Driving assistance method, vehicle-mounted computer and bicycle

Abstract

The invention relates to the field of bicycles, in particular to a driving assistance method, a vehicle-mounted computer and a bicycle. The driving assistance method is applied to a vehicle-mounted computer of a bicycle and comprises the following steps: acquiring information of a driving path in front of the bicycle; acquiring a current rotation angle of a handlebar of the bicycle; determining a target turning direction of the bicycle based on the driving path information and the current rotation angle; based on the target turning direction, a saddle inclination angle control instruction is generated, and the saddle inclination angle control instruction is used for controlling the inclination direction of a saddle of the bicycle. According to the embodiment of the invention, a driver can be matched with the saddle to incline according to the inertia of the bicycle, so that the driver can keep balance as much as possible in the driving process, non-safe behaviors such as rollover are reduced, and the driving safety of the bicycle driver is improved.

Description

Technical Field

[0001] This application relates to the field of bicycles, and particularly to a driving assistance method, an on-vehicle computer, and a bicycle. Background Art

[0002] Motorized bicycles are usually used by the public as affordable means of transportation. However, they are physically unstable. Especially in situations such as low-speed cruising or emergency evasion, the vehicle is prone to tilt and roll over, threatening the safety of the driver. Summary of the Invention

[0003] In view of the above, embodiments of this application provide a driving assistance method, an on-vehicle computer, and a bicycle, aiming to improve the driving safety of bicycle drivers.

[0004] Embodiments of this application provide a driving assistance method applied to an on-vehicle computer of a bicycle. The driving assistance method includes:

[0005] Obtain the driving path information in front of the bicycle;

[0006] Obtain the current rotation angle of the handlebar of the bicycle;

[0007] Based on the driving path information and the current rotation angle, determine the target turning direction of the bicycle;

[0008] Based on the target turning direction, generate a seat inclination control instruction for controlling the inclination direction of the seat of the bicycle.

[0009] Embodiments of this application can refer to the driving path in front of the bicycle and the current rotation angle of the handlebar of the bicycle to obtain the turning direction required for the bicycle to travel on the driving path. Then, according to the turning direction, control the inclination direction of the seat of the bicycle, so that the driver can cooperate with the seat to tilt according to the vehicle inertia, enabling the driver to maintain balance as much as possible during driving, reducing the occurrence of non-safe behaviors such as rollovers, and improving the driving safety of bicycle drivers.

[0010] In some embodiments, before generating the seat inclination control instruction based on the target turning direction, it further includes:

[0011] Obtain the driving speed of the bicycle;

[0012] If the driving speed exceeds a preset threshold, turn on the seat inclination assistance mode of the bicycle;

[0013] The generating of the seat inclination control instruction based on the turning direction of the bicycle includes:

[0014] When the saddle inclination angle assist mode of the bicycle is turned on, a saddle inclination angle control instruction is generated based on the turning direction of the bicycle.

[0015] In some embodiments, the saddle inclination angle control instruction is further used to control the inclination angle of the saddle of the bicycle. Generating the saddle inclination angle control instruction based on the target turning direction includes:

[0016] Obtain the body roll angle of the bicycle, where the body roll angle is the angle between the body of the bicycle and the ground where the bicycle is located;

[0017] Based on the body roll angle, determine the target inclination angle of the saddle;

[0018] Generate the saddle inclination angle control instruction based on the target turning direction of the bicycle and the target inclination angle of the saddle.

[0019] In some embodiments, obtaining the driving path information in front of the bicycle includes:

[0020] Obtain the image data of the driving environment in front of the bicycle;

[0021] Based on the image data, determine the obstacles in the front driving environment;

[0022] Based on the obstacles, plan the driving path to obtain the driving path information.

[0023] In some embodiments, the driving assistance method further includes:

[0024] Based on the driving path information and the current rotation angle, determine the target rotation angle of the bicycle; the target rotation angle is used to assist the bicycle to drive along the front driving path;

[0025] Generate a handlebar steering control instruction based on the target rotation angle, and the handlebar steering control instruction is used to instruct the handlebar of the bicycle to rotate according to the target rotation angle.

[0026] In some embodiments, the driving path information includes a lane center line. Determining the target rotation angle of the bicycle based on the driving path information and the current rotation angle includes:

[0027] Based on the current rotation angle, determine the deviation angle from the lane center line;

[0028] Based on the deviation angle, determine the target rotation angle of the bicycle.

[0029] An embodiment of the present application further provides an in-vehicle computer, which includes a processor and a memory. The memory is used to store instructions, and the processor is used to call the instructions in the memory so that the in-vehicle computer executes the above-mentioned driving assistance method.

[0030] An embodiment of the present application further provides a bicycle, which includes the above-mentioned in-vehicle computer, and the in-vehicle computer is configured on the body of the bicycle.

[0031] In some embodiments, the bicycle further includes a first motor, which is communicatively connected to the in-vehicle computer. The first motor is configured between the body of the bicycle and the seat of the bicycle, and the first motor is used to control the tilting direction of the seat of the bicycle in response to the seat inclination control instruction.

[0032] In some embodiments, the bicycle further includes a second motor, which is communicatively connected to the in-vehicle computer. The second motor is configured at the connection between the body of the bicycle and the handlebar of the bicycle, and the second motor is used to control the handlebar of the bicycle to rotate according to the target rotation angle in response to the steering control instruction.

[0033] It can be understood that the above-provided in-vehicle computer and bicycle correspond to the above-mentioned driving assistance method. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be elaborated here. Description of the Drawings

[0034] Figure 1 is a schematic structural diagram of a driving assistance system according to an embodiment of the present application.

[0035] Figure 2 is a schematic side view of a bicycle according to an embodiment of the present application.

[0036] Figure 3 is a schematic structural diagram of a seat according to an embodiment of the present application.

[0037] Figure 4 is a schematic front view of a bicycle according to an embodiment of the present application.

[0038] Figure 5 is a schematic side view of a bicycle configured with a second motor according to an embodiment of the present application.

[0039] Figure 6 is a top view of a bicycle according to an embodiment of the present application.

[0040] Figure 7 is a step flowchart of a driving assistance method according to an embodiment of the present application.

[0041] Figure 8 It is a schematic structural diagram of an in-vehicle computer provided according to an embodiment of the present application.

[0042] Description of main component symbols

[0043] Bicycle 10

[0044] Handlebar 11

[0045] Body 12

[0046] Seat 13

[0047] Front fork 14

[0048] Rear lower fork 15

[0049] Front wheel 16

[0050] Rear wheel 17

[0051] Driver assistance system 20

[0052] In-vehicle computer 21

[0053] Memory 211

[0054] Processor 212

[0055] Computer program 213

[0056] First motor 221

[0057] Second motor 222

[0058] Imaging device 23

[0059] First position encoder 241

[0060] Second position encoder 242

[0061] Third position encoder 243

[0062] Speed detection device 25

[0063] First speed sensor 251

[0064] Second speed sensor 252

[0065] Acceleration sensor 26 Detailed implementation manners

[0066] In order to more clearly understand the above-mentioned objects, features and advantages of the present application, the present application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0067] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application. The described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments.

[0068] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments, and are not intended to limit the present application.

[0069] Furthermore, it should be noted that, in this document, the terms "comprising", "including" or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of additional identical elements in the process, method, article or device comprising such element.

[0070] In the present application, "at least one" means one or more, and "a plurality" means two or more than two. "And / or" describes the associated relationship of associated objects and indicates that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B may be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0071] In the embodiments of the present application, words such as "exemplary" or "for example" are used to mean as an example, illustration or explanation. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0072] The embodiments of the present application provide a bicycle, an on-vehicle computer and a driving assistance method.

[0073] First, refer to Figure 1 as shown Figure 1The driving assistance system 20 provided by an embodiment of the present application can be configured on Figure 2 the bicycle 10 shown in

[0074] The driving assistance system 20 at least includes: an on-vehicle computer 21, and the on-vehicle computer 21 is used to execute a driving assistance method.

[0075] Wherein, the driving assistance method may include: obtaining driving path information in front of the bicycle 10; obtaining the current rotation angle of the handlebar 11 of the bicycle 10; determining the turning direction of the bicycle 10 based on the driving path information and the current rotation angle; generating a seat inclination control instruction based on the turning direction of the bicycle 10, and the seat inclination control instruction is used to control the tilting direction of the seat 13 of the bicycle 10.

[0076] The embodiment of the present application can refer to the driving path in front of the bicycle 10 and the current rotation angle of the handlebar 11 of the bicycle 10 to obtain the turning direction required for the bicycle 10 to travel on the driving path, so as to control the tilting direction of the seat 13 of the bicycle 10 according to the turning direction, and further enable the driver to cooperate with the seat 13 to tilt according to the vehicle inertia, so that the driver can maintain balance as much as possible during driving, reduce the occurrence of non-safe behaviors such as overturning, and improve the driving safety of the bicycle 10 driver.

[0077] The on-vehicle computer 21 is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to processors, microprogrammed control units (MCUs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0078] In some embodiments, referring to Figure 3 as shown, the driving assistance system 20 may further include a first motor 221, the first motor 221 is configured between the seat 13 and the body 12 of the bicycle 10, and the on-vehicle computer 21 can transmit the seat inclination control instruction to the first motor 221, and the first motor 221 responds to the seat inclination control instruction to control the tilting direction of the seat 13.

[0079] In some embodiments, referring to Figure 4As shown, a camera device 23 may be configured at the handlebar 11 of the bicycle 10. The camera device 23 includes at least one camera. The camera device 23 is used to capture image data of the driving environment in front of the bicycle 10 and transmit the image data to the on-vehicle computer 21.

[0080] The on-vehicle computer 21 can be used to obtain the driving path information in front of the bicycle 10 based on the image data. The driving path information is used to describe the feasible path in front of the bicycle 10.

[0081] In some embodiments, referring again to Figure 1 and Figure 2 As shown, the driving assistance system 20 of the bicycle 10 may further include a first position encoder 241. The first position encoder 241 is communicatively connected to the on-vehicle computer 21 and is configured at the connection between the handlebar 11 and the body 12 of the bicycle 10.

[0082] The first position encoder 241 is used to obtain the current rotation angle of the handlebar 11 and transmit the current rotation angle of the handlebar 11 to the on-vehicle computer 21 so that the on-vehicle computer 21 can obtain the current rotation angle of the handlebar 11.

[0083] The driving assistance system 20 may further include a second position encoder 242 and a third position encoder 243. Both the second position encoder 242 and the third position encoder 243 are communicatively connected to the on-vehicle computer 21.

[0084] The second position encoder 242 is configured at the connection between the front fork 14 (i.e., the front wheel suspension) and the body 12 of the bicycle 10. The second position encoder 242 is used to detect the tilt angle of the front end of the bicycle 10 and transmit the tilt angle of the front end of the bicycle 10 to the on-vehicle computer 21.

[0085] The third position encoder 243 is configured at the connection between the rear lower fork 15 (i.e., the rear wheel cantilever) and the body 12 of the bicycle 10. The third position encoder 243 is used to detect the tilt angle of the rear end of the bicycle 10 and transmit the tilt angle of the rear end of the bicycle 10 to the on-vehicle computer 21.

[0086] The on-vehicle computer 21 is used to obtain the roll angle of the bicycle 10 based on the tilt angle of the front end of the bicycle 10 and the tilt angle of the rear end of the bicycle 10. The roll angle is the angle between the body 12 of the bicycle 10 and the ground where the bicycle 10 is located.

[0087] The above method for obtaining the body roll angle is only an example. For example, a sensor for detecting the body roll angle of the bicycle 10 may also be installed at the body 12 of the bicycle 10, so that the vehicle-mounted computer 21 can obtain the body roll angle of the bicycle 10. In practical applications, the method for the vehicle-mounted computer 21 to obtain the body roll angle can be set according to requirements, and the embodiments of the present application do not limit this.

[0088] Referring again to Figure 1 as shown, the driving assistance system 20 may further include a speed detection device 25 for detecting the traveling speed of the bicycle 10 and transmitting the traveling speed of the bicycle 10 to the vehicle-mounted computer 21.

[0089] The speed detection device 25 may be disposed on the front wheel 16 and / or the rear wheel 17 of the bicycle 10.

[0090] In some embodiments, referring again to Figure 2 as shown, the speed detection device 25 may include a first speed sensor 251 and a second speed sensor 252.

[0091] Both the first speed sensor 251 and the second speed sensor 252 are communicatively connected to the vehicle-mounted computer 21.

[0092] The first speed sensor 251 may be disposed at the axis center of the front wheel 16 of the bicycle 10 to obtain the speed of the front wheel 16 and transmit the speed of the front wheel 16 to the vehicle-mounted computer 21.

[0093] The second speed sensor 252 may be disposed at the axis center of the rear wheel 17 of the bicycle 10 to obtain the speed of the rear wheel 17 and transmit the speed of the rear wheel 17 to the vehicle-mounted computer 21.

[0094] The vehicle-mounted computer 21 may obtain the traveling speed of the bicycle 10 based on the speed of the front wheel 16 and the speed of the rear wheel 17. For example, the traveling speed of the bicycle 10 may be obtained based on the average value of the speed of the front wheel 16 and the speed of the rear wheel 17. Another example is that the traveling speed of the bicycle 10 may be obtained based on the minimum value of the speed of the front wheel 16 and the speed of the rear wheel 17, but it is not limited thereto.

[0095] In this embodiment, the traveling speed of the bicycle 10 is obtained through the speed of the front wheel 16 and the speed of the rear wheel 17, which can improve the reliability of the traveling speed of the bicycle 10.

[0096] In some embodiments, continuing to refer to Figure 1 and Figure 2 as shown, the driving assistance system 20 may further include an acceleration sensor 26, for example, a 9-axis acceleration sensor. The acceleration sensor 26 is communicatively connected to the vehicle-mounted computer 21.

[0097] The acceleration sensor 26 can be configured in the middle section of the vehicle body 12. The acceleration sensor 26 is used to obtain the acceleration of the bicycle 10 and transmit the acceleration of the bicycle 10 to the on-vehicle computer 21.

[0098] In some embodiments, referring to Figure 5 and Figure 6 as shown, the driving assistance system 20 may further include a second motor 222. The second motor 222 is communicatively connected to the on-vehicle computer 21.

[0099] The second motor 222 is configured at the connection between the handlebar 11 and the vehicle body 12. The second motor 222 is used to assist the handlebar 11 of the bicycle 10 to rotate.

[0100] For example, the on-vehicle computer 21 is further used to determine the target rotation angle of the bicycle 10 based on the driving path information and the current rotation angle. The target rotation angle is used to assist the bicycle 10 to travel along the forward driving path. Then, a handlebar steering control instruction is generated based on the target rotation angle. The handlebar steering control instruction is used to instruct the handlebar 11 of the bicycle 10 to rotate according to the target rotation angle, and transmit the handlebar steering control instruction to the second motor 222.

[0101] The second motor 222 is used to control the handlebar 11 to rotate according to the target rotation angle in response to the handlebar steering control instruction.

[0102] The bicycle 10 of the embodiment of the present application is configured with a first motor 221 and a second motor 222. The first motor 221 and the second motor 222 can assist in steering the bicycle 10 and tilt the seat 13 of the bicycle 10 under the control of the on-vehicle computer 21, improving driving safety.

[0103] The embodiment of the present application also provides a driving assistance method. Referring again to Figures 1 to 2 as shown, this driving assistance method can be applied to the above-mentioned on-vehicle computer 21. The on-vehicle computer 21 can be configured on the bicycle 10 to provide driving assistance for the bicycle 10.

[0104] Referring to Figure 7 as shown, Figure 7 is a flowchart of the steps of the driving assistance provided by the embodiment of the present application. According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted. This driving assistance method includes:

[0105] Step 701, obtain the driving path information in front of the bicycle.

[0106] The driving path information is used to describe the passable path in front of the bicycle 10.

[0107] In some embodiments, referring to Figure 4As shown, a camera device 23 may be configured at the handlebar 11 of the bicycle 10. The camera device 23 can capture image data of the driving environment in front of the bicycle 10 and transmit the image data to the in-vehicle computer 21.

[0108] Based on the image data, the in-vehicle computer 21 can obtain the driving path information in front of the bicycle 10.

[0109] Further, the in-vehicle computer 21 determines obstacles in the driving environment based on the image data; based on the obstacles, it plans the driving path, for example, when avoiding obstacles, it tries to drive as close as possible to the center line of the lane to obtain the driving path information.

[0110] That is, the in-vehicle computer 21 can analyze the road conditions ahead based on the image data, avoid obstacles, and obtain the passable path ahead (i.e., the driving path).

[0111] Step 702: Obtain the current rotation angle of the handlebar of the bicycle.

[0112] In some embodiments, the in-vehicle computer 21 can obtain Figure 2 the current rotation angle of the handlebar 11 of the bicycle 10 from the first position encoder 241 as shown.

[0113] Further, the in-vehicle computer 21 can also obtain the driving speed of the bicycle 10. For example, the in-vehicle computer 21 obtains the driving speed of the bicycle 10 based on Figure 1 and Figure 2 the speed detection device 25 as shown, and then determines whether to activate the seat 13 inclination assistance mode based on the driving speed.

[0114] Specifically, if the driving speed exceeds a preset threshold, it indicates that the driver is very likely to tilt when turning, resulting in non-safe behavior. Therefore, it is determined to activate the seat 13 inclination assistance mode of the bicycle 10, that is, execute step 703 to improve driving safety.

[0115] If the driving speed does not exceed the preset threshold, it indicates that the driver is also likely to turn smoothly without tilting the seat 13. Therefore, it can be determined not to activate the seat 13 inclination assistance mode of the bicycle 10.

[0116] Step 703: Determine the target turning direction of the bicycle based on the driving path information and the current rotation angle.

[0117] For example, the target turning direction is the turning direction required for the bicycle 10 to travel along the driving path.

[0118] For example, if the driving path is on the left side of the bicycle 10 and the current rotation angle of the handlebar 11 is a certain number of degrees to the right, at this time, the target turning direction of the bicycle 10 is to the left. That is, the bicycle 10 needs to turn left to travel along this driving path.

[0119] Step 704: Generate a seat inclination control instruction based on the target turning direction. The seat inclination control instruction is used to control the inclination direction of the seat of the bicycle.

[0120] For example, when the bicycle 10 turns left, the inclination direction of the seat 13 of the bicycle 10 is to the left; when the bicycle 10 turns right, the inclination direction of the seat 13 of the bicycle 10 is to the right.

[0121] The above steps 703 to 704 are the steps executed by the on-vehicle computer 21 when the seat inclination control instruction is used to control the inclination direction of the seat 13 of the bicycle 10.

[0122] In some embodiments, the seat inclination control instruction can also be used to control the inclination angle of the seat 13 of the bicycle 10.

[0123] Furthermore, the on-vehicle computer 21 can also obtain the body roll angle of the bicycle 10. The body roll angle is the angle between the body 12 of the bicycle 10 and the ground where the bicycle 10 is located. For example, the on-vehicle computer 21 can obtain the body roll angle from the position parameters obtained by the second position encoder 242 and the third position encoder 243 as shown in Figure 2 Figure.

[0124] Then, based on the body roll angle, determine the target inclination angle of the seat 13; based on the target turning direction of the bicycle 10 and the target inclination angle of the seat 13, generate a seat inclination control instruction.

[0125] In addition to determining the target inclination angle of the seat 13 in combination with the body roll angle, the target inclination angle of the seat 13 can also be determined in combination with the acceleration of the bicycle 10 and the body roll angle to further improve safety.

[0126] In some embodiments, determining the target inclination angle of the seat 13 based on the body roll angle may include: looking up the target inclination angle matching the body roll angle in a pre-stored look-up table. The look-up table includes the corresponding relationship between different roll angles and inclination angles.

[0127] In other embodiments, determining the target inclination angle of the seat 13 based on the body roll angle may include: inputting the body roll angle into a preset calculation function of the inclination angle of the seat 13 to obtain the target inclination angle.

[0128] Among them, the calculation function of the preset inclination angle of the seat 13 can be set according to actual application requirements. For example, multiple sets of roll angles and inclination angles can be obtained through safety experiments of the bicycle 10 traveling, and each set of roll angles and inclination angles can be fitted to obtain this calculation function, but it is not limited thereto.

[0129] The above method for obtaining the target inclination angle of the seat 13 is only an example. In actual application processes, it can be set according to requirements, and the embodiments of the present application do not limit this.

[0130] Step 705: Send a seat inclination control instruction to the first motor.

[0131] After receiving the seat inclination control instruction, the first motor 221 can control the seat 13 according to the inclination direction and target inclination angle indicated by the seat inclination control instruction.

[0132] In some embodiments, the vehicle-mounted computer 21 can not only be used to control the inclination angle of the seat 13, but also assist the driver in rotating the handlebar 11.

[0133] Furthermore, the vehicle-mounted computer 21 can also determine the target rotation angle of the bicycle 10 based on the driving path information and the current rotation angle, and the target rotation angle is used to assist the bicycle 10 in traveling along the forward driving path.

[0134] Then, a handlebar steering control instruction is generated based on the target rotation angle. The handlebar steering control instruction is used to instruct the handlebar 11 of the bicycle 10 to rotate according to the target rotation angle, and the handlebar steering control instruction is transmitted to the second motor 222 as shown in Figures 5 to 6 shown.

[0135] The second motor 222 can control the handlebar 11 to steer according to the target rotation angle.

[0136] In some embodiments, the vehicle-mounted computer 21 can also determine the target rotation angle of the bicycle 10 by combining the driving path information, the current acceleration of the bicycle 10, and the current rotation angle.

[0137] Furthermore, the driving path information may further include the center line of the lane. Determining the target rotation angle of the bicycle 10 based on the driving path information and the current rotation angle includes:

[0138] Based on the current rotation angle, determine the deviation angle from the center line of the lane, and then, based on the deviation angle, determine the target rotation angle of the bicycle 10.

[0139] Embodiments of the present application can assist bicycle 10 to enable bicycle 10 to have the ability to center in the lane, and assist bicycle 10 to turn through the second motor 222. When bicycle 10 turns, the inclination angle of the seat 13 can be controlled in cooperation with the first motor 221, so that the driver can cooperate with the inclination operation according to the vehicle inertia, reducing non-safe behaviors such as tipping over.

[0140] Figure 8 It is a schematic diagram of an embodiment of the in-vehicle computer 21 of the present application.

[0141] The in-vehicle computer 21 includes a memory 211, a processor 212, and a computer program 213 stored in the memory 211 and executable on the processor 212. When the processor 212 executes the computer program 213, the steps in the above-described embodiment of the driving assistance method are implemented, such as Figure 7 Steps 701 to 705 shown.

[0142] Exemplarily, the computer program 213 can also be divided into one or more modules / units. The one or more modules / units are stored in the memory 211 and executed by the processor 212. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 213 in the in-vehicle computer 21.

[0143] Those skilled in the art can understand that the schematic diagram is only an example of the in-vehicle computer 21, and does not constitute a limitation on the in-vehicle computer 21. It may include more or fewer components than shown, or combine certain components, or different components. For example, the in-vehicle computer 21 may further include input / output devices, network access devices, buses, etc.

[0144] The processor 212 can be a central processing unit (CPU), or can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor, a single-chip microcomputer, or the processor 212 can also be any conventional processor, etc.

[0145] The memory 211 can be used to store computer programs 213 and / or modules / units. By running or executing the computer programs and / or modules / units stored in the memory 211, and invoking the data stored in the memory 211, the processor 212 realizes various functions of the in-vehicle computer 21. The memory 211 mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the in-vehicle computer 21 (such as audio data, etc.). In addition, the memory 211 can include high-speed random access memory, and can also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices.

[0146] If the modules / units integrated in the in-vehicle computer 21 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above-mentioned embodiment methods of this application, it can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, an executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device that can carry the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0147] In several embodiments provided in this application, it should be understood that the disclosed electronic devices and methods can be implemented in other ways. For example, the above-described electronic device embodiments are merely illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation.

[0148] In addition, in each embodiment of the present application, each functional unit can be integrated in the same processing unit, can exist separately as individual physical units, or two or more units can be integrated in the same unit. The above integrated unit can be implemented in the form of hardware, or in the form of a combination of hardware and software functional modules.

[0149] For those skilled in the art, it is obvious that the present application is not limited to the details of the above-described exemplary embodiments, and without departing from the spirit or basic characteristics of the present application, the present application can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. In addition, it is obvious that the term "including" does not exclude other units or steps, and the singular does not exclude the plural. The multiple units or electronic devices stated in the claims of the electronic device can also be implemented by the same unit or electronic device through software or hardware. The terms "first", "second", etc. are used to denote names and do not denote any particular order.

[0150] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and not to limit them. Although the present application has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A driving assistance method, characterized in that, applied to an on-vehicle computer of a bicycle, the driving assistance method includes: obtaining driving path information in front of the bicycle; obtaining the current rotation angle of the handlebar of the bicycle; determining a target turning direction of the bicycle based on the driving path information and the current rotation angle; generating a seat inclination control instruction based on the target turning direction, where the seat inclination control instruction is used to control the inclination direction of the seat of the bicycle.

2. The driving assistance method according to claim 1, characterized in that, before generating the seat inclination control instruction based on the target turning direction, further includes: obtaining the driving speed of the bicycle; if the driving speed exceeds a preset threshold, turning on the seat inclination assistance mode of the bicycle; the generating the seat inclination control instruction based on the turning direction of the bicycle includes: in the case of turning on the seat inclination assistance mode of the bicycle, generating a seat inclination control instruction based on the turning direction of the bicycle.

3. The driving assistance method according to claim 1, characterized in that, the seat inclination control instruction is further used to control the inclination angle of the seat of the bicycle, and the generating the seat inclination control instruction based on the target turning direction includes: obtaining a body side inclination angle of the bicycle, where the body side inclination angle is the angle between the body of the bicycle and the ground where the bicycle is located; determining a target inclination angle of the seat based on the body side inclination angle; generating the seat inclination control instruction based on the target turning direction of the bicycle and the target inclination angle of the seat.

4. The driving assistance method according to claim 1, characterized in that, the obtaining the driving path information in front of the bicycle includes: obtaining image data of the driving environment in front of the bicycle; determining obstacles in the front driving environment based on the image data; planning the driving path based on the obstacles to obtain the driving path information.

5. The driving assistance method according to any one of claims 1 to 4, characterized in that, the driving assistance method further includes: determining a target rotation angle of the bicycle based on the driving path information and the current rotation angle; the target rotation angle is used to assist the bicycle to travel along the front driving path; generating a handlebar steering control instruction based on the target rotation angle, where the handlebar steering control instruction is used to instruct the handlebar of the bicycle to rotate according to the target rotation angle.

6. The driving assistance method according to claim 5, characterized in that, the driving path information includes a lane center line, and the determining the target rotation angle of the bicycle based on the driving path information and the current rotation angle includes: determining a deviation angle from the lane center line based on the current rotation angle; determining the target rotation angle of the bicycle based on the deviation angle.

7. An on-vehicle computer, characterized in that, The in-vehicle computer includes a processor and a memory. The memory is used to store instructions, and the processor is used to call the instructions in the memory, so that the in-vehicle computer executes the driving assistance method described in any one of claims 1 to 6.

8. A bicycle, characterized in that, the bicycle includes the in-vehicle computer described in claim 7, and the in-vehicle computer is configured on the body of the bicycle.

9. The bicycle according to claim 8, characterized in that, the bicycle further includes a first motor, the first motor is communicatively connected to the in-vehicle computer, the first motor is configured between the body of the bicycle and the seat of the bicycle, and the first motor is used to control the tilting direction of the seat of the bicycle in response to the seat tilt control instruction.

10. The bicycle according to claim 8 or 9, characterized in that, the bicycle further includes a second motor, the second motor is communicatively connected to the in-vehicle computer, the second motor is configured at the connection between the body of the bicycle and the handlebar of the bicycle, and the second motor is used to control the handlebar of the bicycle to rotate according to the target rotation angle in response to the steering control instruction.

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