Intelligent auxiliary driving control method and device and computer program product

Abstract

The invention discloses an intelligent auxiliary driving control method and device and a computer program product, and the method comprises the steps: recognizing the traffic light information, road information, vehicle information and pedestrian information of an area where a vehicle is located; if the traffic signal lamp is recognized in front, performing pedestrian yielding control on the vehicle according to the indication of the traffic signal lamp and the pedestrian information; if it is recognized that there is no traffic signal lamp in front but there is a pedestrian crossing line, performing pedestrian yielding control on the vehicle according to the position relationship between the pedestrian and the pedestrian crossing line and whether the pedestrian has a gesture indicating that the vehicle is going ahead or not; and if no traffic signal lamp and no pedestrian crossing line are recognized in front, performing pedestrian commission control on the vehicle according to the position of the pedestrian, the expected trajectory of the pedestrian and the position relation of the vehicle. The braking comfort of intelligent auxiliary driving under the condition of guaranteeing pedestrian safety can be improved in the scene without traffic lights, the waiting time is shortened, the potential collision risk is avoided, and the pedestrian safety is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to an intelligent assisted driving control method, device and computer program product. Background Art

[0002] With the rapid development of the current intelligent transportation system, intelligent assisted driving technology has become one of the key technologies to improve road safety and optimize travel experience. In urban road scenes with traffic lights, the intelligent assisted driving system can accurately identify traffic signals, pedestrian dynamics and surrounding vehicle status by integrating high-precision maps, sensor fusion, advanced algorithms and other technical means, effectively ensuring courtesy to pedestrians during driving.

[0003] However, the application and optimization of this technology is still insufficient in the case of roads without traffic lights. Such roads often have low reliance on traffic rules, and pedestrian crossing behavior is more random and difficult to predict, increasing the uncertainty of traffic flow. The lack of clear signal instructions makes it difficult for intelligent assisted driving systems to identify pedestrian intentions, predict pedestrian paths, and take timely courtesy measures, increasing the risk of traffic accidents. Summary of the invention

[0004] The technical problem to be solved by the embodiments of the present invention is to provide an intelligent assisted driving control method, device and computer program product to improve the safety of controlling vehicles to give way to pedestrians when there are no traffic lights.

[0005] In order to solve the above technical problems, the present invention provides an intelligent assisted driving control method, comprising the following steps:

[0006] Identify traffic light information, road information, vehicle information, and pedestrian information in the area where the vehicle is located;

[0007] If a traffic light is detected ahead, the vehicle will give way to pedestrians according to the traffic light instructions and pedestrian information;

[0008] If it is detected that there is a crosswalk but no traffic lights ahead, the vehicle will give way to pedestrians according to the position relationship between the pedestrian and the crosswalk and whether the pedestrian is making gestures to indicate that the vehicle should go first.

[0009] If it is detected that there is no traffic light and no pedestrian crossing ahead, the vehicle will be controlled to give way to pedestrians based on the position of the pedestrian, the pedestrian's expected trajectory and the position of the vehicle.

[0010] Preferably, when it is recognized that there is no traffic light ahead but there is a crosswalk, the vehicle is controlled to give way to pedestrians according to the positional relationship between the pedestrian and the crosswalk and whether the pedestrian has a gesture to indicate that the vehicle should go first, specifically including:

[0011] If pedestrians are detected on both sides of the crosswalk, the vehicle will slow down and let them pass.

[0012] If a pedestrian is not identified entering the crosswalk after the monitoring time exceeds the first preset time threshold, the vehicle is further identified to see whether the pedestrian makes a gesture to indicate that the vehicle should go first. If so, the vehicle is controlled to slowly pass through the crosswalk, wherein the starting point of the monitoring time is when the vehicle detects the pedestrian and identifies the crosswalk.

[0013] Preferably, when the gesture of the pedestrian indicating that the vehicle should go first is not recognized, performing the pedestrian courtesy control specifically includes:

[0014] If the lane is a single lane, continue to slow down and give way;

[0015] If the lane is a dual lane or multi-lane, and the vehicle is separated from the pedestrians by at least one lane, the vehicle should be controlled to slowly cross the pedestrian crossing line;

[0016] If the lane is two lanes or multiple lanes, and the distance between your vehicle and the pedestrian is less than one lane, continue to slow down and give way.

[0017] Preferably, the method further comprises:

[0018] If the monitoring time exceeds the second preset time threshold and the pedestrian is still not identified entering the crosswalk, the vehicle is controlled to slow down and pass the crosswalk;

[0019] If a pedestrian is identified entering the crosswalk, then during the process of the vehicle crossing the crosswalk, if the pedestrian's walking intention to pass in front of the vehicle is identified and the duration of walking exceeds the third preset time threshold, the vehicle will be controlled to slowly pass through the crosswalk; if it is identified that there are still pedestrians on the crosswalk and the total parking time exceeds the fourth preset time threshold, a prompt message will be sent to the user, suggesting that the user take over the vehicle and pass in advance; if the user does not take over and the parking time exceeds the fifth preset time threshold, the intelligent assisted driving will be exited and the user will be prompted to take over the vehicle.

[0020] Preferably, when it is recognized that there is no traffic light and no crosswalk ahead, the vehicle is controlled to give way to pedestrians according to the position of the pedestrian, the expected trajectory of the pedestrian and the position relationship of the vehicle, which specifically includes:

[0021] If the pedestrian is in the adjacent lane of the vehicle, the vehicle will be controlled to slow down and give way;

[0022] If there is at least one lane between the pedestrian and the vehicle, and there is a vehicle in the lane between the pedestrian and the vehicle, the vehicle is controlled to follow the target vehicle;

[0023] If there is at least one lane between the pedestrian and the vehicle, and there are no vehicles in the lane between the pedestrian and the vehicle, the vehicle will be controlled to slow down.

[0024] Preferably, the method further comprises:

[0025] If the pedestrian's expected trajectory will not or has already passed through the vehicle's lane, and the vehicle's expected distance from the pedestrian when passing the intersection with the pedestrian's expected trajectory is greater than a first preset distance threshold, the vehicle is controlled to pass slowly;

[0026] If it is recognized that there are still pedestrians in the lane and the total parking time exceeds the sixth preset time threshold, a prompt message will be sent to the user, suggesting that the user take over the vehicle and pass in advance; if the user does not take over and the parking time exceeds the fifth preset time threshold, the intelligent assisted driving will be exited and the user will be prompted to take over the vehicle.

[0027] Preferably, the method further comprises:

[0028] If the pedestrian's expected trajectory will pass through the lane where the vehicle is located, and the expected distance between the vehicle and the pedestrian when passing the intersection with the pedestrian's expected trajectory is greater than the second preset distance threshold, the vehicle is controlled to slow down and pass through, and the speed of the vehicle when passing the intersection with the pedestrian's driving trajectory is slowed down to below the first preset speed threshold;

[0029] If the pedestrian is stationary or his expected trajectory will not pass through the lane where the vehicle is located, the vehicle is controlled to slow down and pass; otherwise, the vehicle is controlled to slow down and give way.

[0030] The present invention also provides an intelligent assisted driving control device, comprising:

[0031] Identification module, used to identify traffic light information, road information, vehicle information and pedestrian information in the area where the vehicle is located;

[0032] The control module is used to control the vehicle to give way to pedestrians according to the traffic light indication and pedestrian information when it is recognized that there is a traffic light ahead; to control the vehicle to give way to pedestrians according to the position relationship between the pedestrian and the crosswalk and whether the pedestrian has a gesture to indicate that the vehicle should go first when it is recognized that there is no traffic light ahead but there is a crosswalk; and to control the vehicle to give way to pedestrians according to the position of the pedestrian and the relationship between the pedestrian's expected trajectory and the position of the vehicle when it is recognized that there is no traffic light ahead and no crosswalk.

[0033] The present invention also provides an intelligent assisted driving control device, comprising:

[0034] one or more processors;

[0035] Memory;

[0036] One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to execute the intelligent assisted driving control method.

[0037] The present invention also provides a computer program product, comprising computer instructions, wherein the computer instructions instruct a computer device to execute operations corresponding to the method.

[0038] The implementation of the present invention has the following beneficial effects: The present invention comprehensively optimizes the intelligent assisted driving control in different traffic scenarios, especially in complex environments without traffic lights and / or zebra crossings, and realizes accurate recognition and intelligent response to the position of pedestrians, expected trajectories and the position relationship of the vehicle, effectively improving the driving safety and pedestrian protection capabilities of the vehicle under various road conditions. The present invention not only ensures the courteous behavior of the vehicle when encountering pedestrians, but also balances the needs of driving efficiency and pedestrian safety, avoiding unnecessary long waiting times. In addition, by intelligently judging pedestrian intentions and dynamically adjusting the vehicle's driving status, the potential risk of traffic accidents is reduced, driving comfort and user experience are improved, and the adaptability and reliability of the intelligent assisted driving system are significantly enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] 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, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 It is a flow chart of an intelligent assisted driving control method according to an embodiment of the present invention.

[0041] Figure 2 It is a schematic diagram of the pedestrian courtesy control process in a traffic light scenario in an embodiment of the present invention.

[0042] Figure 3 It is a schematic diagram of the pedestrian yielding control process in a scene without traffic lights but with zebra crossings in an embodiment of the present invention.

[0043] Figure 4a is a schematic diagram of giving way to pedestrians in a single lane in front of a zebra crossing in a scenario where there is no traffic light but there is a zebra crossing in an embodiment of the present invention. Figure 4b It is a schematic diagram of giving way to pedestrians in two lanes or multiple lanes in front of a zebra crossing in a scenario where there is no traffic light but there is a zebra crossing in an embodiment of the present invention.

[0044] Figure 5It is a schematic diagram of the intersection of the walking direction of pedestrians and the driving direction of the vehicle in a scene without traffic lights but with zebra crossings in an embodiment of the present invention.

[0045] Figure 6 It is a schematic diagram of the pedestrian yielding control process in a scene without traffic lights and zebra crossings in an embodiment of the present invention.

[0046] Figure 7 It is a schematic diagram of a vehicle following a vehicle in an adjacent lane in a scene without a traffic light and a zebra crossing according to an embodiment of the present invention.

[0047] Figure 8 It is a schematic diagram of a vehicle slowing down and passing through a scene without a traffic light and a zebra crossing in an embodiment of the present invention. DETAILED DESCRIPTION

[0048] The following descriptions of the embodiments refer to the accompanying drawings to illustrate specific embodiments in which the present invention may be implemented.

[0049] Please refer to Figure 1 As shown, the first embodiment of the present invention provides an intelligent assisted driving control method, comprising the following steps:

[0050] Identify traffic light information, road information, vehicle information, and pedestrian information in the area where the vehicle is located;

[0051] If a traffic light is detected ahead, the vehicle will give way to pedestrians according to the traffic light instructions and pedestrian information;

[0052] If it is detected that there is a crosswalk but no traffic lights ahead, the vehicle will give way to pedestrians according to the position relationship between the pedestrian and the crosswalk and whether the pedestrian is making gestures to indicate that the vehicle should go first.

[0053] If it is detected that there is no traffic light and no pedestrian crossing ahead, the vehicle will be controlled to give way to pedestrians based on the position of the pedestrian, the pedestrian's expected trajectory and the position of the vehicle.

[0054] Through the above steps, it can be seen that the present invention can improve the braking comfort of intelligent assisted driving while ensuring the safety of pedestrians in a scene without traffic lights, reduce waiting time, avoid potential collision risks, and ensure the safety of pedestrians.

[0055] Specifically, in the embodiment of the present invention, the vehicle is equipped with a pedestrian courtesy function, which can be set to be enabled by default or disabled by default. When it is disabled by default, the user can choose to enable it when needed. After the pedestrian courtesy function is enabled, the intelligent assisted driving control process of the embodiment of the present invention is executed, which is as follows:

[0056] Step S1: The vehicle monitors and identifies the traffic light information, road information, vehicle information and pedestrian information in the area where the vehicle is located in real time. Traffic light information refers to whether there is a traffic light in front of the vehicle and the indication information of the traffic light (currently in red or green state); road information includes whether there is a pedestrian crossing (i.e. whether there is a zebra crossing) and lane lines (single lane or multiple lanes); vehicle information includes whether there is a vehicle in front of the vehicle, whether there is a vehicle in the adjacent lane of the vehicle, etc.; pedestrian information includes whether there are pedestrians in or on both sides of the pedestrian crossing (when there is a pedestrian crossing), and whether there are pedestrians in the lane in front of the vehicle or on both sides of the lane (when there is no pedestrian crossing).

[0057] If it is recognized that there is a traffic light ahead of the vehicle, jump to step S2; if it is recognized that there is no traffic light ahead and there is a zebra crossing, jump to step S3; if it is recognized that there is no traffic light ahead and there is no zebra crossing, jump to step S4.

[0058] Step S2: If there is a traffic light in front of the vehicle, the vehicle is controlled to give way to pedestrians according to the traffic light instructions, such as Figure 2 As shown in the figure, the control process specifically includes:

[0059] When the traffic light indicates red or yellow, you should slow down and stop;

[0060] When the traffic light turns green, if you detect pedestrians on the zebra crossing, you should slow down and stop in front of the zebra crossing, and wait for the pedestrians to pass before crossing the zebra crossing; otherwise, you should cross normally.

[0061] Step S3: If it is recognized that there is no traffic light ahead but there is a zebra crossing, the vehicle is controlled to give way to pedestrians according to the position relationship between the pedestrian and the crosswalk and whether the pedestrian is making a gesture to indicate that the vehicle should go first. Figure 3 As shown in the figure, the control process specifically includes:

[0062] If a pedestrian is detected on the zebra crossing, the vehicle should slow down and stop in front of the zebra crossing; and jump to step S35.

[0063] If pedestrians are detected on both sides of the zebra crossing, the vehicle should slow down and let the pedestrians pass. It should be noted that the vehicle should slow down slowly and comfortably, and ensure that it can stop comfortably in front of the zebra crossing in an emergency. At this time, the process jumps to step S31.

[0064] Step S31: If the duration of monitoring the pedestrian exceeds a first preset duration threshold (e.g., 5s, which is adjustable, and the timing starts from when the vehicle monitors the pedestrian and identifies the zebra crossing), and the pedestrian is still not identified as entering the zebra crossing, jump to step S32; otherwise, jump to step S35.

[0065] Step S32: Identify whether the pedestrians are waving their hands or other gestures to indicate that the vehicle should go first. If so, control the vehicle to slowly cross the zebra crossing; otherwise, jump to step S33.

[0066] Step S33: Figure 4a As shown, if the lane where the vehicle is located is a single lane, continue to slow down and yield, and jump to step 34; if Figure 4b As shown, if the lane is a double lane or multiple lanes, and the vehicle is separated from the pedestrian by at least one lane, then the vehicle slowly passes through the zebra crossing; if the lane is a double lane or multiple lanes, and the vehicle is separated from the pedestrian by less than one lane (for example, the pedestrian is in front of the lane where the vehicle is located), then the vehicle continues to slow down and give way, and jumps to step S34.

[0067] Step S34: If the monitoring time exceeds a second preset time threshold (for example, 10s, this threshold is also adjustable, and the timing starts from the time the vehicle monitors the pedestrian and identifies the zebra crossing), and no pedestrian is identified entering the zebra crossing, slow down and pass through the zebra crossing; otherwise, jump to step S35.

[0068] Step S35: Figure 5 As shown, if the pedestrian's walking intention to pass in front of the vehicle is recognized (that is, the pedestrian has no intention to walk towards the intersection with the vehicle's driving path as shown by the small circle on the way) and the duration exceeds the third preset time threshold (for example, 1s, this threshold is also adjustable and set according to the length of the zebra crossing), the vehicle will slowly pass through the zebra crossing; if it is recognized that there are still pedestrians on the zebra crossing and the total parking time exceeds the fourth preset time threshold (for example, 30s, this threshold is adjustable and can be set according to the length of the zebra crossing, and the timing starts from when the vehicle stops), the user is prompted "There are many pedestrians on the current section of the road, you can take over and pass the intersection in advance", if the user does not take over and the parking time exceeds the fifth preset time threshold (for example, 1min, this threshold is adjustable), the intelligent assisted driving is exited, and the user is prompted "There are many pedestrians on the current section of the road, the intelligent assisted driving function is exited, please take over the vehicle".

[0069] It should be noted that the existing technology usually triggers vehicle deceleration only when a potential collision risk with a pedestrian is identified within the road speed limit. Although this strategy can ensure driving safety to a certain extent, countermeasures are often taken only when the risk is already more urgent, and insufficient consideration is given to preventive safe driving. The present invention has made innovations on this basis. It not only relies on the identification of collision risks, but also pays more attention to the behavioral intentions and location information of pedestrians. Especially in scenarios where there are zebra crossings without traffic lights, the present invention can judge the pedestrians' intention to cross the street in advance based on the pedestrian conditions on both sides of the zebra crossing, as well as subtle movements such as pedestrians' gestures. Even if the pedestrian has not entered the sidewalk temporarily, as long as the system recognizes that the pedestrian may have the need to cross the street, it will actively control the vehicle to slow down, thereby greatly reducing the risk of traffic accidents caused by pedestrians suddenly breaking into the lane.

[0070] Step S4: If it is recognized that there is no traffic light or zebra crossing ahead, the vehicle is controlled to give way to pedestrians according to the position of the pedestrian, the expected trajectory of the pedestrian and the position relationship of the vehicle, such as Figure 6 As shown in the figure, the control process specifically includes:

[0071] Step S41: If there are pedestrians in the lane where the vehicle is located, the vehicle will slow down and can optionally remind the pedestrians to pay attention to safety through sound, vibration or light, and then proceed to step S42; if the pedestrian is at the edge of the road outside the lane where the vehicle is located, the vehicle will pass slowly; otherwise, the vehicle will pass normally.

[0072] Step S42: (1) If the pedestrian is in the adjacent lane of the vehicle, slow down and yield, and proceed to step S43; (2) If there is at least one lane between the pedestrian and the vehicle, and there is a vehicle in the lane between the pedestrian and the vehicle (set as the target vehicle) and the target vehicle is between the vehicle and the pedestrian (such as the adjacent lane), Figure 7 As shown), the vehicle follows the target vehicle, that is: if the target vehicle decelerates, the vehicle follows the deceleration; if the target vehicle accelerates, the vehicle follows the acceleration after judging that there is no risk, and stops following the vehicle after passing the intersection with the pedestrian's trajectory. It should be noted that the vehicle's deceleration or acceleration should be adjusted in real time according to the pedestrian's expected speed and the expected distance from the pedestrian when passing the intersection with the pedestrian's trajectory); (3) If there is at least one lane between the pedestrian and the vehicle, and there is no vehicle in the lane between the pedestrian and the vehicle, the vehicle decelerates and jumps to step S44;

[0073] Step S43: If the expected trajectory of the pedestrian will not or has passed through the lane where the vehicle is located, and the expected distance between the vehicle and the pedestrian when passing the intersection with the expected trajectory of the pedestrian is greater than a first preset distance threshold (for example, 1.5m, this threshold is adjustable and can be appropriately adjusted according to the wheelbase of the vehicle, and it is in a corresponding relationship with the vehicle speed, that is, the greater the passing speed, the greater the first preset distance threshold should be), then pass slowly; if it is recognized that there are still pedestrians in the lane and the total parking time exceeds the sixth preset time threshold (for example, 30s, this threshold is adjustable and can be set according to the total width of the lane), the user is prompted "There are many pedestrians on the current section of the road, you can take over and pass the intersection in advance"; if the user does not take over, then wait for the fifth preset time threshold (for example, 1min, this threshold is adjustable), then exit the intelligent assisted driving, and prompt the user "There are many pedestrians on the current section of the road, the intelligent assisted driving function is exited, please take over the vehicle".

[0074] Step S44: Figure 8As shown, if the expected trajectory of the pedestrian will pass through the lane where the vehicle is located, and the expected distance between the vehicle and the pedestrian when passing the intersection with the expected trajectory of the pedestrian is greater than the second preset distance threshold (for example, 2m, the threshold is adjustable and can be appropriately adjusted according to the wheelbase of the vehicle. The expected distance should be appropriately adjusted according to the wheelbase of the vehicle, and it is in a corresponding relationship with the vehicle speed, that is, the greater the passing speed, the greater the second preset distance threshold should be), then slow down to pass. It should be noted that the speed of the vehicle should be decelerated to below the first preset speed threshold (for example, 15km / h, the threshold is adjustable) when passing the intersection with the pedestrian's driving trajectory. If the pedestrian is stationary or his expected trajectory will not pass through the lane where the vehicle is located, slow down to pass; otherwise, slow down to give way and jump to step S43.

[0075] Corresponding to the intelligent assisted driving control method described in the first embodiment of the present invention, the second embodiment of the present invention further provides an intelligent assisted driving control device, including:

[0076] Identification module, used to identify traffic light information, road information, vehicle information and pedestrian information in the area where the vehicle is located;

[0077] The control module is used to control the vehicle to give way to pedestrians according to the traffic light indication and pedestrian information when it is recognized that there is a traffic light ahead; to control the vehicle to give way to pedestrians according to the position relationship between the pedestrian and the crosswalk and whether the pedestrian has a gesture to indicate that the vehicle should go first when it is recognized that there is no traffic light ahead but there is a crosswalk; and to control the vehicle to give way to pedestrians according to the position of the pedestrian and the relationship between the pedestrian's expected trajectory and the position of the vehicle when it is recognized that there is no traffic light ahead and no crosswalk.

[0078] Corresponding to the intelligent assisted driving control method described in the first embodiment of the present invention, the third embodiment of the present invention further provides an intelligent assisted driving control device, including:

[0079] one or more processors;

[0080] Memory;

[0081] One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to execute the intelligent assisted driving control method.

[0082] Corresponding to the intelligent assisted driving control method described in the aforementioned embodiment 1 of the present invention, embodiment 4 of the present invention also provides a computer program product, including computer instructions, and the computer instructions instruct a computer device to perform operations corresponding to the method.

[0083] Preferably, the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor may be any conventional processor. The processor is the control center of the device, and various parts of the device are connected using various interfaces and lines.

[0084] The memory mainly includes a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function, etc., and the data storage area can store related data, etc. In addition, the memory can be a high-speed random access memory, or a non-volatile memory, such as a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, and a flash card (Flash Card), etc., or the memory can also be other volatile solid-state storage devices.

[0085] It should be noted that the above-mentioned device may include but is not limited to a processor and a memory, which can be understood by those skilled in the art.

[0086] For the working principle and process of the above embodiment, please refer to the description of the above embodiment of the present invention, which will not be repeated here.

[0087] It can be seen from the above description that compared with the prior art, the beneficial effects of the present invention are: the present invention comprehensively optimizes the intelligent assisted driving control in different traffic scenarios, especially in complex environments without traffic lights and / or zebra crossings, and realizes accurate recognition and intelligent response to the position of pedestrians, expected trajectories and the position relationship of the vehicle, effectively improving the vehicle's driving safety and pedestrian protection capabilities under various road conditions. The present invention not only ensures the courteous behavior of the vehicle when encountering pedestrians, but also balances the needs of driving efficiency and pedestrian safety, avoiding unnecessary long waiting times. In addition, by intelligently judging pedestrian intentions and dynamically adjusting the vehicle's driving status, the potential risk of traffic accidents is reduced, driving comfort and user experience are improved, and the adaptability and reliability of the intelligent assisted driving system are significantly enhanced.

[0088] The above disclosure is only the 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. An intelligent assisted driving control method, characterized in that: The following steps are involved: Identify traffic light information, road information, vehicle information, and pedestrian information in the area where the vehicle is located; If a traffic light is detected ahead, the vehicle will give way to pedestrians according to the traffic light instructions and pedestrian information; If it is detected that there is a crosswalk but no traffic lights ahead, the vehicle will give way to pedestrians according to the position relationship between the pedestrian and the crosswalk and whether the pedestrian is making gestures to indicate that the vehicle should go first. If it is detected that there is no traffic light and no pedestrian crossing ahead, the vehicle will be controlled to give way to pedestrians based on the position of the pedestrian, the pedestrian's expected trajectory and the position of the vehicle.

2. The method according to claim 1, characterized in that: When there is no traffic light ahead but a crosswalk is detected, the vehicle will give way to pedestrians based on the position of the pedestrian and the crosswalk and whether the pedestrian is making a gesture to indicate that the vehicle should go first. Specifically, the vehicle will: If pedestrians are detected on both sides of the crosswalk, the vehicle will slow down and let them pass. If a pedestrian is not identified entering the crosswalk after the monitoring time exceeds the first preset time threshold, the vehicle is further identified to see whether the pedestrian makes a gesture to indicate that the vehicle should go first. If so, the vehicle is controlled to slowly pass through the crosswalk, wherein the starting point of the monitoring time is when the vehicle detects the pedestrian and identifies the crosswalk.

3. The method according to claim 2, characterized in that When the pedestrian's gesture indicating that the vehicle should go first is not recognized, the pedestrian-yielding control specifically includes: If the lane is a single lane, continue to slow down and give way; If the lane is a dual lane or multi-lane, and the vehicle is separated from the pedestrians by at least one lane, the vehicle should be controlled to slowly cross the pedestrian crossing line; If the lane is two lanes or multiple lanes, and the distance between your vehicle and the pedestrian is less than one lane, continue to slow down and give way.

4. The method according to claim 3, characterized in that Also includes: If the monitoring time exceeds the second preset time threshold and the pedestrian is still not identified entering the crosswalk, the vehicle is controlled to slow down and pass the crosswalk; If a pedestrian is identified entering the crosswalk, then during the process of the vehicle passing through the crosswalk, if the pedestrian's walking intention to pass in front of the vehicle is identified and the duration exceeds the third preset time threshold, the vehicle is controlled to slowly pass through the crosswalk; if it is identified that there are still pedestrians on the crosswalk and the total parking time exceeds the fourth preset time threshold, a prompt message is sent to the user, suggesting that the user take over the vehicle and pass in advance; If the user does not take over and the parking time exceeds the fifth preset time threshold, the intelligent assisted driving will be exited and the user will be prompted to take over the vehicle.

5. The method according to claim 1, characterized in that When there is no traffic light or pedestrian crossing ahead, the vehicle will give way to pedestrians according to the position of the pedestrian, the expected trajectory of the pedestrian and the position of the vehicle, including: If the pedestrian is in the adjacent lane of the vehicle, the vehicle will be controlled to slow down and give way; If there is at least one lane between the pedestrian and the vehicle, and there is a vehicle in the lane between the pedestrian and the vehicle, the vehicle is controlled to follow the target vehicle; If there is at least one lane between the pedestrian and the vehicle, and there are no vehicles in the lane between the pedestrian and the vehicle, the vehicle will be controlled to slow down.

6. The method according to claim 5, characterized in that Also includes: If the pedestrian's expected trajectory will not or has already passed through the vehicle's lane, and the vehicle's expected distance from the pedestrian when passing the intersection with the pedestrian's expected trajectory is greater than a first preset distance threshold, the vehicle is controlled to pass slowly; If it is recognized that there are still pedestrians in the lane and the total parking time exceeds the sixth preset time threshold, a prompt message is sent to the user, suggesting that the user take over the vehicle and pass in advance; If the user does not take over and the parking time exceeds the fifth preset time threshold, the intelligent assisted driving will be exited and the user will be prompted to take over the vehicle.

7. The method according to claim 5, characterized in that Also includes: If the pedestrian's expected trajectory will pass through the lane where the vehicle is located, and the expected distance between the vehicle and the pedestrian when passing the intersection with the pedestrian's expected trajectory is greater than the second preset distance threshold, the vehicle is controlled to slow down and pass through, and the speed of the vehicle when passing the intersection with the pedestrian's driving trajectory is slowed down to below the first preset speed threshold; If the pedestrian is stationary or his expected trajectory will not pass through the lane where the vehicle is located, the vehicle is controlled to slow down and pass; otherwise, the vehicle is controlled to slow down and give way.

8. An intelligent assisted driving control device, characterized in that: include: Identification module, used to identify traffic light information, road information, vehicle information and pedestrian information in the area where the vehicle is located; The control module is used to control the vehicle to give way to pedestrians according to the traffic light indication and pedestrian information when it is recognized that there is a traffic light ahead; to control the vehicle to give way to pedestrians according to the position relationship between the pedestrian and the crosswalk and whether the pedestrian has a gesture to indicate that the vehicle should go first when it is recognized that there is no traffic light ahead but there is a crosswalk; and to control the vehicle to give way to pedestrians according to the position of the pedestrian and the relationship between the pedestrian's expected trajectory and the position of the vehicle when it is recognized that there is no traffic light ahead and no crosswalk.

9. An intelligent assisted driving control device, characterized in that: include: one or more processors; Memory; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to execute the intelligent assisted driving control method as described in any one of claims 1 to 7.

10. A computer program product, characterized in that The method comprises computer instructions, wherein the computer instructions instruct a computer device to execute operations corresponding to the method according to any one of claims 1 to 7.

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