Driving assistance method for vehicle, driving assistance device for vehicle, computer program product, and vehicle

Abstract

The invention relates to the field of vehicle driving assistance, in particular to a vehicle driving assistance method, which comprises the following steps: S100, acquiring data information related to a crossroad intersection through which a vehicle is about to pass; s200, analyzing and processing the data information to determine the orientation of a target crossroad into which the vehicle should be driven relative to a non-target crossroad; s300, the vehicle is controlled to transversely move in the direction corresponding to the direction; s400, checking a pre-activation state of a steering-related component of the vehicle based on the lateral displacement; and S500, executing or adjusting the activation of the component according to the check result. The invention also relates to a driving assistance device for a vehicle, a computer program product and a corresponding vehicle. Through some embodiments of the invention, the pre-judgment that the vehicle is about to drive into the crossroad can be given to a driver, so that the driver is more confident to the driving direction of the vehicle, wrong steering indication is avoided through a safety check mechanism, and the safety in the driving process and the trust feeling of the driver are improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle driving assistance, and in particular to a vehicle driving assistance method, a vehicle driving assistance device, a computer program product and a corresponding vehicle. Background Art

[0002] With the rapid development of social economy, cars have become an important means of transportation for people's daily travel. Especially in recent years, the driving assistance system of vehicles has been widely used and paid attention to. By sensing the environment around the vehicle and analyzing road conditions and traffic information, the driving assistance system can provide real-time decision support and operation assistance to the driver in steering, acceleration, braking and other aspects, significantly improving the safety, comfort and convenience of the vehicle. Some high-end models are also equipped with intelligent driving functions such as lane keeping assistance and adaptive cruise control, which can achieve semi-automatic steering and longitudinal control, and share part of the workload for the driver under specific working conditions. However, the existing steering assistance methods based on lane detection lack special processing for complex road conditions such as forks and ramps. Such sections often show characteristics such as sudden changes in lane linearity, changes in the number of lanes, and temporary failure of road signs. It is difficult to accurately obtain lane linearity by relying solely on video recognition, and it is even more impossible to perceive the direction of different lanes. On the other hand, the existing driving assistance system lacks the necessary coordination between its internal functional modules, especially the steering-related components.

[0003] For this reason, there is still a real need for further improvement in driving assistance for vehicles facing forks in the road. Summary of the invention

[0004] In view of this, an object of the present invention is to provide an improved driving assistance method for a vehicle, an improved driving assistance device for a vehicle, an improved computer program product and a corresponding vehicle, so as to at least solve part of the problems in the prior art and / or overcome other possible shortcomings not mentioned in this document.

[0005] According to a first aspect of the present invention, a driving assistance method for a vehicle is provided, wherein the driving assistance method comprises the following steps:

[0006] S100: Acquiring data information related to the fork in the road that the vehicle is about to pass;

[0007] S200: Analyze and process the data information to determine the orientation of the target fork road that the vehicle should enter relative to the non-target fork road;

[0008] S300: Controlling the vehicle to shift laterally in a direction corresponding to the orientation;

[0009] S400: Check the preliminary activation status of the vehicle's steering-related components based on the lateral shift;

[0010] S500: Execute or adjust the activation of the components according to the inspection result.

[0011] According to an alternative embodiment of the present invention, in step S500, the activation of the components is allowed only when the inspection result indicates that the preliminary activation status of the components is consistent with the direction of the lateral shift.

[0012] According to an alternative embodiment of the present invention, in step S500, when the inspection result indicates that the preliminary activation status of the components is inconsistent with the direction of the lateral shift, a prompt message is output and / or a system self-check is performed.

[0013] According to an alternative embodiment of the present invention, the driving assistance method includes the following steps:

[0014] S310: Obtain the position information of the center line of the lane where the vehicle is currently located;

[0015] S320: Control the vehicle to perform a lateral shift with a preset offset relative to the center line, and the preset offset is preferably 0.4 meters.

[0016] According to an alternative embodiment of the present invention, the driving assistance method includes the following steps:

[0017] S311: Obtain the distance data between the current position of the vehicle and the fork intersection;

[0018] S312: Monitor the change of the distance data during the driving process of the vehicle;

[0019] S313: Execute step S320 when the distance data decreases to a first threshold.

[0020] According to an alternative embodiment of the present invention, in step S313, the first threshold is a fixed preset value or is related to the current vehicle speed.

[0021] According to an alternative embodiment of the present invention, after step S300, step S312 is continued to be executed until after the vehicle passes through the fork intersection, and when the monitored distance data is greater than a second threshold again, the vehicle is controlled to resume driving along the center line of the lane where it is located.

[0022] According to an alternative embodiment of the present invention, before step S300, the following steps are executed:

[0023] S11: Obtain the relevant information of the moving objects in the rear area of the lateral shift of the vehicle;

[0024] S12: Predict whether there is a collision risk when the vehicle is laterally displaced according to the relevant information of the moving object;

[0025] S13: When there is a collision risk, adjust the lateral displacement, preferably reduce the preset offset, and particularly preferably reduce it to one - quarter of the original value.

[0026] According to an alternative embodiment of the present invention, the vehicle is a vehicle with at least partial autonomous driving, preferably an autonomous driving vehicle above level L2.

[0027] According to an alternative embodiment of the present invention, the component is the turn signal of the vehicle.

[0028] According to a second aspect of the present invention, there is provided a driving assistance device for a vehicle, wherein the driving assistance device includes: an acquisition module configured to acquire data information related to a fork intersection that the vehicle is about to pass through; an analysis and processing module configured to analyze and process the data information to determine the orientation of the target fork that the vehicle should enter relative to the non - target fork; a control module configured to control the vehicle to perform a lateral displacement in a direction corresponding to the orientation; an inspection module configured to inspect the preparatory activation state of the components related to the steering of the vehicle based on the lateral displacement; and an execution or adjustment module configured to execute or adjust the activation of the components according to the inspection result, wherein each module of the driving assistance device preferably executes each step of the driving assistance method provided by each embodiment of the first aspect above.

[0029] According to a third aspect of the present invention, there is provided a computer program product including computer program instructions, wherein when the computer program instructions are executed by a processor, the steps of the driving assistance method provided by each embodiment of the first aspect above are implemented.

[0030] According to a fourth aspect of the present invention, there is provided a vehicle, especially an autonomous driving vehicle, including the driving assistance device provided by each embodiment of the second aspect above and / or the computer program product provided by each embodiment of the third aspect above.

[0031] According to certain embodiments of the present invention, when the vehicle is about to enter a fork in the road, the vehicle can be laterally shifted in advance towards the target lane to be entered, enabling the driver to clearly anticipate the direction of the fork that the vehicle is about to enter. At the same time, by checking the consistency between the lateral shift and the pre-activated state of the steering component, it is possible to avoid the vehicle's actual driving direction being inconsistent with the steering indication and misleading other vehicles, thereby improving driving safety. The present invention can give the driver a pre-judgment that the vehicle is about to enter a fork in the road, making the driver more confident about the driving direction of the vehicle, improving the driving experience, and avoiding incorrect steering indications through a safety check mechanism, which is conducive to enhancing the safety and driver trust during the driving assistance process. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Next, the present invention will be described in more detail by referring to the accompanying drawings, and the principles, features, and advantages of the present invention can be better understood. The accompanying drawings include:

[0033] Figure 1 A schematic flowchart showing a driving assistance method for a vehicle according to an embodiment of the present invention;

[0034] Figure 2 A schematic flowchart showing some steps of a driving assistance method for a vehicle according to an embodiment of the present invention;

[0035] Figure 3 A schematic flowchart showing some steps of a driving assistance method for a vehicle according to an embodiment of the present invention;

[0036] Figure 4 A schematic flowchart showing some steps of a driving assistance method for a vehicle according to an embodiment of the present invention;

[0037] Figure 5 A schematic application scenario diagram according to an embodiment of the present invention;

[0038] Figure 6 A schematic application scenario diagram according to an embodiment of the present invention;

[0039] Figure 7 A schematic application scenario diagram according to an embodiment of the present invention;

[0040] Figure 8 A schematic structural framework diagram of a driving assistance device for a vehicle according to an embodiment of the present invention; and

[0041] Figure 9 A schematic structural framework diagram of a computer system according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] To make the technical problems to be solved, technical solutions, and beneficial technical effects of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and multiple exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the protection scope of the present invention. And each embodiment may be described in conjunction with the same view or multiple views, but all the features appearing in the same view cannot be interpreted as the features that a single embodiment must have.

[0043] The exemplary embodiments of the present invention will be described below in conjunction with the accompanying drawings, where Figures 1 to 4 Each step of the driving assistance method shown can be particularly understood in conjunction with Figures 5 to 7 The schematic application scenarios shown.

[0044] Figure 1 FIG. shows a schematic flowchart of a driving assistance method 1000 for a vehicle 3000 according to an embodiment of the present invention; Figure 2 FIG. shows a schematic flowchart of some steps of a driving assistance method 1000 for a vehicle 3000 according to an embodiment of the present invention; Figure 3 FIG. shows a schematic flowchart of some steps of a driving assistance method 1000 for a vehicle 3000 according to an embodiment of the present invention; Figure 4 FIG. shows a schematic flowchart of some steps of a driving assistance method 1000 for a vehicle 3000 according to an embodiment of the present invention; Figure 5 FIG. shows a schematic application scenario diagram according to an embodiment of the present invention; Figure 6 FIG. shows a schematic application scenario diagram according to an embodiment of the present invention; Figure 7 FIG. shows a schematic application scenario diagram according to an embodiment of the present invention.

[0045] As Figure 1 Combined with Figure 5 Shown, the driving assistance method 1000 for the vehicle 3000 exemplarily includes steps S100, S200, S300, S400, and S500. The driving assistance method 1000 can be executed, for example, by a driving assistance system installed at the vehicle end and / or in the cloud.

[0046] In step S100, data information related to the fork road intersection R0 that the vehicle 3000 is about to pass through is acquired. Based on Figure 5The scene shown here is to obtain relevant data information of the fork in the road R0 that the vehicle 3000 is about to pass. This data information can be, for example, navigation information obtained by means of vehicle-mounted sensors and navigation systems, such as the specific location, geometry, lane lines, etc. of the fork in the road, and the target fork (such as R1 or R2) that the vehicle 3000 should enter as planned by the navigation route. In a preferred embodiment, the vehicle 3000 is a vehicle with an L2 level driving assistance system. In other embodiments, the vehicle 3000 can also be a vehicle that can achieve an L2 level or higher autonomous driving function.

[0047] In step S200, the acquired data information is analyzed and processed to determine the orientation of the target fork R1 that the vehicle 3000 should enter relative to the non-target fork R2. Figure 5 The scenario shown here is to analyze and process the relevant data information of the fork road R0 obtained, and combine it with the navigation path planning to determine that the vehicle 3000 should enter the target fork road R1, and all forks except the target fork road R1 are non-target forks. Figure 5 One of the non-target forks R2 is shown as an example. The orientation of the target fork R1 that the vehicle 3000 should enter relative to the non-target fork R2 is based on Figure 5 The scenario shown is that, for the vehicle 3000 , the target fork R1 is located on the left side of the non-target fork R2 .

[0048] In step S300, the vehicle 3000 is controlled to shift laterally in a direction corresponding to the orientation. Figure 5 In the scenario shown, the vehicle 3000 is controlled to shift laterally to the left. Specifically, the system controls the vehicle 3000 to shift laterally in the current lane toward the target fork R1, deviating from the center line L0 of the current lane by a certain distance, so that the vehicle is closer to the target fork R1. This lateral shift can convey to the driver that the vehicle 3000 is about to enter the fork (in the Figure 5 (i.e. the left fork).

[0049] In step S400, the pre-activation state of the steering-related components of the vehicle 3000 is checked based on the lateral displacement. Figure 5 (i.e., to the left), check whether the preparatory state of the steering-related components of the vehicle 3000 (especially the turn signal lamp, etc.) is consistent with the lateral displacement direction.

[0050] In step S500, the activation of the component is performed or adjusted according to the inspection result. Here, for example, only when the inspection result shows that the pre-activation state of the turn signal lamp of the vehicle 3000 is consistent with the direction of lateral displacement (in Figure 5The driver assistance system will only allow the turn signal to be activated if the turn signal is in the pre-activated state (i.e., the left turn signal is in the pre-activated state). This can prevent the lateral displacement of the vehicle 3000 from being inconsistent with the turn signal indication and misleading other vehicles, thereby improving driving safety. Figure 5 In the case of a vehicle with the right turn signal ready to be activated, the system not only does not allow the turn signal to be activated, but also preferably outputs a prompt message to the driver through the human-machine interface to remind him that there may be a problem. At the same time, the system can perform a self-check procedure to check whether there is any abnormality in the lateral shift control or the turn signal control.

[0051] Therefore, through this driving assistance method, the vehicle can be moved laterally to the target lane to be entered in advance when the vehicle enters the fork, so that the driver can have a clear prediction of the direction of the fork that the vehicle is about to enter. At the same time, by checking the consistency of the lateral displacement and the activation state of the steering component, the risk caused by the component status not meeting expectations is avoided.

[0052] like Figure 2 Combination Figure 5 As shown, the driving assistance method 1000 for the vehicle 3000 exemplarily further includes steps S310 and S320.

[0053] In step S310, the system obtains the position information of the center line L0 of the lane where the vehicle 3000 is currently located. Here, for example, an image can be captured by an on-board camera and the specific position of the center line L0 of the current lane can be identified (in Figure 5 The center line L0 of the current lane is schematically shown by a dotted line.

[0054] In step S320, the vehicle 3000 is controlled to shift laterally with respect to the center line L0 by a preset offset ΔL. Figure 5 That is, it shifts to the target line L1 schematically shown by a dotted line. The preset offset ΔL between the target line L1 and the center line L0 of the current lane is preferably 0.4 meters.

[0055] In this way, the vehicle can deviate from the center line of the lane and get closer to the side lane it is about to enter, while referring to the position information of the center line of the lane rather than a simple fixed offset to adapt to changes in the shape of the lane line.

[0056] like Figure 3 Combination Figure 5 As shown, the driving assistance method 1000 for the vehicle 3000 exemplarily further includes steps S311 , S312 and S313 .

[0057] In step S311, the distance data between the current position of the vehicle 3000 and the fork in the road R0 is obtained. Here, for example, the distance data between the current position of the vehicle and the fork in the road ahead can be obtained in real time through a navigation system.

[0058] In step S312, the change of the distance data during the driving of the vehicle 3000 is monitored. In this system, the change of the distance data with the driving of the vehicle is continuously monitored.

[0059] In step S313, when it is monitored that the distance has decreased to the first threshold value a1, step S320 is executed. Here, the first threshold value a1 can be a fixed preset value (for example, between 100 meters and 150 meters), but it is preferably related to the current vehicle speed of the vehicle 3000, because considering that the higher the vehicle speed, the shorter the time for the vehicle to pass through the first threshold value a1, and the driver needs to obtain the prompt information earlier.

[0060] Therefore, the lateral shift is preferably not executed at the beginning, but is started when approaching the fork and the driver needs to be prompted, so as to avoid affecting the driving of the vehicle prematurely.

[0061] In a preferred embodiment, it is also combined with Figure 6 As shown, after step S300, step S312 is continued until after the vehicle 3000 passes through the fork road intersection R0, when the monitored distance data is greater than the second threshold value a2 again, the vehicle 3000 is controlled to resume driving along the center line of the lane where it is located. That is to say, after the lateral shift is performed according to step S300, the driving assistance system also continuously monitors the change of the distance between the vehicle and the fork, and until the vehicle completely passes through the fork and the monitored distance is greater than the second threshold value (for example, 15 meters) again, the vehicle is controlled to resume the state before the offset and drive along the center line of the new lane. Thus, the vehicle can automatically resume lateral centering without manual operation by the driver.

[0062] As Figure 4 Combined with Figure 7 As shown, the driving assistance method 1000 for the vehicle 3000 also exemplarily includes steps S11, S12, and S13 before step S300.

[0063] In step S11, relevant information of the moving object M in the rear area K of the lateral shift of the vehicle 3000 is obtained. Here, for example, through sensors such as millimeter wave radars, information of the moving objects in the rear area on the side of the lateral shift of the vehicle is obtained, including parameters such as relative position and speed. In Figure 7 It is exemplarily shown that the moving object M is an electric bicycle. In a scenario not shown in the drawings, there may also be multiple different moving objects M in the rear area K.

[0064] In step S12, based on the relevant information of the moving object M, it is predicted whether there is a collision risk when the vehicle 3000 makes a lateral shift. That is to say, the system predicts whether it is possible to collide with the moving object M when performing the lateral shift based on parameters such as the relative position and speed of the moving object M. Based on Figure 7The scene shown, for example, the system predicts that when the vehicle 3000 is performing a lateral shift, it is very likely to collide with an electric bicycle that is a moving object M.

[0065] In step S13, in the case of a collision risk, adjust the lateral shift of the vehicle 3000. Preferably, reduce the preset offset ΔL, and particularly preferably reduce it to one-fourth of the original value. For example, if the original value of the preset offset ΔL is 0.4 meters, it is preferably reduced to 0.1 meters here. In the case of a particularly high risk, the preset offset ΔL can also be reduced to zero, that is, no lateral shift is performed.

[0066] Thus, by pre-sensing and evaluating the state of obstacles in the lateral position behind the vehicle, unsafe shift behaviors can be excluded at the decision-making stage, avoiding traffic accidents. By actively predicting risks and taking avoidance measures, the shift strategy can be flexibly adjusted on the premise of ensuring safety, enabling the driving assistance method of the present invention to exert the maximum utility in a complex environment.

[0067] Figure 8 Shows a schematic structural framework diagram of a driving assistance device for a vehicle according to an embodiment of the present invention. As Figure 8 shown, also in combination with Figure 5 and the above embodiment, the driving assistance device 2000 for the vehicle 3000 includes an acquisition module 2100, an analysis and processing module 2200, a control module 2300, an inspection module 2400, and an execution or adjustment module 2500. Here, the acquisition module 2100 is configured to acquire data information related to the fork road intersection R0 that the vehicle 3000 is about to pass through; the analysis and processing module 2200 is configured to analyze and process the data information to determine the orientation of the target fork road R1 that the vehicle 3000 should drive into relative to the non-target fork road R2; the control module 2300 is configured to control the vehicle 3000 to perform a lateral shift in the direction corresponding to the orientation; the inspection module 2400 is configured to inspect the preparatory activation state of the components related to the steering of the vehicle 3000 based on the lateral shift; the execution or adjustment module 2500 is configured to execute or adjust the activation of the components according to the inspection result. Here, each module of the driving assistance device 2000 preferably executes the corresponding steps of the driving assistance method 1000 of the above embodiment.

[0068] Figure 9 Shows a structural framework diagram of a computer system according to an embodiment of the present invention. The computer system is configured to execute each step of the driving assistance method 1000 provided in the above embodiments of the present invention. As Figure 9As shown, the computer system includes a memory 1, a processor 2, a communication interface 3, and a bus 4. Here, the memory 1, the processor 2, and the communication interface 3 are communicatively connected to each other via the bus 4. According to one aspect of the present invention, there is also provided a computer program product including computer program instructions, wherein when the computer program instructions are executed by a processor, particularly by the processor 2 of the above computer system, the steps of the driving assistance method 1000 provided by the above embodiments of the present invention are implemented.

[0069] Although specific embodiments of the present invention have been described in detail herein, they are given for illustrative purposes only and should not be considered as limiting the scope of the present invention. Various substitutions, alterations, and modifications can be conceived without departing from the spirit and scope of the present invention.

Claims

1. A driving assistance method (1000) for a vehicle (3000), wherein, the driving assistance method (1000) comprises the following steps: S100: Obtain data information related to a fork road intersection (R0) that the vehicle (3000) is about to pass by; S200: Analyze and process the data information to determine the orientation of the target fork road (R1) that the vehicle (3000) should enter relative to the non-target fork road (R2); S300: Control the vehicle (3000) to perform a lateral shift in the direction corresponding to the orientation; S400: Check the preparatory activation state of the components related to the steering of the vehicle (3000) based on the lateral shift; S500: Execute or adjust the activation of the components according to the check result.

2. The driving assistance method (1000) according to claim 1, wherein, in step S500, the activation of the components is only allowed when the check result indicates that the preparatory activation state of the components is consistent with the direction of the lateral shift; and / or in step S500, when the check result indicates that the preparatory activation state of the components is inconsistent with the direction of the lateral shift, output a prompt message and / or perform a system self-check.

3. The driving assistance method (1000) according to claim 1 or 2, wherein, the driving assistance method (1000) comprises the following steps: S310: Obtain the position information of the center line (L0) of the lane where the vehicle (3000) is currently located; S320: Control the vehicle (3000) to perform a lateral shift with a preset offset (ΔL) with reference to the center line (L0), and the preset offset (ΔL) is preferably 0.4 meters.

4. The driving assistance method (1000) according to claim 3, wherein, the driving assistance method (1000) comprises the following steps: S311: Obtain the distance data between the current position of the vehicle (3000) and the fork road intersection (R0); S312: Monitor the change of the distance data during the driving process of the vehicle (3000); S313: Execute step S320 when the distance data decreases to a first threshold value (a1).

5. The driving assistance method (1000) according to claim 4, wherein, in step S313, the first threshold value (a1) is a fixed preset value or related to the current vehicle speed of the vehicle (3000); and / or after step S300, continue to execute step S312 until after the vehicle (3000) passes through the fork road intersection (R0), and when the monitored distance data is greater than a second threshold value (a2) again, control the vehicle (3000) to resume driving along the center line of the lane where it is located.

6. The driving assistance method (1000) according to any one of claims 1 to 5, wherein, before step S300, execute the following steps: S11: Obtain the relevant information of a moving object (M) within the rear area (K) of the lateral shift of the vehicle (3000); S12: Predict whether there is a collision risk when the vehicle (3000) undergoes a lateral shift based on the relevant information of the moving object (M). S13: In the case of a collision risk, adjust the lateral shift, preferably reduce the preset offset (ΔL), and particularly preferably reduce it to one - quarter of the original value.

7. The driving assistance method (1000) according to any one of claims 1 to 6, wherein the vehicle (3000) is at least a partially autonomous vehicle, preferably an autonomous vehicle above level L2; and / or the component is the turn signal of the vehicle (3000).

8. A driving assistance device (2000) for a vehicle (3000), wherein the driving assistance device (2000) includes: an acquisition module (2100) configured to acquire data information related to the fork road intersection (R0) that the vehicle (3000) is about to pass through; an analysis and processing module (2200) configured to analyze and process the data information to determine the orientation of the target fork road (R1) that the vehicle (3000) should enter relative to the non - target fork road (R2); a control module (2300) configured to control the vehicle (3000) to perform a lateral shift in the direction corresponding to the orientation; an inspection module (2400) configured to inspect the preparatory activation state of the components related to the steering of the vehicle (3000) based on the lateral shift; and an execution or adjustment module (2500) configured to execute or adjust the activation of the component according to the inspection result, wherein each module of the driving assistance device (2000) preferably executes each step of the driving assistance method (1000) according to any one of claims 1 to 7.

9. A computer program product comprising computer program instructions, wherein, The steps of the driving assistance method (1000) according to any one of claims 1 to 7 are implemented when the computer program instructions are executed by a processor.

10. A vehicle (3000), especially an autonomous vehicle, includes the driving assistance device (2000) according to claim 8 and / or the computer program product according to claim 9.

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