Driving assistance method, device and equipment, storage medium and vehicle

Abstract

The invention discloses a driving assistance method, device and equipment, a storage medium and a vehicle. The driving assistance method comprises the following steps: acquiring lane information corresponding to a plurality of lanes from a road image; wherein the lane information corresponding to the plurality of lanes respectively comprises driving lane information corresponding to the vehicle; under the condition that the driving scene meets the abnormal condition, virtual lane information is generated based on the abnormal condition and the driving lane information; and controlling the vehicle to run along a virtual lane corresponding to the virtual lane information. According to the embodiment of the invention, when the road scene is complex, the appropriate virtual lane can be determined for driving by generating the virtual lane information, the problem that the lane keeping auxiliary function cannot be realized in the abnormal driving scene is improved, and the use experience of the lane keeping auxiliary function in the abnormal driving scene is guaranteed.

Description

Technical Field

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

[0002] With the continuous development of the new energy vehicle field, the popularity of new energy vehicles continues to rise. The main advantages of new energy vehicles include ADAS (Advanced Driver Assistance System) and LKA (lane keeping assist) in the field of autonomous driving.

[0003] Within the speed range of the LKA function, after the driver turns on LKA, LKA can control the vehicle laterally so that the vehicle remains in the middle of the lane, thereby enhancing convenience and comfort during driving.

[0004] However, the current LKA function is only applicable to scenarios with clear and stable lane lines. It has certain defects and cannot be applied to abnormal driving scenarios, such as scenarios where the lane width between lane lines changes, scenarios where the lane lines are not clear and the lane width is mistakenly identified as more than two lanes, and scenarios where the number of front and rear lane lines is different or the front and rear lane lines are staggered due to lane line disconnection when passing through an intersection. It cannot meet the needs of actual driving scenarios. Summary of the invention

[0005] The embodiments of the present application provide a driving assistance method, device, equipment, storage medium and vehicle, which can solve the problem that the current lane keeping assistance cannot meet the needs of actual driving scenarios.

[0006] In a first aspect, an embodiment of the present application provides a driving assistance method, the driving assistance method comprising:

[0007] Acquire lane information corresponding to the plurality of lanes from the road image; wherein the lane information corresponding to the plurality of lanes includes driving lane information corresponding to the vehicle;

[0008] When the driving scene meets the abnormal conditions, virtual lane information is generated based on the abnormal conditions and the driving lane information;

[0009] The vehicle is controlled to travel along the virtual lane corresponding to the virtual lane information.

[0010] In some embodiments, the abnormal condition is that the driving lane information satisfies the width change condition. When the driving scene satisfies the abnormal condition, the virtual lane information is generated based on the abnormal condition and the driving lane information, including:

[0011] Determine the driving lane width between the first lane line and the second lane line according to the driving lane information; wherein the first lane line and the second lane line are lane lines on both sides of the vehicle;

[0012] One of the first lane line and the second lane line is used as a reference lane line to generate virtual lane information.

[0013] In some embodiments, the virtual lane information includes a reference lane line and a virtual lane line; using one of the first lane line and the second lane line as the reference lane line, generating the virtual lane information includes:

[0014] Get the virtual lane width;

[0015] One of the first lane line and the second lane line is used as a reference lane line to generate a virtual lane line; wherein the width between the reference lane line and the virtual lane line is the virtual lane width.

[0016] In some embodiments, using one of the first lane line and the second lane line as a reference lane line to generate a virtual lane line includes:

[0017] Generating a first virtual lane line using the first lane line as a first reference lane line, and generating a second virtual lane line using the second lane line as a second reference lane line;

[0018] Determine a first virtual center line according to the first reference lane line and the first virtual lane line, and determine a second virtual center line according to the second reference lane line and the second virtual lane line;

[0019] A reference lane line and a corresponding virtual lane line are determined from the first lane line and the second lane line according to lateral offset distances between the position of the vehicle and the first virtual center line and the second virtual center line respectively.

[0020] In some embodiments, obtaining the virtual lane width includes:

[0021] Obtaining the width variation of the driving lane;

[0022] When the width change amplitude satisfies the amplitude threshold or the driving lane width satisfies the width threshold, the virtual lane width is obtained.

[0023] In some embodiments, the abnormal condition is that lane information corresponding to multiple lanes respectively changes. When the driving scene meets the abnormal condition, virtual lane information is generated based on the abnormal condition and the driving lane information, including:

[0024] Obtaining lane information to be selected corresponding to each of the multiple lanes after the lane change area;

[0025] Determine a plurality of lane center lines corresponding to the plurality of lanes respectively according to the plurality of lane information to be selected;

[0026] A guide lane is selected from multiple lanes according to lateral offset distances respectively corresponding to the position of the vehicle and the center lines of multiple lanes, and virtual lane information is generated according to the position of the vehicle and the guide lane; wherein the virtual lane information is used to guide the vehicle into the guide lane.

[0027] In some embodiments, selecting a guide lane from a plurality of lanes according to lateral offset distances respectively corresponding to a position of the vehicle and center lines of a plurality of lanes includes:

[0028] Generate first weight coefficients corresponding to the plurality of lanes respectively according to the lateral offset distances respectively corresponding to the position of the vehicle and the center lines of the plurality of lanes; wherein the lateral offset distance and the first weight coefficient have a negative correlation;

[0029] According to at least one of the traffic flow information, the navigation information, and the obstacle information, at least one second weight coefficient corresponding to each of the plurality of lanes is generated based on the first corresponding relationship; wherein the first corresponding relationship is a corresponding relationship between at least one of the traffic flow information, the navigation information, and the obstacle information and the second weight coefficient;

[0030] A guide lane is selected from a plurality of lanes according to a sum of a first weight coefficient of each lane and all second weight coefficients.

[0031] In some embodiments, the traffic information includes at least the driving tracks of adjacent vehicles, the navigation information includes the driving direction of the next intersection, and the obstacle information includes obstacles in each lane after the lane change area.

[0032] In some embodiments, when the driving scene meets the abnormal condition, generating virtual lane information based on the abnormal condition and the driving lane information includes:

[0033] When the vehicle sets the front vehicle as the following vehicle, virtual lane information is generated according to the driving trajectory of the front vehicle.

[0034] In a second aspect, an embodiment of the present application further provides a driving assistance device, the driving assistance device comprising:

[0035] An acquisition module, used to acquire lane information corresponding to a plurality of lanes respectively from a road image; wherein the plurality of lane information includes driving lane information corresponding to a vehicle;

[0036] A generation module, used for generating virtual lane information based on the abnormal condition and the driving lane information when the driving scene meets the abnormal condition;

[0037] The control module is used to control the vehicle to travel along the virtual lane corresponding to the virtual lane information.

[0038] In a third aspect, an embodiment of the present application further provides a driving assistance device, the driving assistance device comprising: a processor and a memory storing computer program instructions;

[0039] When the processor executes the computer program instructions, the driving assistance method of the first aspect is implemented.

[0040] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the driving assistance method of the first aspect is implemented.

[0041] In a fifth aspect, an embodiment of the present application further provides a vehicle, the vehicle comprising at least one of the driving assistance device of the second aspect, the driving assistance device of the third aspect, or the computer-readable storage medium of the fourth aspect.

[0042] The driving assistance method, apparatus, device, storage medium and vehicle provided in the embodiments of the present application determine the lane information corresponding to the multiple lanes in the current driving direction through the road image, including the driving lane information of the vehicle's current driving lane. When the lane information of multiple lanes changes, or the width of the current driving lane changes, virtual lane information can be generated, and the vehicle can be controlled to travel along the virtual lane based on the virtual lane information. Due to the complex and multi-sided road environment, the lane lines are not always clear, and there may be situations such as lane line disconnection in areas such as intersections. In the above complex situations, it is possible to determine the appropriate lane for driving by generating virtual lane information, which improves the problem of not being able to realize the lane keeping assist function in abnormal driving scenarios, and improves the user experience of the lane keeping assist function in abnormal driving scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application 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 creative work.

[0044] Figure 1 is a flowchart of a driving assistance method provided by an embodiment of the present application;

[0045] Figure 2 is a lane schematic diagram provided by an embodiment of the present application;

[0046] Figure 3 is a schematic diagram of lane width change provided by another embodiment of the present application;

[0047] Figure 4 is a flowchart of a driving assistance method provided by another embodiment of the present application;

[0048] Figure 5 is a flowchart of a driving assistance method provided by another embodiment of the present application;

[0049] Figure 6 is a flowchart of a driving assistance method provided by yet another embodiment of the present application;

[0050] Figure 7 This is a schematic diagram of a vehicle driving route provided by an embodiment of the present application;

[0051] Figure 8 is a schematic diagram of a vehicle driving route provided by another embodiment of the present application;

[0052] Fig. 9 is a flowchart of a driving assistance method provided by yet another embodiment of the present application;

[0053] Fig.10 is a flowchart of a driving assistance method provided by yet another embodiment of the present application;

[0054] Fig.11 is a schematic diagram of a change in the number of lanes provided by an embodiment of the present application;

[0055] Fig.12 is a schematic diagram of a change in the number of lanes provided by another embodiment of the present application;

[0056] Fig.13 is a schematic diagram of lane misalignment provided by an embodiment of the present application;

[0057] Fig.14 is a schematic diagram of a change in the number of lanes provided in yet another embodiment of the present application;

[0058] Fig.15 is a schematic diagram of a vehicle driving route provided by yet another embodiment of the present application;

[0059] Fig.16 is a flowchart of a driving assistance method provided by yet another embodiment of the present application;

[0060] Fig.17 A schematic diagram of the structure of a driving assistance device provided in one embodiment of the present application;

[0061] Fig.18 A schematic diagram of the structure of a driving assistance device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0062] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0063] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0064] 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.

[0065] With the continuous development of the new energy vehicle field, the popularity of new energy vehicles continues to rise. The main advantages of new energy vehicles include ADAS (Advanced Driver Assistance System) and LKA (lane keeping assist) in the field of autonomous driving.

[0066] Within the speed range of the LKA function, after the driver turns on LKA, LKA can control the vehicle laterally so that the vehicle remains in the middle of the lane, thereby enhancing convenience and comfort during driving.

[0067] However, the current LKA function is only applicable to scenarios where lane lines are clear and stable, and has certain defects that cannot meet the needs of actual driving scenarios. For example, when the quality of the lane lines is good and the number of lanes does not change, the LKA function can keep the vehicle driving in the middle of the lane. However, in scenarios where the lane width between lane lines changes, when the lane lines are unclear and the lane width is mistakenly identified as more than two lanes, or when passing through an intersection, the number of front and rear lane lines is different or the front and rear lane lines are staggered due to the disconnection of lane lines, it is impossible to select the appropriate lane, resulting in a reduced experience in lane keeping assistance.

[0068] In order to solve the above technical problems, the embodiments of the present application provide a driving assistance method, device, equipment, storage medium and vehicle. The driving assistance method provided by the embodiments of the present application is described in detail below with reference to the accompanying drawings through some embodiments and their application scenarios.

[0069] Figure 1 The flowchart of a driving assistance method provided by an embodiment of the present application is shown. The driving assistance method includes:

[0070] S110, acquiring lane information corresponding to a plurality of lanes respectively from the road image; wherein the lane information corresponding to the plurality of lanes respectively includes driving lane information corresponding to the vehicle;

[0071] S120, when the driving scene meets the abnormal condition, generating virtual lane information based on the abnormal condition and the driving lane information;

[0072] S130, controlling the vehicle to travel along the virtual lane corresponding to the virtual lane information.

[0073] The driving assistance method provided in the embodiments of the present application can be applied to a vehicle. The vehicle can determine lane information based on the captured road image during driving, and when the lane information changes, generate a virtual lane and drive along the virtual lane, thereby providing the driver with smarter and more continuous driving assistance in common road scenarios, enhancing the driver's sense of security and comfort.

[0074] In this embodiment, the vehicle can determine the lane information corresponding to multiple lanes in the current driving direction through the road image, including the driving lane information of the vehicle's current driving lane. When the lane information of multiple lanes changes, or the width of the current driving lane changes, virtual lane information can be generated, and the vehicle can be controlled to travel along the virtual lane based on the virtual lane information. Due to the complex and multi-sided road environment, lane lines are not always clear, and there may be lane line disconnections in areas such as intersections. In the above complex situations, it is possible to determine the appropriate lane for centering by generating virtual lane information, which improves the problem that lane keeping assist cannot meet actual needs for lane selection in complex scenarios, and ensures the continuity of the lane keeping assist function experience.

[0075] In S110 , when the driver starts LKA based on ADAS during the driving of the vehicle, the vehicle can shoot the external area through the shooting module to obtain a road image.

[0076] The vehicle can perform image recognition on the road image obtained by the shooting to determine the lane information corresponding to the multiple lanes in the direction of the vehicle's travel from the road image. Each lane information may include two adjacent lane lines. For example, after the vehicle recognizes the road image and obtains 5 lane lines in the direction of the vehicle's travel, 4 lanes can be identified based on the 5 lane lines, and every two adjacent lane lines are the lane information corresponding to 1 lane.

[0077] The lane information corresponding to the above-mentioned multiple lanes should also include driving lane information corresponding to the vehicle, and the lane corresponding to the driving lane information is the lane the vehicle is currently driving in. The two adjacent lane lines in the driving lane information are the closest lane lines on the left and right sides of the vehicle.

[0078] In S120, when the lane keeping assist function is turned on, if the lane lines in the road image captured by the vehicle are relatively clear and the number of lanes has not changed, the vehicle can be controlled to travel along the center line of the current lane, that is, to keep the current lane centered.

[0079] If, during the process of identifying the captured road image, it is identified that the current driving scene meets an abnormal condition, virtual lane information can be generated based on the abnormal condition and the driving lane information in the road image. In an abnormal driving scene, the vehicle can drive based on the virtual lane information, thereby realizing the lane keeping assist function in an abnormal driving scene.

[0080] As an optional implementation, the abnormal condition of the above driving scenario may be that lane information corresponding to multiple lanes changes or the driving lane information meets a width change condition.

[0081] Lane information corresponding to multiple lanes changes, and virtual lane information can be generated based on lane information of multiple lanes before the change, lane information of multiple lanes after the change, and lane information of the current vehicle. The lane information corresponding to multiple lanes changes, which can be one or more of the following: discontinuous lane lines, increase or decrease in the number of lanes, staggered or misaligned lanes before and after intersections or other areas where lane lines are interrupted.

[0082] If, during the process of recognizing the captured road image, it is identified that the driving lane information of the vehicle's current driving lane meets the width change condition, corresponding virtual lane information can also be generated based on the driving lane information of the vehicle's current driving lane and the width change range of the driving lane.

[0083] Please refer to Figure 2 and Figure 3 , Figure 2A lane schematic diagram is shown along the driving direction, taking two lanes as an example, when two lane lines of each lane always remain parallel; Figure 3 FIG. 1 shows a schematic diagram of lanes along the driving direction, taking two lanes as an example, when the two lane lines of at least one lane are not parallel. Figure 3 As shown, Figure 3 Schematic diagrams of lanes in which the left lane line of the left lane extends outward, the right lane line of the right lane extends outward, and the left lane line of the left lane and the right lane line of the right lane both extend outward are shown.

[0084] Please refer to Figure 4 As an optional embodiment, the above S120 may include:

[0085] S210, determining a driving lane width between a first lane line and a second lane line according to driving lane information; wherein the first lane line and the second lane line are lane lines on both sides of the vehicle;

[0086] S220, using one of the first lane line and the second lane line as a reference lane line to generate virtual lane information.

[0087] In this embodiment, the first lane line and the second lane line can be determined through the driving lane information, and the driving lane width between the first lane line and the second lane line can be calculated. When monitoring the driving lane width, it can be determined whether the driving lane width meets the width change condition, and when the driving lane width meets the width change condition, one of the first lane line and the second lane line is selected as the reference lane line to generate corresponding virtual lane information. The vehicle can generate a suitable driving route according to the virtual lane information under the lane keeping assist function.

[0088] In S210, during the driving process of the vehicle, the first lane line and the second lane line corresponding to the two sides of the vehicle can be determined according to the driving lane information recognized from the road image.

[0089] After determining the first lane line and the second lane line, the distance between the first lane line and the second lane line can be obtained by coordinate conversion according to the position coordinates of the first lane line and the second lane line in the road image. The distance is the driving lane width between the first lane line and the second lane line.

[0090] In S220, during the driving process of the vehicle, the width of the driving lane can be monitored. When the width of the driving lane remains unchanged or changes slightly, the vehicle can be controlled to travel along the center line of the current driving lane, that is, to keep the current lane centered.

[0091] When the width of the driving lane meets the width change condition, it can be determined that the width of the driving lane has changed significantly. At this time, if the vehicle continues to drive in the center, it is not in line with human driving habits, and the vehicle needs to be controlled to shift laterally, which will increase the distance of the vehicle's lateral movement and cause discomfort to passengers in the vehicle. Therefore, when the width of the driving lane meets the width change condition, the vehicle can use one of the first lane line and the second lane line as the reference lane line to generate virtual lane information.

[0092] The virtual lane information includes a reference lane line and a virtual lane line. The reference lane line may be one of the first lane line and the second lane line, and the virtual lane line may be a virtual lane line that maintains a stable distance from the reference lane line. The vehicle may be centered based on the reference lane line and the virtual lane line, so that when the width of the driving lane is large, the vehicle will not drive in the center of the lane, but will drive close to one of the first lane line and the second lane line.

[0093] Please refer to Figure 5 As an optional embodiment, the virtual lane information includes a reference lane line and a virtual lane line, and the above S220 may include:

[0094] S310, obtaining a virtual lane width;

[0095] S320, using one of the first lane line and the second lane line as a reference lane line to generate a virtual lane line; wherein the width between the reference lane line and the virtual lane line is the virtual lane width.

[0096] In this embodiment, when the driving lane width meets the width change condition, the virtual lane width can be obtained. After the reference lane line is determined from the first lane line and the second lane line, a virtual lane line whose width with the reference lane line is the virtual lane width can be generated according to the reference lane line and the virtual lane width.

[0097] In S310, when the driving lane width satisfies the width change condition, a virtual lane width may be obtained. The virtual lane width may be the distance between the first lane line and the second lane line when the driving lane width satisfies the width change condition. The virtual lane width may also be a preset fixed width value.

[0098] In an exemplary implementation, the initial driving lane width of the vehicle may be 3.5m. When the driving lane width increases, if the driving lane width increases to 5m, or the driving lane width increases by 50% relative to the initial driving lane width, it can be determined that the driving lane width meets the width change condition and the virtual lane width is obtained. Taking the width change condition that the driving lane width reaches 5m as an example, when the driving lane width reaches 5m, the obtained virtual lane width may be the distance between the first lane line and the second lane line at this time, that is, the driving lane width at this time, 5m. When the driving lane width continues to increase, the virtual lane width will always remain at 5m until the driving lane width decreases to less than 5m, and then the vehicle will be centered again based on the first lane line and the second lane line.

[0099] It should be noted that when the driving lane width reaches 5m, the acquired virtual lane width may also be a preset fixed width value, such as 3.5m, 3.75m, 5m, etc., which is not limited here.

[0100] Please refer to Figure 6 As an optional embodiment, the above S310 may include:

[0101] S410, obtaining a width variation of a driving lane width;

[0102] S420: When the width change amplitude satisfies the amplitude threshold or the driving lane width satisfies the width threshold, a virtual lane width is obtained.

[0103] In this embodiment, when a change in the driving lane width is detected, the width change amplitude of the current driving lane width relative to the initial driving lane width can be determined. When the width change amplitude meets the amplitude threshold, or the current driving lane width meets the width threshold, the virtual lane width can be obtained. A suitable lane is generated with the virtual lane width for centering driving.

[0104] In S410, if the width of the driving lane changes during the driving of the vehicle, the vehicle can determine the width change of the current driving lane width relative to the initial driving lane width based on the captured road image.

[0105] The above-mentioned change in lane width refers to the change of the first lane line and the second lane line on the lane where the vehicle is located from a parallel state to a non-parallel state, so that the width of the lane increases or decreases. When the change in lane width is small, for example, from 3.5m to 3.75m, the vehicle can continue to drive in the center, which is equivalent to the distance between the center point of the vehicle and the first lane line increasing from 1.75m to 1.875m. In order to maintain driving in the center, the vehicle has a certain degree of lateral deviation, but the magnitude of the lateral deviation is small and will not affect the passengers on the vehicle.

[0106] However, when the width of the driving lane changes greatly, for example, from 3.5m to 10m, if the vehicle continues to drive in the center, the distance between the center point of the vehicle and the first lane line will increase from 1.75m to 5m. At this time, in order to achieve centering, the vehicle will have a large lateral deviation, which may cause the occupants to feel uncomfortable such as shaking, oscillation, and dizziness. Moreover, when the width of the driving lane increases to 10m, if the vehicle continues to drive in the center, the distance from the lane lines on both sides is too large, which is not in line with human driving habits. Therefore, when the width of the driving lane changes greatly, it is not suitable to drive in the center even if the lane keeping assist is turned on.

[0107] In S420, when the width change amplitude of the driving lane width satisfies the amplitude threshold, or the driving lane width increases to meet the width threshold, it can be determined that the driving lane width meets the width change condition, and the virtual lane width is obtained. The amplitude threshold can be a preset percentage amplitude, such as 30%, 50% or other values. When the width change amplitude of the changed driving lane width relative to the initial driving lane width reaches the amplitude threshold, it can be determined that the driving lane width meets the width change condition. For example, if the initial driving lane width is 3.5m and the amplitude threshold is 30%, if the changed driving lane width reaches 4.55m, it can be determined that the width change amplitude meets the amplitude threshold; if the initial driving lane width is 4m and the amplitude threshold is 30%, if the changed driving lane width reaches 5.2m, it can be determined that the width change amplitude meets the amplitude threshold.

[0108] The width threshold may be a fixed width value, such as 5m. When the width of the driving lane does not reach 5m, it can be determined that the change in the width of the driving lane is small, and the vehicle can continue to drive in the center. However, when the width of the driving lane reaches 5m, it can be determined that the width of the driving lane meets the width change condition.

[0109] The above-mentioned judgment conditions that the width change amplitude satisfies the amplitude threshold or the driving lane width satisfies the width threshold can be selected as one of the judgment conditions for the driving lane width change, or can be combined as the judgment conditions for the driving lane width change. For example, when at least one of the width change amplitude satisfies the amplitude threshold or the driving lane width satisfies the width threshold is met, it is determined that the driving lane width satisfies the width change condition.

[0110] In S320, after the virtual lane width is obtained, one of the first lane line and the second lane line may be used as a reference lane line to generate a virtual lane line whose width with the reference lane line always maintains the virtual lane width.

[0111] It is understandable that when the width of the driving lane meets the width change condition, it means that the distance between the first lane line and the second lane line is too large. At this time, continuing to drive in the center is not in line with human posture habits, and it is also easy to have a large lateral deviation, which affects the driving and riding experience. Therefore, when the width of the driving lane meets the width change condition, one of the first lane line and the second lane line can be used as the reference lane line to generate a virtual lane line that is always consistent with the width of the reference lane line. In order to avoid excessive lateral deviation of the vehicle, the virtual lane line should be located between the first lane line and the second lane line. That is, the distance between the reference lane line and the virtual lane line should be less than the width of the driving lane at this time.

[0112] Figure 7 A schematic diagram of a vehicle driving route using the original center-driving mode (1) and a vehicle driving route using the virtual lane mode (2) is shown.

[0113] like Figure 7 As shown in (1), when the second lane line extends to the right, the distance between the first lane line and the second lane line increases. When the lane keeping assist is turned on, the vehicle will drive in the center, and the driving route is the center driving line. It can be understood that when the driving lane width is too large, if the vehicle continues to drive in the center, the distance from the lane lines on the left and right sides is large, which is not in line with human driving habits, and the lateral deviation of the vehicle is more serious, which may cause discomfort to passengers on the vehicle.

[0114] like Figure 7 As shown in (2), when the second lane line extends to the right, the width of the driving lane between the first lane line and the second lane line can be monitored. When the width of the driving lane meets the width change condition, the first lane line can be used as the reference lane line to generate a virtual lane line that is always at the same distance from the reference lane line, and the reference lane line and the virtual lane line are used as a new virtual lane, and the corresponding virtual center line is used as a new centered driving route. Figure 7(2) also shows a comparison diagram of the virtual center line and the center driving line in (1). It can be directly seen that the virtual center line is biased towards the first lane line compared to the center driving line, and the lateral deviation generated by the vehicle is smaller than that of the center driving line.

[0115] Figure 8 Another schematic diagram of a vehicle driving route is shown. Figure 7 The difference is, Figure 8 In the lane schematic diagrams shown in (3) and (4), the first lane line and the second lane line are both extended outward. When the driving lane width between the first lane line and the second lane line reaches the width threshold or the change amplitude of the driving lane width reaches the amplitude change threshold, the second lane line can be used as the reference lane line to generate a virtual lane line with the same distance as the reference lane line. The reference lane line and the virtual lane line are used as new virtual lanes, and the corresponding virtual center line is used as the new centered driving route. Figure 7 (1) and (2) in Figure 8 From (3) and (4) in the figure, it can be seen that by generating a virtual lane and driving in the center, when the width of the driving lane increases, the vehicle can be controlled to drive closer to one side instead of continuing to drive in the center.

[0116] Please refer to Fig. 9 As an optional embodiment, the above S320 may include:

[0117] S510, generating a first virtual lane line by using the first lane line as a first reference lane line, and generating a second virtual lane line by using the second lane line as a second reference lane line;

[0118] S520, determining a first virtual center line according to the first reference lane line and the first virtual lane line, and determining a second virtual center line according to the second reference lane line and the second virtual lane line;

[0119] S530: Determine a reference lane line and a corresponding virtual lane line from the first lane line and the second lane line according to the lateral offset distances between the position of the vehicle and the first virtual center line and the second virtual center line, respectively.

[0120] In this embodiment, the vehicle can use the first lane line and the second lane line as reference lane lines respectively, and generate corresponding virtual lane lines. When the two lane lines are used as reference lane lines respectively, the lateral offset distances corresponding to the current position of the vehicle can be calculated. When selecting the reference lane line, the lane line with the smaller lateral offset distance can be selected from the first lane line and the second lane line as the reference lane line.

[0121] In S510, the vehicle may generate a virtual lane line by selecting one of the first lane line and the second lane line as a reference lane line, and generating a virtual lane line whose distance from the reference lane line is the virtual lane width.

[0122] However, in order to ensure the riding experience of the driver and passengers during the driving process, the lateral deviation of the vehicle during the lane keeping assist process should be minimized. If one of the first lane line and the second lane line is selected as the reference lane line and a virtual lane line is generated, and the lateral deviation of the vehicle when the reference lane line and the virtual lane line are used as the reference for centering driving is the same, then at this time, whether the first lane line or the second lane line is used as the reference lane line, it will not affect the riding experience of the driver and passengers. However, when the lateral deviation of the vehicle is different between the new route generated by using the first lane line as the reference lane line and the new route generated by using the second lane line as the reference lane line, in order to improve the riding experience of the driver and passengers, the one with the smaller lateral deviation of the vehicle should be selected from the first lane line and the second lane line as the reference lane line.

[0123] The vehicle can use the first lane line as the first reference lane line to generate a first virtual lane line whose distance from the first reference lane line always maintains the virtual lane width, and use the second lane line as the second reference lane line to generate a second virtual lane line whose distance from the second reference lane line always maintains the virtual lane width.

[0124] In S520, the vehicle may determine a first virtual center line according to the first reference lane line and its corresponding first virtual lane line, and the distance from any point on the first virtual center line to the first reference lane line is consistent with the distance to the first virtual lane line. That is, the first virtual center line is the center line of the first reference lane line and the first virtual lane line.

[0125] Similarly, the vehicle can determine the second virtual center line according to the second reference lane line and its corresponding second virtual lane line, and the distance from any point on the second virtual center line to the second reference lane line is consistent with the distance to the second virtual lane line. That is, the second virtual center line is the center line of the second reference lane line and the second virtual lane line.

[0126] In S530, after the first virtual center line and the second virtual center line are determined, the lateral offset distance between the vehicle and the first virtual center line and the lateral offset distance between the vehicle and the second virtual center line may be calculated according to the current position of the vehicle.

[0127] The lateral offset distance between the vehicle and the first virtual center line is the lateral offset of the vehicle when the vehicle changes from the current state to the centered driving based on the first reference lane line and the first virtual lane line. The lateral offset distance between the vehicle and the second virtual center line is the lateral offset of the vehicle when the vehicle changes from the current state to the centered driving based on the second reference lane line and the second virtual lane line.

[0128] When the lateral offset distance of the first virtual center line is the same as the lateral offset distance of the second virtual center line, the vehicle can select either the first lane line or the second lane line as the reference lane line. For example, when the first lane line is used as the reference lane line, the first virtual lane line is the virtual lane line corresponding to the reference lane line.

[0129] When the lateral offset distance of the first virtual center line is different from the lateral offset distance of the second virtual center line, in order to improve the riding experience of the driver and passengers, the lateral offset of the vehicle should be reduced as much as possible. At this time, the one with the smaller lateral offset can be selected from the first lane line and the second lane line as the reference lane line.

[0130] Please refer to Fig.10 As an optional embodiment, the above S120 may further include:

[0131] S610, when lane information respectively corresponding to the plurality of lanes changes, obtaining lane information to be selected respectively corresponding to the plurality of lanes after the lane change area;

[0132] S620, determining a plurality of lane center lines corresponding to the plurality of lanes respectively according to the plurality of lane information to be selected;

[0133] S630, selecting a guide lane from multiple lanes according to the lateral offset distances respectively corresponding to the position of the vehicle and the center lines of the multiple lanes, and generating virtual lane information according to the position of the vehicle and the guide lane; wherein the virtual lane information is used to guide the vehicle into the guide lane.

[0134] In this embodiment, when the number of lanes changes or lanes are staggered, lane information corresponding to multiple lanes behind the lane change area can be obtained. By determining the lane center line corresponding to each lane to be selected, the lateral offset distance when the vehicle changes lanes from the current position to each lane can be calculated. The vehicle can select a guide lane based on the lateral offset distance corresponding to each lane, and generate virtual lane information to guide the vehicle into the guide lane.

[0135] In S610, during the driving of the vehicle, if the lane information corresponding to the multiple lanes respectively changes, the area where the lane information changes can be determined as the lane change area, and the lane information to be selected corresponding to the multiple lanes after the lane change area can be obtained. Among them, each lane information to be selected includes two lane lines of the corresponding lane. The above-mentioned lane change area can be an area where the lane lines are disconnected, such as an intersection or a sidewalk. The change in lane information can refer to a change in the number of lanes in the driving direction of the vehicle, such as a road merge, a road divergence, etc., or it can refer to a lane line disconnection of multiple lanes in the lane change area, and the multiple lanes after the lane change area are staggered or misaligned with the multiple lanes before the lane change area.

[0136] like Figures 11 to 14 As shown, Fig.11 A lane schematic diagram is shown when the number of lanes increases along the driving direction; Fig.12 A lane diagram is shown when the number of lanes decreases along the driving direction; Fig.13 A lane schematic diagram is shown when the number of lanes before and after the lane change area remains unchanged and the lanes are staggered along the driving direction; Fig.14 A lane schematic diagram is shown when the number of lanes before and after the lane change area changes along the driving direction.

[0137] In S620, after obtaining information of multiple lanes to be selected, the lane center line corresponding to each lane after the lane change area can be determined, and the multiple lanes can correspond to multiple lane center lines respectively.

[0138] Since the lane information to be selected of each lane includes two lane lines of the lane, the center line of the central lane can be determined according to the two lane lines, and the center line of the lane is the center line of the two lane lines.

[0139] In S630, after determining the multiple lane center lines corresponding to the multiple lanes, the lateral offset distances between the position of the vehicle and the center lines of each lane can be calculated according to the current position of the vehicle, and a guide lane can be selected from the multiple lanes according to each lateral offset distance. It can be understood that in order to reduce the lateral offset of the vehicle during driving as much as possible and improve the riding experience, after calculating the lateral offset distances between the position of the vehicle and the center lines of each lane, a lane with a smaller lateral offset of the vehicle can be selected as the guide lane. For example, the lane with the smallest lateral offset distance is selected as the guide lane.

[0140] like Fig.15 As shown, after determining the guide lane from multiple lanes, the vehicle can generate virtual lane information between the current driving lane and the guide lane. The virtual lane information includes two lane lines, which can guide the vehicle to continue driving from the current driving lane to the guide lane.

[0141] Please refer to Fig.16 As an optional embodiment, the above S630 may further include:

[0142] S710, generating first weight coefficients corresponding to the plurality of lanes respectively according to lateral offset distances respectively corresponding to the position of the vehicle and the center lines of the plurality of lanes; wherein the lateral offset distances and the first weight coefficients have a negative correlation;

[0143] S720, generating at least one second weight coefficient corresponding to each of the plurality of lanes based on a first correspondence relationship according to at least one of the traffic flow information, the navigation information, and the obstacle information; wherein the first correspondence relationship is a correspondence relationship between at least one of the traffic flow information, the navigation information, and the obstacle information and the second weight coefficient;

[0144] S730: Select a guide lane from multiple lanes based on the sum of the first weight coefficient of each lane and all the second weight coefficients.

[0145] In this embodiment, in addition to the lateral offset distance corresponding to each lane when the vehicle changes lanes, the weight factors for the vehicle to select a suitable lane may also include traffic information, navigation information, obstacle information, etc. The vehicle may calculate the weight coefficients of different weight factors corresponding to each lane respectively, and after calculating the sum of the weight coefficients of different weight factors corresponding to each lane, the guide lane may be selected according to the sum of the weight coefficients of each lane.

[0146] In S710, when the vehicle is traveling, if there is a lane change area where the number of lanes of multiple lanes changes or multiple lanes are staggered, the vehicle can generate first weight coefficients corresponding to each lane according to the lateral offset distances corresponding to the current driving lane and the multiple lanes after the lane change area. The first weight coefficient corresponding to each lane has a negative correlation with the lateral offset distance of the lane relative to the current driving lane of the vehicle. That is, among the multiple lanes, the larger the lateral offset distance of the lane relative to the current driving lane of the vehicle, the smaller the first weight coefficient of the lane.

[0147] As an optional implementation, in the judgment process including only the first weight coefficient, the lane with the smallest lateral offset distance can be directly selected as the guide lane.

[0148] In S720, if the vehicle needs to change lanes during driving, it is necessary to consider not only the lateral deviation caused by the lane change, but also other related factors, such as traffic information, navigation information, obstacle information, and other data information related to the driving environment.

[0149] The vehicle may generate at least one second weight coefficient corresponding to each of the plurality of lanes based on the first corresponding relationship according to at least one of the traffic information, the navigation information, and the obstacle information.

[0150] Taking traffic information and navigation information as an example, the first correspondence can be pre-set, and the first correspondence can include a sub-correspondence between traffic information and the second weight coefficient, a sub-correspondence between navigation information and the second weight coefficient, and a sub-correspondence between obstacle information and the second weight coefficient.

[0151] When the vehicle is set to generate the second weight coefficient based on traffic flow information and navigation information, the vehicle can generate a second weight coefficient corresponding to each of the multiple lanes according to the sub-correspondence between the traffic flow information and the second weight coefficient, and generate another second weight coefficient corresponding to each of the multiple lanes according to the sub-correspondence between the navigation information and the second weight coefficient. The number of second weight coefficients can be associated with the number of factors considered by the vehicle, for example, when the vehicle is set to generate the second weight coefficient based on one of the traffic flow information, navigation information or obstacle information, one second weight coefficient can be generated; when the vehicle is set to generate the second weight coefficient based on two of the traffic flow information, navigation information or obstacle information, two second weight coefficients can be generated; when the vehicle is set to generate the second weight coefficient based on the traffic flow information, navigation information and obstacle information, three second weight coefficients can be generated.

[0152] As an optional embodiment, the above-mentioned traffic information may include the driving tracks of adjacent vehicles, the navigation information may include the driving direction of the next intersection, and the obstacle information may include obstacles in each lane after the lane change area.

[0153] Taking traffic flow information as an example, the vehicle can also obtain the driving trajectory of adjacent vehicles during driving. When the number of lanes changes or multiple lanes are staggered, the vehicle can also determine the second weight coefficient of the traffic flow information corresponding to each lane after the lane change area according to the driving trajectory of the adjacent vehicles. For example, if there are 4 lanes before the lane change area and 3 lanes after the lane change area, if there are adjacent vehicles on the left and right sides of the vehicle, and the vehicle determines the 2 lanes selected by the two adjacent vehicles from the 3 lanes after the lane change area according to the driving trajectories of the two adjacent vehicles, the second weight coefficient of the traffic flow information of the 2 lanes can be set to a lower value, and the second weight coefficient of the 1 lane not selected by the two adjacent vehicles can be set to a higher value. At this time, by calculating the sum of the first weight coefficient and the second weight coefficient, the lateral offset of the vehicle when changing lanes and the surrounding traffic conditions can be fully considered to select a suitable lane as the guide lane.

[0154] Taking navigation information as an example, if the driving direction of the next intersection in the navigation route is to turn right, then among multiple lanes, the second weight coefficient corresponding to the right lane is higher, and the second weight coefficient of the navigation information corresponding to the left lane is lower.

[0155] Taking obstacle information as an example, if the vehicle recognizes through the road image that there is an obstacle in a lane after the lane change area, such as a roadblock, isolation warning device, stationary car or other equipment, the second weight coefficient of the obstacle information corresponding to the lane can be set to 0.

[0156] In S730, when the factors for the vehicle to select the guide lane include at least one of traffic flow information, navigation information, and obstacle information, the vehicle may determine the first weight coefficient and each second weight coefficient for each lane respectively. Taking a single lane as an example, if the factors selected by the vehicle include traffic flow information, navigation information, and obstacle information, each lane includes a first weight coefficient and three second weight coefficients. The vehicle may calculate the sum of the first weight coefficient of each lane and all the second weight coefficients, and use the lane corresponding to the maximum value of the multiple sums as the guide lane.

[0157] As an optional embodiment, the above S120 may further include:

[0158] S810: When the vehicle sets the front vehicle as a following vehicle, virtual lane information is generated according to the driving track of the front vehicle.

[0159] In this embodiment, during the driving process of the vehicle, the front vehicle can also be pre-set as a following vehicle. When the vehicle sets the front vehicle as a following vehicle, if the lane information corresponding to multiple lanes changes or the driving lane information meets the width change condition, the driving track of the front vehicle can be directly determined, and virtual lane information can be generated according to the driving track of the front vehicle, and lane keeping driving can be performed through the virtual lane information.

[0160] In S130, after the vehicle generates virtual lane information, the vehicle can be controlled to travel along the virtual lane corresponding to the virtual lane information when lane keeping assist is turned on. The virtual lane information includes two lane lines, and the virtual lane is a lane formed by the two lane lines.

[0161] The present application also provides a driving assistance device. Fig.17 As shown, the driving assistance device includes:

[0162] The acquisition module 1701 is used to acquire lane information corresponding to a plurality of lanes from the road image; wherein the plurality of lane information includes driving lane information corresponding to the vehicle;

[0163] A generating module 1702, configured to generate virtual lane information based on the abnormal condition and the driving lane information when the driving scene meets the abnormal condition;

[0164] The control module 1703 is used to control the vehicle to travel along the virtual lane corresponding to the virtual lane information.

[0165] It should be noted that the driving assistance device is a device corresponding to the above-mentioned driving assistance method, and all implementation methods in the above-mentioned method embodiments are applicable to the embodiments of the device and can achieve the same technical effects.

[0166] Fig.18 A schematic diagram of the hardware structure of the driving assistance device provided in an embodiment of the present application is shown.

[0167] The driving assistance device may include a processor 1801 and a memory 1802 storing computer program instructions.

[0168] Specifically, the processor 1801 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.

[0169] Memory 1802 may include a large capacity memory for data or instructions. For example, but not limitation, memory 1802 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, memory 1802 may include a removable or non-removable (or fixed) medium. In appropriate cases, memory 1802 may be inside or outside the driving assistance device. In a particular embodiment, memory 1802 is a non-volatile solid-state memory.

[0170] In certain embodiments, the memory 1802 may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage media device, an optical storage media device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, in general, 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 an aspect of the present disclosure.

[0171] The processor 1801 implements any one of the driving assistance methods in the above embodiments by reading and executing computer program instructions stored in the memory 1802 .

[0172] In one example, the driving assistance device may further include a communication interface 1803 and a bus 1810. Fig.18 As shown, the processor 1801, the memory 1802, and the communication interface 1803 are connected via a bus 1810 and communicate with each other.

[0173] The communication interface 1803 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0174] Bus 1810 includes hardware, software or both, and the parts of driving assistance 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 1810 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.

[0175] In addition, in combination with the driving assistance method in the above embodiments, the present application embodiment may provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any one of the driving assistance methods in the above embodiments is implemented.

[0176] An embodiment of the present application also provides a vehicle, which may include at least one of the above-mentioned driving assistance device, driving assistance equipment or computer-readable storage medium.

[0177] 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.

[0178] The functional blocks shown in the above 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.

[0179] 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.

[0180] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box 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, 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 implementation of the function / action specified in one or more boxes of the flowchart and / or 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 box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0181] The above are only specific implementation methods 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: The driving assistance method comprises: Acquire lane information corresponding to the plurality of lanes from the road image; wherein the lane information corresponding to the plurality of lanes includes driving lane information corresponding to the vehicle; When the driving scene meets an abnormal condition, generating virtual lane information based on the abnormal condition and the driving lane information; The vehicle is controlled to travel along the virtual lane corresponding to the virtual lane information.

2. The driving assistance method according to claim 1, characterized in that: The abnormal condition is that the driving lane information satisfies a width change condition. When the driving scene satisfies the abnormal condition, generating virtual lane information based on the abnormal condition and the driving lane information includes: Determine the driving lane width between the first lane line and the second lane line according to the driving lane information; wherein the first lane line and the second lane line are lane lines on both sides of the vehicle; One of the first lane line and the second lane line is used as a reference lane line to generate virtual lane information.

3. The driving assistance method according to claim 2, characterized in that: The virtual lane information includes a reference lane line and a virtual lane line; The step of using one of the first lane line and the second lane line as a reference lane line to generate virtual lane information includes: Get the virtual lane width; A virtual lane line is generated by taking one of the first lane line and the second lane line as a reference lane line; wherein the width between the reference lane line and the virtual lane line is the virtual lane width.

4. The driving assistance method according to claim 3, characterized in that: The step of using one of the first lane line and the second lane line as a reference lane line to generate a virtual lane line includes: Generating a first virtual lane line using the first lane line as a first reference lane line, and generating a second virtual lane line using the second lane line as a second reference lane line; Determine a first virtual center line according to the first reference lane line and the first virtual lane line, and determine a second virtual center line according to the second reference lane line and the second virtual lane line; The reference lane line and its corresponding virtual lane line are determined from the first lane line and the second lane line according to the lateral offset distances between the position of the vehicle and the first virtual center line and the second virtual center line respectively.

5. The driving assistance method according to claim 3, characterized in that: The obtaining of the virtual lane width includes: Obtaining a width variation of the driving lane width; When the width change amplitude satisfies an amplitude threshold or the driving lane width satisfies a width threshold, a virtual lane width is acquired.

6. The driving assistance method according to claim 1, characterized in that: The abnormal condition is that lane information corresponding to the plurality of lanes respectively changes. When the driving scene satisfies the abnormal condition, generating virtual lane information based on the abnormal condition and the driving lane information includes: Obtaining lane information to be selected corresponding to each of the multiple lanes after the lane change area; Determine a plurality of lane center lines corresponding to the plurality of lanes respectively according to the plurality of lane information to be selected; A guide lane is selected from the multiple lanes according to the lateral offset distances respectively corresponding to the position of the vehicle and the center lines of the multiple lanes, and virtual lane information is generated according to the position of the vehicle and the guide lane; wherein the virtual lane information is used to guide the vehicle into the guide lane.

7. The driving assistance method according to claim 6, characterized in that: The selecting a guide lane from the multiple lanes according to the lateral offset distances respectively corresponding to the position of the vehicle and the center lines of the multiple lanes includes: Generate first weight coefficients corresponding to the plurality of lanes respectively according to the lateral offset distances respectively corresponding to the position of the vehicle and the center lines of the plurality of lanes; wherein the lateral offset distances and the first weight coefficients have a negative correlation; According to at least one of the traffic flow information, the navigation information, and the obstacle information, generating at least one second weight coefficient corresponding to each of the plurality of lanes based on a first corresponding relationship; wherein the first corresponding relationship is a corresponding relationship between at least one of the traffic flow information, the navigation information, and the obstacle information and the second weight coefficient; A guide lane is selected from the plurality of lanes according to a sum of the first weight coefficient of each lane and all the second weight coefficients.

8. The driving assistance method according to claim 7, characterized in that: The traffic flow information at least includes the driving tracks of adjacent vehicles.

9. The driving assistance method according to claim 1, characterized in that: When the driving scene meets the abnormal condition, generating virtual lane information based on the abnormal condition and the driving lane information includes: In the case where the vehicle sets the front vehicle as a following vehicle, virtual lane information is generated according to the driving track of the front vehicle.

10. A driving assistance device, characterized in that: The driving assistance device comprises: An acquisition module, used to acquire lane information corresponding to a plurality of lanes respectively from a road image; wherein the plurality of lane information includes driving lane information corresponding to a vehicle; A generating module, configured to generate virtual lane information based on the abnormal condition and the driving lane information when the driving scene meets the abnormal condition; The control module is used to control the vehicle to travel along the virtual lane corresponding to the virtual lane information.

11. A driving assistance device, characterized in that: The driving assistance device comprises: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the driving assistance method according to any one of claims 1 to 9 is implemented.

12. 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 a processor, the driving assistance method according to any one of claims 1 to 9 is implemented.

13. A vehicle, characterized in that: The vehicle comprises at least one of the following: The driving assistance device according to claim 10; The driving assistance device according to claim 11; The computer readable storage medium of claim 12.

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