Narrow road passing control method, system and device, storage medium and vehicle

Abstract

The invention discloses a narrow road traffic control method. The method comprises the steps that whether a preset area in front of a vehicle is a narrow road section or not is detected in real time; when it is detected that the front is the narrow road section, prompting processing is carried out on a user to prepare to start narrow road auxiliary driving; after starting confirmation of the narrow road auxiliary driving by the user is obtained, taking-over authentication processing is carried out; after the authentication succeeds, taking over the vehicle and starting narrow road auxiliary driving, automatically controlling the vehicle to pass through the narrow road section at a low speed, and recording vehicle track information in the narrow road vehicle driving process; after passing through the narrow road section, prompting a user to take over the vehicle; when the vehicle cannot pass through the narrow road section, a user is prompted to start tracking reversing according to the vehicle track information in the narrow road vehicle driving process. The invention further discloses a corresponding system and device, a storage medium and a vehicle. By implementing the method and the device, the narrow road state can be judged in real time, narrow road auxiliary driving can be carried out, the narrow road section can be automatically quitted when passing is not available, the method and the device can adapt to more scenes, and the driving safety and the driving experience of a user are improved.

Description

Technical Field

[0001] The present invention relates to the field of automatic driving technology, and in particular to a narrow road traffic control method, system, device, storage medium and vehicle. Background Art

[0002] In some scenarios (such as parking scenarios), when a vehicle is driving on a narrow road, it is difficult for the user to accurately judge the road conditions ahead (such as road width, roadblocks, etc.) to determine whether the vehicle can pass; or due to lack of experience, the user often cannot drive the vehicle through the current road freely; therefore, in similar scenarios, how to use vehicle radar, parking systems and other devices to provide a set of road condition detection and automatic driving methods becomes very practical.

[0003] When developing car models, some OEMs will also consider solving the problem of users' difficulty driving on narrow roads. For example, in the existing technology, relevant solutions such as road data collection, narrow road analysis, trajectory prediction, collision warning, and automatic driving are provided. However, narrow road conditions are often very complex. For example, when encountering a wedge-shaped section or a roadblock ahead that makes it impossible to pass, the solution generally adopted in the existing technology is to brake the vehicle and hand over the vehicle to the user. Therefore, this existing control solution has obvious shortcomings: on the one hand, it is not complete and comprehensive in scene coverage; on the other hand, complex road conditions will increase users' anxiety about using the car, thereby reducing the user's experience. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a narrow road traffic control method, system, device, storage medium and vehicle, which can determine the narrow road status in real time, perform assisted driving on narrow roads, and automatically exit the narrow road section when it is impassable. It can be adapted to more scenarios and improve driving safety and user driving experience.

[0005] In order to solve the above technical problems, as one aspect of the present invention, a narrow road traffic control method is provided, which at least comprises the following steps:

[0006] Real-time detection of whether the predetermined area in front of the vehicle is a narrow road section;

[0007] When a narrow road is detected ahead, the user is prompted to prepare to start the narrow road assisted driving;

[0008] After obtaining the user's confirmation of starting the narrow road assisted driving, take over the authentication process;

[0009] After successful authentication, the vehicle is taken over and the narrow road assisted driving is started, the vehicle is automatically controlled to pass through the narrow road section at a low speed, and the vehicle trajectory information during the narrow road vehicle driving process is recorded;

[0010] After passing the narrow road section, the user is prompted to take over the vehicle; when the narrow road section cannot be passed, the user is prompted to start tracking reverse according to the vehicle trajectory information during the narrow road vehicle driving process.

[0011] Among them, further include:

[0012] During the process of assisting driving on narrow roads, if an impassable road section is detected ahead, the tracking reverse function is activated, and the tracking reverse process is performed according to the vehicle trajectory information recorded during the narrow road driving process;

[0013] After the vehicle returns to the starting point of this narrow road driving, the user is prompted to take over the vehicle.

[0014] Wherein, the real-time detection of whether the predetermined area in front of the vehicle is a narrow road section further includes:

[0015] The vehicle's forward and side radars are used to determine the distance between the obstacle and the vehicle, and identify the minimum clearance width in the area with a predetermined longitudinal and transverse length directly in front of the vehicle;

[0016] Compare the difference between the minimum passing width and the vehicle body width with a preset first threshold and a second threshold, wherein the first threshold is smaller than the second threshold;

[0017] When the difference is less than the first threshold, it is determined that the road ahead is an impassable section; when the difference is between the first threshold and the second threshold, it is determined that the road ahead is a narrow road section; when the difference is greater than the second threshold, it is determined that the road ahead is a normal passable section.

[0018] After obtaining the user's confirmation of starting the narrow road assisted driving, the takeover authentication process is further performed, including:

[0019] Determine whether the user responds and agrees to activate the narrow road assisted driving function, or determine whether the user actively triggers the activation of the narrow road assisted driving function;

[0020] If the above judgment result is yes, the vehicle parking system performs control handshake authentication with the power, brake, and steering systems;

[0021] After successful authentication, the vehicle's surrounding conditions and predicted driving trajectory will be displayed.

[0022] Among them, after the authentication is successful, taking over the vehicle and starting the narrow road assisted driving, automatically controlling the vehicle to pass through the narrow road section at a low speed, and recording the vehicle trajectory information during the narrow road vehicle driving process, further includes:

[0023] After successful authentication, the vehicle gear shifting, torque increase / decrease, deceleration and steering torque control are automatically performed according to the predicted driving trajectory of the vehicle, so as to control the vehicle to drive out of the current narrow road section at a low speed;

[0024] During the narrow road assisted driving process, the vehicle's driving trajectory and driving information are recorded in real time, and the driving information at least includes the steering torque.

[0025] Accordingly, another aspect of the present invention further provides a narrow road traffic control system, which at least comprises:

[0026] A narrow road section detection unit, used for detecting in real time whether a predetermined area in front of the vehicle is a narrow road section;

[0027] A narrow road section prompting unit is used to prompt the user when a narrow road section is detected ahead, so as to prepare to start the narrow road assisted driving;

[0028] A takeover authentication processing unit, used to perform takeover authentication processing after obtaining the user's confirmation of starting the narrow road assisted driving;

[0029] A narrow road driving control unit, which is used to take over the vehicle and start narrow road assisted driving after successful authentication, automatically control the vehicle to pass through the narrow road section at a low speed, and record vehicle trajectory information during the narrow road vehicle driving process;

[0030] The prompt processing unit is used to prompt the user to take over the vehicle after passing the narrow road section; when the narrow road section cannot be passed, prompt the user to start tracking reverse according to the vehicle trajectory information during the narrow road vehicle driving process.

[0031] Among them, further include:

[0032] A tracking and reversing processing unit is used to start the tracking and reversing function when an impassable road section is detected ahead during the narrow road assisted driving process, and perform tracking and reversing processing according to the recorded vehicle trajectory information during the narrow road vehicle driving process;

[0033] After the vehicle returns to the initial point of this narrow road driving, the takeover prompting unit prompts the user to take over the vehicle.

[0034] Wherein, the narrow road section detection unit further comprises:

[0035] A traffic width acquisition unit is used to determine the distance between the obstacle and the vehicle through the vehicle's forward and side radars, and identify the minimum traffic width value in an area of ​​predetermined longitudinal and transverse lengths directly in front of the vehicle;

[0036] A comparison processing unit, configured to compare the difference between the minimum passing width and the vehicle body width with a preset first threshold and a second threshold, wherein the first threshold is smaller than the second threshold;

[0037] The road section type determination unit is used to determine that the road ahead is an impassable road section when the difference is less than a first threshold; to determine that the road ahead is a narrow road section when the difference is between the first threshold and the second threshold; and to determine that the road ahead is a normally passable road section when the difference is greater than the second threshold.

[0038] Wherein, the takeover authentication processing unit further includes:

[0039] A trigger condition acquisition unit, used to determine whether the user responds and agrees to activate the narrow road assisted driving function, or to determine whether the user actively triggers the activation of the narrow road assisted driving function;

[0040] The authentication unit is used for, if the above judgment result is yes, the vehicle parking system performs a control handshake authentication with the power, brake and steering systems;

[0041] The prompt unit is used to prompt the vehicle's surrounding conditions and the vehicle's predicted driving trajectory after successful authentication.

[0042] Wherein, the narrow road driving control unit further comprises:

[0043] A driving processing unit, which is used to automatically switch vehicle gears, increase or decrease torque, control deceleration and steering torque according to the predicted driving trajectory of the vehicle after successful authentication, so as to control the vehicle to drive out of the current narrow road section at a low speed;

[0044] The trajectory recording unit is used to record the vehicle's driving trajectory and driving information in real time during the narrow road assisted driving process, and the driving information at least includes the steering torque.

[0045] Correspondingly, another aspect of the present invention further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the aforementioned method when executed by a processor.

[0046] Correspondingly, another aspect of the present invention further provides a computing device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the aforementioned method when executing the computer program.

[0047] Correspondingly, in another aspect of the present invention, there is also a vehicle, on which is at least provided an automatic parking device, in which the aforementioned system is deployed.

[0048] The implementation of the embodiments of the present invention has the following beneficial effects:

[0049] The present invention provides a method, system, device, storage medium and vehicle for controlling narrow road traffic. The vehicle performs narrow road analysis and collision warning while driving. When it is determined that there is a narrow road ahead, the vehicle system takes over driving control, starts narrow road assisted driving, automatically controls the vehicle to pass through the narrow road at a low speed, and prompts the user to take over the vehicle after passing through. The implementation of the present invention can enable the vehicle to automatically and safely drive and pass through narrow roads, avoid vehicle scratches caused by poor driving skills when users are passing through narrow roads, and improve driving safety.

[0050] During the narrow road assisted driving process, if it is determined that the width of the narrow road ahead is too narrow, or there is an obstacle ahead that makes the vehicle unable to pass, the vehicle can perform tracking and reverse processing according to the path information recorded during the narrow road assisted driving process, and return to the original point of this narrow road assisted driving; implementing this method can enable the vehicle to adapt to more complex scenarios;

[0051] At the same time, during the process of narrow road assisted driving and tracking reverse processing, the user will be prompted with the actual situation around the vehicle and the predicted driving trajectory of the vehicle, and the user's anxiety about narrow road driving can be avoided through a friendly interactive process. At the same time, during the process of switching from narrow road assisted driving to tracking reverse processing, the vehicle control action is complete and coherent, which can further improve the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, without paying creative labor, other drawings obtained based on these drawings still belong to the scope of the present invention.

[0053] Figure 1 A schematic diagram of the main process of an embodiment of a narrow road traffic control method provided by the present invention;

[0054] Figure 2 A more detailed schematic diagram of the process of the present invention;

[0055] Figure 3 A schematic structural diagram of an embodiment of a narrow road traffic control system provided by the present invention;

[0056] Figure 4 for Figure 3 A schematic diagram of the structure of the medium and narrow road section detection unit;

[0057] Figure 5 for Figure 3 A schematic diagram of the structure of the central pipe authentication processing unit;

[0058] Figure 6 for Figure 3 Schematic diagram of the structure of the medium and narrow road driving control unit. DETAILED DESCRIPTION

[0059] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings.

[0060] like Figure 1 FIG. 1 is a schematic diagram showing a main flow chart of an embodiment of a narrow road traffic control method provided by the present invention. In this embodiment, the method at least includes:

[0061] Step S10, real-time detection of whether a predetermined area in front of the vehicle is a narrow road section;

[0062] In a specific example, the step S10 further includes:

[0063] Wherein, the real-time detection of whether the predetermined area in front of the vehicle is a narrow road section further includes:

[0064] The vehicle's forward and side radars are used to determine the distance between the obstacle and the vehicle, and identify the minimum clearance width in the area with a predetermined longitudinal and transverse length directly in front of the vehicle;

[0065] Compare the difference between the minimum passing width and the vehicle body width with a preset first threshold and a second threshold, wherein the first threshold is smaller than the second threshold;

[0066] When the difference is less than the first threshold, it is determined that the road ahead is an impassable section; when the difference is between the first threshold and the second threshold, it is determined that the road ahead is a narrow road section; when the difference is greater than the second threshold, it is determined that the road ahead is a normal passable section.

[0067] The following table shows the judgment conditions and corresponding judgment results for narrow road section detection in one embodiment of the present invention.

[0068] Table 1 Narrow road section detection information table

[0069]

[0070]

[0071] Step S11, when a narrow road is detected ahead, prompting the user to prepare to start the narrow road assisted driving;

[0072] It is understandable that in a specific embodiment of the present invention, there is no limitation on the way to enable the narrow road assisted driving function. This function can be used by automatically triggering the push notification or actively enabling the function. In one example of the present invention, the user may be prompted only that "there is a narrow road ahead"; in other examples, the user may be further asked "whether to enable the narrow road assisted driving function"; specifically, the prompt may be in the form of text or graphics on the central control screen, or the prompt or inquiry may be made in the form of voice;

[0073] Step S12, after obtaining the user's confirmation of starting the narrow road assisted driving, performing a takeover authentication process;

[0074] In a specific example, the step S12 further includes:

[0075] Determine whether the user responds and agrees to activate the narrow road assisted driving function, or determine whether the user actively triggers the activation of the narrow road assisted driving function; for example, when the user sees or hears "narrow road ahead", the narrow road assisted driving function can be actively triggered to activate; or when the user sees or hears "whether to turn on the narrow road assisted driving function", a corresponding response can be made; wherein, the active triggering and activation of the narrow road assisted driving function can be such as operating a pre-set physical button, or clicking the corresponding virtual button on the central control screen, or directly activating it with a voice command in a predetermined format. Make a corresponding response, or it can be achieved in the form of clicking a confirmation button or making a voice reply.

[0076] If the above judgment result is yes, the vehicle parking system performs control handshake authentication with the power, brake, and steering systems;

[0077] After successful authentication, the vehicle's surrounding conditions and predicted driving trajectory will be displayed.

[0078] Step S13, after successful authentication, taking over the vehicle and starting narrow road assisted driving, automatically controlling the vehicle to pass through the narrow road section at a low speed, and recording vehicle trajectory information during the narrow road vehicle driving process;

[0079] In a specific example, the step S12 further includes:

[0080] After successful authentication, the vehicle's system takes over the driving operation and automatically switches vehicle gears, increases or decreases torque, controls deceleration, and controls steering torque according to the vehicle's predicted driving trajectory, and controls the vehicle to exit the current narrow road section at a low speed;

[0081] During the narrow road assisted driving process, the vehicle's driving trajectory and driving information are recorded in real time, and the driving information at least includes the steering torque.

[0082] Step S14, after passing the narrow road section, prompting the user to take over the vehicle; when failing to pass the narrow road section, prompting the user to start tracking reverse according to the vehicle trajectory information during the narrow road vehicle driving process.

[0083] Among them, further include:

[0084] During the process of assisting driving on narrow roads, if an impassable road section is detected ahead, the tracking reverse function is activated, and the tracking reverse process is performed according to the vehicle trajectory information recorded during the narrow road driving process;

[0085] After the vehicle returns to the starting point of this narrow road driving, the user is prompted to take over the vehicle.

[0086] Specifically, in the method of the present invention, the corresponding system of the vehicle (such as the parking system or the automatic driving control system) determines the driving trajectory of the vehicle based on the road data information and the vehicle driving information, and obtains the control right of the vehicle driving by handshaking authentication with the vehicle power, steering and braking systems; then, the automatic driving behavior of the vehicle on narrow road sections is completed by controlling the vehicle gear switching, torque lifting, deceleration and steering torque. At the same time, the vehicle driving trajectory and corresponding information will be silently recorded;

[0087] During the process of assisted driving on narrow roads, if a situation that a vehicle cannot pass is detected, the system can automatically complete the tracking and reversing process based on the recorded vehicle driving trajectory and corresponding information, and return to the original point of this assisted driving on narrow roads. The human-computer interaction process during this period is simple and user-friendly.

[0088] In order to further understand the method of the present invention, a specific example is used as follows. In a user driving scenario, such as parking in a parking lot, the entire process of the method may specifically include the following more detailed steps:

[0089] Step S21, when the user is driving the vehicle, the distance between the obstacle and the vehicle is determined by the vehicle's forward and side radars to determine whether the road is a narrow section;

[0090] Step S22: if the current road ahead is a narrow road section, the user is prompted to be on a narrow road section through the central control display screen in the vehicle, and a query is pushed to inquire whether to start the narrow road assisted driving; if it is judged to be a normal path, the narrow road judgment work is continued; if the road ahead is an impassable section, the user is prompted to reverse or turn;

[0091] Step S23, the user clicks to agree to activate the narrow road assisted driving function, or in step S231, the user actively turns on the narrow road assisted driving function through the central control screen;

[0092] Step S24, the vehicle parking system performs control handshake authentication with the power, braking, and steering systems. If the authentication is successful, the vehicle surrounding conditions and the predicted vehicle driving trajectory are prompted; otherwise, an error prompt is given;

[0093] Step S25, the vehicle performs narrow road assisted driving, automatically controls the power torque, steering torque, braking deceleration, etc., so that the vehicle can drive out of the current narrow road section at a low speed;

[0094] Step S26, recording the vehicle driving trajectory and driving related information (such as steering torque, etc.);

[0095] Step S27, after the vehicle passes through the narrow road section, prompting the user to take over the driving of the vehicle;

[0096] Step S28, if the vehicle ahead is found to be too narrow to pass through during the narrow road assisted driving process, a prompt is given to start tracking reverse;

[0097] Step S29, the vehicle automatically controls the power torque, steering torque, braking deceleration, etc., so that the vehicle returns to the original parking point;

[0098] Step S210, prompting the user to take over the vehicle.

[0099] It can be understood that the method of the present invention can solve the problem of users entering and exiting vehicles on narrow roads by identifying the characteristics of narrow road sections, assisting in narrow road driving, and reversing to exit narrow roads.

[0100] Specifically, in the method provided by the present invention, by performing narrow road analysis and collision warning while the vehicle is driving, when it is determined that there is a narrow road section ahead, the vehicle system takes over the driving control, starts the narrow road assisted driving, automatically controls the vehicle to pass through the narrow road section at a low speed, and prompts the user to take over the vehicle after passing through; the implementation of the present invention can realize that the vehicle can automatically and safely drive and pass through the narrow road section; it can avoid the situation of vehicle scratching caused by poor driving skills when the user passes through the narrow road, thereby improving the driving safety;

[0101] During the narrow road assisted driving process, if it is determined that the width of the narrow road ahead is too narrow, or there is an obstacle ahead that makes the vehicle unable to pass, the vehicle can perform tracking and reverse processing according to the path information recorded during the narrow road assisted driving process, and return to the original point of this narrow road assisted driving; implementing this method can enable the vehicle to adapt to more complex scenarios;

[0102] At the same time, during the process of narrow road assisted driving and tracking reverse processing, the user will be prompted with the actual situation around the vehicle and the predicted driving trajectory of the vehicle, and the user's anxiety about narrow road driving can be avoided through a friendly interactive process. At the same time, during the process of switching from narrow road assisted driving to tracking reverse processing, the vehicle control action is complete and coherent, which can further improve the user experience.

[0103] like Figure 3 FIG. 1 is a schematic diagram showing a structure of an embodiment of a narrow road traffic control system provided by the present invention; and FIG. Figures 4 to 6 As shown, in this embodiment, the narrow road traffic control system 1 at least includes:

[0104] A narrow road section detection unit 10 is used to detect in real time whether a predetermined area in front of the vehicle is a narrow road section;

[0105] The narrow road section prompting unit 11 is used to prompt the user to start the narrow road assisted driving when a narrow road section is detected ahead;

[0106] The takeover authentication processing unit 12 is used to perform takeover authentication processing after obtaining the user's confirmation of starting the narrow road assisted driving;

[0107] The narrow road driving control unit 13 is used to take over the vehicle and start the narrow road assisted driving after the authentication is successful, automatically control the vehicle to pass through the narrow road section at a low speed, and record the vehicle trajectory information during the narrow road vehicle driving process;

[0108] The prompt processing unit 14 is used to prompt the user to take over the vehicle after passing the narrow road section; when the narrow road section cannot be passed, prompt the user to start tracking reverse according to the vehicle trajectory information during the driving process of the narrow road vehicle;

[0109] The tracking and reversing processing unit 15 is used to start the tracking and reversing function when an impassable road section is detected ahead during the narrow road assisted driving process, and perform tracking and reversing processing according to the recorded vehicle trajectory information during the narrow road vehicle driving process; wherein, after the vehicle returns to the starting point of this narrow road driving, the takeover prompting unit 14 prompts the user to take over the vehicle.

[0110] like Figure 4 As shown, in a specific example, the narrow road section detection unit 10 further includes:

[0111] The passage width acquisition unit 100 is used to determine the distance between the obstacle and the vehicle through the vehicle's forward and side radars, and identify the minimum passage width value in the area of ​​predetermined longitudinal and transverse lengths directly in front of the vehicle;

[0112] A comparison processing unit 101 is used to compare the difference between the minimum passing width and the vehicle body width with a preset first threshold and a second threshold, wherein the first threshold is smaller than the second threshold;

[0113] The road section type determination unit 102 is used to determine that the road ahead is an impassable road section when the difference is less than a first threshold; to determine that the road ahead is a narrow road section when the difference is between the first threshold and the second threshold; and to determine that the road ahead is a normal passable road section when the difference is greater than the second threshold.

[0114] like Figure 5 As shown, in a specific example, the takeover authentication processing unit 12 further includes:

[0115] The trigger condition acquisition unit 120 is used to determine whether the user responds and agrees to activate the narrow road assisted driving function, or to determine whether the user actively triggers the activation of the narrow road assisted driving function;

[0116] The authentication unit 121 is used for, if the above judgment result is yes, the vehicle parking system performs a control handshake authentication with the power, brake and steering systems;

[0117] The prompting unit 122 is used to prompt the vehicle's surrounding conditions and the vehicle's predicted driving trajectory after successful authentication.

[0118] like Figure 5 As shown, in a specific example, the narrow road driving control unit 13 further includes:

[0119] The driving processing unit 130 is used to automatically switch the vehicle gear, increase or decrease the torque, control the deceleration and the steering torque according to the predicted driving trajectory of the vehicle after the authentication is successful, so as to control the vehicle to drive out of the current narrow road section at a low speed;

[0120] The track recording unit 131 is used to record the vehicle's driving track and driving information in real time during the narrow road assisted driving process, wherein the driving information at least includes the steering torque.

[0121] Accordingly, in another aspect of the present invention, there is also provided a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the above-mentioned Figure 1 and Figure 2 For more details of the steps of the described method, please refer to and combine with the above Figure 1 and Figure 2 The description is not repeated here.

[0122] Accordingly, another aspect of the present invention further provides a computing device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the aforementioned Figure 1 and Figure 2 For more details of the steps of the described method, please refer to and combine with the above Figure 1 and Figure 2The description is not repeated here.

[0123] Accordingly, in another aspect of the present invention, there is also a vehicle, on which at least an automatic parking device is provided, in which the automatic parking device is deployed Figures 3 to 6 For more details, please refer to and combine the above Figures 3 to 6 The description is not repeated here.

[0124] The implementation of the embodiments of the present invention has the following beneficial effects:

[0125] The present invention provides a method, system, device, storage medium and vehicle for controlling narrow road traffic. The vehicle performs narrow road analysis and collision warning while driving. When it is determined that there is a narrow road ahead, the vehicle system takes over driving control, starts narrow road assisted driving, automatically controls the vehicle to pass through the narrow road at a low speed, and prompts the user to take over the vehicle after passing through. The implementation of the present invention can enable the vehicle to automatically and safely drive and pass through narrow roads, avoid vehicle scratches caused by poor driving skills when users are passing through narrow roads, and improve driving safety.

[0126] During the narrow road assisted driving process, if it is determined that the width of the narrow road ahead is too narrow, or there is an obstacle ahead that makes the vehicle unable to pass, the vehicle can perform tracking and reverse processing according to the path information recorded during the narrow road assisted driving process, and return to the original point of this narrow road assisted driving; implementing this method can enable the vehicle to adapt to more complex scenarios;

[0127] At the same time, during the process of narrow road assisted driving and tracking reverse processing, the user will be prompted with the actual situation around the vehicle and the predicted driving trajectory of the vehicle, and the user's anxiety about narrow road driving can be avoided through a friendly interactive process. At the same time, during the process of switching from narrow road assisted driving to tracking reverse processing, the vehicle control action is complete and coherent, which can further improve the user experience.

[0128] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take 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 code.

[0129] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks 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 device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing 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.

[0130] The above disclosure is only a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A narrow road traffic control method, characterized in that: At least the following steps are included: Real-time detection of whether the predetermined area in front of the vehicle is a narrow road section; When a narrow road is detected ahead, the user is prompted to prepare to start the narrow road assisted driving; After obtaining the user's confirmation of starting the narrow road assisted driving, take over the authentication process; After successful authentication, the vehicle is taken over and the narrow road assisted driving is started, the vehicle is automatically controlled to pass through the narrow road section at a low speed, and the vehicle trajectory information during the narrow road vehicle driving process is recorded; After passing the narrow road section, the user is prompted to take over the vehicle; When the narrow road section cannot be passed, the user is prompted to start tracking reverse according to the vehicle trajectory information during the narrow road vehicle driving process.

2. The control method according to claim 1, characterized in that: Further including: During the process of assisting driving on narrow roads, if an impassable road section is detected ahead, the tracking reverse function is activated, and the tracking reverse process is performed according to the vehicle trajectory information recorded during the narrow road driving process; After the vehicle returns to the starting point of this narrow road driving, the user is prompted to take over the vehicle.

3. The method according to claim 1, characterized in that The real-time detection of whether the predetermined area in front of the vehicle is a narrow road section further includes: The vehicle's forward and side radars are used to determine the distance between the obstacle and the vehicle, and identify the minimum clearance width in the area with a predetermined longitudinal and transverse length directly in front of the vehicle; Compare the difference between the minimum passing width and the vehicle body width with a preset first threshold and a second threshold, wherein the first threshold is smaller than the second threshold; When the difference is less than the first threshold, it is determined that the road ahead is an impassable section; when the difference is between the first threshold and the second threshold, it is determined that the road ahead is a narrow road section; when the difference is greater than the second threshold, it is determined that the road ahead is a normal passable section.

4. The method according to any one of claims 1 to 3, characterized in that After obtaining the user's confirmation of starting the narrow road assisted driving, the takeover authentication process is further performed, including: Determine whether the user responds and agrees to activate the narrow road assisted driving function, or determine whether the user actively triggers the activation of the narrow road assisted driving function; If the above judgment result is yes, the vehicle parking system performs control handshake authentication with the power, brake, and steering systems; After successful authentication, the vehicle's surrounding conditions and predicted driving trajectory will be displayed.

5. The method according to claim 4, characterized in that After the authentication is successful, taking over the vehicle and starting the narrow road assisted driving, automatically controlling the vehicle to pass through the narrow road section at a low speed, and recording the vehicle trajectory information during the narrow road vehicle driving process, further includes: After successful authentication, the vehicle gear shifting, torque increase / decrease, deceleration and steering torque control are automatically performed according to the predicted driving trajectory of the vehicle, so as to control the vehicle to drive out of the current narrow road section at a low speed; During the narrow road assisted driving process, the vehicle's driving trajectory and driving information are recorded in real time, and the driving information at least includes the steering torque.

6. A narrow road traffic control system, characterized in that: At least: A narrow road section detection unit, used for detecting in real time whether a predetermined area in front of the vehicle is a narrow road section; A narrow road section prompting unit is used to prompt the user when a narrow road section is detected ahead, so as to prepare to start the narrow road assisted driving; A takeover authentication processing unit, used to perform takeover authentication processing after obtaining the user's confirmation of starting the narrow road assisted driving; A narrow road driving control unit, which is used to take over the vehicle and start narrow road assisted driving after successful authentication, automatically control the vehicle to pass through the narrow road section at a low speed, and record vehicle trajectory information during the narrow road vehicle driving process; A prompt processing unit, used for prompting the user to take over the vehicle after passing the narrow road section; When the narrow road section cannot be passed, the user is prompted to start tracking reverse according to the vehicle trajectory information during the narrow road vehicle driving process.

7. The control system according to claim 6, characterized in that: Further including: A tracking and reversing processing unit is used to start the tracking and reversing function when an impassable road section is detected ahead during the narrow road assisted driving process, and perform tracking and reversing processing according to the recorded vehicle trajectory information during the narrow road vehicle driving process; After the vehicle returns to the initial point of this narrow road driving, the takeover prompting unit prompts the user to take over the vehicle.

8. The system according to claim 7, characterized in that The narrow road section detection unit further comprises: A traffic width acquisition unit is used to determine the distance between the obstacle and the vehicle through the vehicle's forward and side radars, and identify the minimum traffic width value in an area of ​​predetermined longitudinal and transverse lengths directly in front of the vehicle; A comparison processing unit, configured to compare the difference between the minimum passing width and the vehicle body width with a preset first threshold and a second threshold, wherein the first threshold is smaller than the second threshold; The road section type determination unit is used to determine that the road ahead is an impassable road section when the difference is less than a first threshold; to determine that the road ahead is a narrow road section when the difference is between the first threshold and the second threshold; and to determine that the road ahead is a normally passable road section when the difference is greater than the second threshold.

9. The system according to claim 8, characterized in that The takeover authentication processing unit further comprises: A trigger condition acquisition unit, used to determine whether the user responds and agrees to activate the narrow road assisted driving function, or to determine whether the user actively triggers the activation of the narrow road assisted driving function; The authentication unit is used for, if the above judgment result is yes, the vehicle parking system performs a control handshake authentication with the power, brake and steering systems; The prompt unit is used to prompt the vehicle's surrounding conditions and the vehicle's predicted driving trajectory after successful authentication.

10. The system according to claim 9, characterized in that The narrow road driving control unit further comprises: A driving processing unit, which is used to automatically switch vehicle gears, increase or decrease torque, control deceleration and steering torque according to the predicted driving trajectory of the vehicle after successful authentication, so as to control the vehicle to drive out of the current narrow road section at a low speed; The trajectory recording unit is used to record the vehicle's driving trajectory and driving information in real time during the narrow road assisted driving process, and the driving information at least includes the steering torque.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

12. A computing device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

13. A vehicle, on which at least an automatic parking device is provided, wherein the system according to any one of claims 6 to 10 is deployed in the automatic parking device.

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