal input from the main driver; When the first turn signal is greater than or equal to the second turn signal, the target vehicle is controlled according to the first turn signal.

3. The method according to claim 1, characterized in that The control signal includes a brake signal; The control of the target vehicle according to the co-pilot auxiliary driving interface and the control signal input by the main driver includes: Obtaining a first brake signal input from the co-pilot auxiliary driving interface and a second brake signal input from the main driver; When the first brake signal is greater than or equal to the second brake signal, the target vehicle is controlled according to the first brake signal.

4. The method according to claim 1, characterized in that: The determining of the current speed of the target vehicle and the safety distance corresponding to the current speed includes: Determining the current speed of the target vehicle according to the vehicle speed signal; Acquire a first mapping relationship between the current vehicle speed and the safety distance; The safety distance is determined according to the first mapping relationship and the current vehicle speed.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: Acquire a second mapping relationship between the current vehicle speed, the minimum braking distance, and the vehicle mass; Determining a minimum braking distance corresponding to the current vehicle speed according to the second mapping relationship; When the distance between the target vehicle and the front or rear obstacle is less than the minimum braking distance, the target vehicle is automatically emergency braked according to the preset value of the braking signal.

6. The method according to any one of claims 1 to 4, characterized in that: Before the co-pilot assisted driving interface pops up, the method further includes: When the current vehicle speed exceeds the preset speed and a lane departure warning signal is received, the co-pilot assisted driving interface pops up.

7. The method according to any one of claims 1 to 4, characterized in that: Before the co-pilot assisted driving interface pops up, the method further includes: Receiving a target start signal; the target start signal is generated after the target button is triggered; Based on the target start signal, the co-pilot assisted driving interface pops up.

8. A control system for co-pilot assisted driving, characterized in that: The system comprises: A determination module, used to determine the current speed of the target vehicle and the safety distance corresponding to the current speed; A pop-up module, used to pop up a co-pilot assisted driving interface when the current distance between the target vehicle and the front or rear obstacle is less than or equal to the safety distance and the current vehicle speed exceeds a preset vehicle speed; The control module is used to control the target vehicle according to the co-pilot auxiliary driving interface and the control signal input by the main driver.

9. A vehicle, characterized in that: The vehicle is equipped with the system as claimed in claim 8 above.

10. A storage medium, characterized in that: A computer program is stored thereon, and when the program is executed by a processor, the control method for co-pilot assisted driving as described in any one of claims 1-7 is implemented.

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