Auxiliary driving method and device, corresponding vehicle, computer device and storage medium

Abstract

The invention provides an auxiliary driving method and device for a vehicle, the corresponding vehicle, a computer device and a storage medium. The method comprises the following steps: a judgment step: judging whether the vehicle is subjected to lane changing operation or not under the condition of detecting that an emergency occurs in front of the vehicle; and a providing step: under the condition that the judgment result is positive, providing reverse control which is used for resisting the lane changing operation and is used for the vehicle. By utilizing the scheme of the invention, under the condition that the emergency occurs in front of the vehicle, reverse control can be provided for the lane-changing operation of the vehicle possibly performed by avoiding the front object related to the emergency, so that the lane-changing behavior of the vehicle is prevented or limited, and the safety of the vehicle is improved. Safety risks, such as collision, possibly caused by lane changing of the vehicle can be prevented or relieved, and driving safety is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and more particularly, to an assisted driving method for a vehicle, an assisted driving device, and a corresponding vehicle, computer device, and computer-readable storage medium. Background Art

[0002] During the driving process of a vehicle, it is not uncommon to encounter an emergency situation ahead such as a cut-in event. For example, it often occurs that a vehicle cuts in front of another vehicle into the lane where the other vehicle is located, as Figure 3 illustrated in Figure 3 . At this time, the other vehicle (such as vehicle A in Figure 3 ) originally driving in the cut-in lane may perform a lane-changing operation to avoid the cut-in vehicle (such as vehicle B in

[0003] ). This lane-changing operation may lead to an accident. For example, the other vehicle may collide with a vehicle existing in the lane it changes to; in this case, the driver of the other vehicle forced to change lanes needs to bear all the responsibilities.

[0003] Therefore, there is a need for a solution to the above problems.

[0004] The object of the present invention is to provide an assisted driving solution for a vehicle to at least partially solve or alleviate the above problems.

[0005] According to a first aspect of the present invention, there is provided an assisted driving method for a vehicle, including:

[0006] A judgment step: when it is detected that an emergency occurs in front of the vehicle, judging whether the vehicle is undergoing a lane-changing maneuver;

[0007] A providing step: when the judgment result is affirmative, providing a reverse control for the vehicle to resist the lane-changing maneuver.

[0008] According to a second aspect of the present invention, there is provided an assisted driving device for a vehicle, including:

[0009] A judgment device configured to: when it is detected that an emergency occurs in front of the vehicle, judge whether the vehicle is undergoing a lane-changing maneuver;

[0010] A providing device configured to: when the judgment result is affirmative, provide a reverse control for the vehicle to resist the lane-changing maneuver.

[0011] According to a third aspect of the present invention, there is provided a vehicle including the assisted driving device according to the second aspect of the present invention.

[0012] According to a fourth aspect of the present invention, there is provided a computer device, including a memory and a processor, wherein computer instructions are stored on the memory, and when the computer instructions are executed by the processor, an assisted driving method according to the first aspect of the present invention is caused to be executed.

[0013] According to a fifth aspect of the present invention, there is provided a non-transitory computer-readable storage medium, on which computer instructions are stored, and when the computer instructions are executed by a processor, an assisted driving method according to the first aspect of the present invention is caused to be executed.

[0014] With the solution of the present invention, in the case of an emergency occurring in front of a vehicle, reverse control can be provided for the lane-changing maneuver that the vehicle may perform to avoid a front object related to the emergency, thereby preventing or restricting the lane-changing behavior of the vehicle, helping to prevent or mitigate safety risks such as collisions that may be caused by the lane change of the vehicle, and improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The non-limiting and non-exhaustive embodiments of the present invention are described by way of example with reference to the following drawings, wherein:

[0016] Figure 1 is a flowchart schematically showing an assisted driving method according to an embodiment of the present invention;

[0017] Figure 2 is a block diagram schematically showing an assisted driving device according to an embodiment of the present invention;

[0018] Figure 3 shows an example scenario of a cut-in event. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] In order to make the above and other features and advantages of the present invention clearer, the present invention will be further described below with reference to the drawings. The drawings form a part of this application and are used together with the embodiments of the present invention to illustrate the present invention. For the purpose of clarity and simplicity, detailed descriptions of the known functions and structures of the devices, apparatuses, and / or equipment described herein will be omitted when they may obscure the subject matter of the present invention. It should be understood that the specific embodiments given herein are for the purpose of explaining to those skilled in the art and are merely exemplary, not restrictive.

[0020] The features described herein may be embodied in different forms and should not be construed as limited to the embodiments described herein. Instead, the embodiments described herein are provided only to illustrate some of the many possible ways of implementing the devices and / or systems described herein, which will be apparent after understanding the disclosure of this application.

[0021] As used herein, the term "and / or" includes any one of the associated listed items and any combination of any two or more of the associated listed items.

[0022] Although terms such as "first", "second", and "third" may be used herein to describe various components, parts, portions, or elements, these components, parts, portions, or elements are not limited by these terms. Rather, these terms are only used to distinguish one component, part, portion, or element from another. Thus, a first component, part, portion, or element referred to herein may also be referred to as a second component, part, portion, or element without departing from the teachings of the present invention.

[0023] The terms used herein are for the purpose of describing particular embodiments only and are not intended to limit the present disclosure. Unless the context clearly dictates otherwise, "a", "an", and "the" are intended to include the plural forms as well. The terms "comprising", "including", and "having" specify the presence of the stated features, operations, components, elements, and / or combinations thereof, but do not preclude the presence or addition of one or more other features, operations, components, elements, and / or combinations thereof.

[0024] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that the present invention may be practiced without the use of these specific details. In other instances, well-known steps or operations have not been described in detail to avoid obscuring the present invention.

[0025] Reference Figure 1 , an assisted driving method 100 according to an embodiment of the present invention is shown. The method 100 may include a determination step S101 and a provision step S102, and may be executed by the assisted driving device of the present invention (hereinafter will be referred to with reference to Figure 2 description).

[0026] In the determination step S101, it is possible to determine whether the vehicle is undergoing a lane change maneuver in the case where an unexpected event occurs in front of the vehicle. The unexpected event may include, for example but not limited to, a cut-in event. Here, an "unexpected event" can be broadly understood as an event in which an object suddenly appears in the road section (such as a lane) where the vehicle is located in front of the vehicle. The object can be various possible objects, and may include, for example but not limited to, traffic participants, obstacles, etc. Here, a "cut-in event" can be broadly understood as an event in which a traffic participant in front of the vehicle merges into or otherwise suddenly appears in the road section (such as a lane) where the vehicle is located, including but not limited to a vehicle lane change. The object causing the cut-in event can be called a cut-in object, and can be various possible traffic participants, such as, for example but not limited to, a person, an animal, a vehicle such as a means of transportation. In one embodiment, in the driving direction of the vehicle under consideration, there is no traffic participant between the vehicle and the cut-in object in front of it; however, the present invention is not limited thereto. The occurrence of a cut-in event can be detected in various possible ways, such as based on images, videos, etc. captured by a camera. In one embodiment, a traffic participant attempting to cut in from in front of the vehicle is detected by the camera of the vehicle under consideration, for example, by detecting the distance of a traffic participant near the front of the vehicle from the vehicle or the lane where the vehicle is located, or by detecting the lateral speed or lateral acceleration of a traffic participant near the front of the vehicle. There are various possible ways to determine whether the vehicle is undergoing a lane change maneuver, and only exemplary descriptions are provided here. In one embodiment, when one of the following is detected, it is determined that the vehicle is undergoing a lane change maneuver: the angular velocity of the vehicle's steering wheel exceeds an angular velocity threshold; the angular acceleration of the vehicle's steering wheel exceeds an angular acceleration threshold; at least one wheel of the vehicle is located on or is passing over a lane line.

[0027] In the providing step S102, in the case where the determination result of the determination step S101 is affirmative, a reverse control for resisting the lane change maneuver for the vehicle can be provided. For example, in the case where the lane change maneuver is a steering operation achieved by applying a steering torque to the vehicle's steering wheel, the reverse control may include a reverse torque for resisting the steering torque.

[0028] In one embodiment, the method of the present invention may further include the following determination step: when the determination result of the determination step S101 is affirmative, determine whether the intensity of the lane change maneuver being experienced by the vehicle exceeds a threshold intensity. In this case, the providing step S102 may include: providing a reverse control for the vehicle to resist the lane change maneuver only when the determination result of the determination step S101 is affirmative and the determination result of the determination step is affirmative. In this way, it can help reduce or avoid the risk of vehicle rollover. Here, the intensity of the lane change maneuver can be detected or obtained in various possible ways, and various possible information or quantities related to the rotation of the vehicle's steering wheel can be used for measurement. The threshold intensity can be appropriately set according to the situation. In one embodiment, the intensity of the lane change maneuver refers to the speed at which the vehicle's steering wheel is rotated, such as angular velocity. However, the present invention is not limited thereto.

[0029] In one embodiment, the providing step S102 may further include: when an emergency event (such as a cut-in event) occurs in front of the vehicle, in response to the vehicle's accelerator pedal being depressed, providing an additional control to resist the depression operation of the accelerator pedal. In this way, the acceleration behavior of the vehicle can be blocked or restricted, thereby preventing or alleviating the safety risks (such as collision with the cut-in object) that the vehicle may cause due to acceleration.

[0030] Optionally, the assisted driving method of the present invention may further include a cancellation step, and the cancellation step includes: when the reverse control is provided, if the determination result or the determination result becomes negative, cancel the reverse control; and / or when the additional control is provided, if it is detected that there is no longer an emergency event in front of the vehicle, cancel the additional control.

[0031] The assisted driving method of the present invention can be executed by one or more processors or other suitable components of the vehicle. In one embodiment, each step of the assisted driving method of the present invention is executed by the vehicle's controller.

[0032] Reference Figure 2 , there is shown an assisted driving device 200 according to an embodiment of the present invention. The assisted driving device 200 may include a determination device 201 and a providing device 202.

[0033] The determination device 201 may be configured to: when an emergency event occurs in front of the vehicle, determine whether the vehicle is undergoing a lane change maneuver. The providing device 202 may be configured to: when the determination result is affirmative, provide a reverse control for the vehicle to resist the lane change maneuver. For example, when the lane change maneuver is a steering maneuver achieved by applying a steering torque to the vehicle's steering wheel, the reverse control may include a reverse torque for resisting the steering torque.

[0034] In one embodiment, the providing device 202 may be further configured to: in the case where an emergency event is detected in front of the vehicle, in response to the accelerator pedal of the vehicle being stepped on, provide additional control for resisting the stepping operation of the accelerator pedal.

[0035] Optionally, the auxiliary driving device 200 of the present invention may further include a determining device, wherein the determining device is configured to: determine whether the intensity of the lane change maneuver being experienced by the vehicle exceeds a threshold intensity when the determination result of the determining device 201 is positive. In this case, the providing device 202 may be configured to: provide reverse control for the vehicle to resist the lane change maneuver only when the determination result of the judging device 201 is positive and the determination result of the determining device is positive.

[0036] Optionally, the assisted driving device 200 of the present invention may further include a revocation device, which is configured to: when providing the reverse control, if the judgment result of the judgment device 201 or the determination result of the determination device becomes negative, revoke the reverse control; and / or when providing the additional control, if it is detected that there is no longer an emergency in front of the vehicle, revoke the additional control.

[0037] The operations and details described above in conjunction with the assisted driving method of the present invention may be applicable to the assisted driving device of the present invention.

[0038] It should be understood by those skilled in the art that Figure 2 The schematic diagram shown in the figure is only an exemplary block diagram of a part of the structure related to the solution of the present invention, and does not constitute a limitation on the computer device, processor or computer program embodying the solution of the present invention. The specific computer device, processor or computer program may include more or fewer components or modules than shown in the figure, or combine or split certain components or modules, or have different component or module arrangements.

[0039] The present invention also provides a vehicle, which comprises the auxiliary driving device of the present invention.

[0040] The present invention is applicable to various vehicles, including non-autonomous driving vehicles, autonomous driving vehicles, such as but not limited to vehicles with advanced driver assistance systems (ADAS). Here, the classification of ADAS levels can refer to the classification method of the Society of Automotive Engineers (SAE), where ADAS is divided into six levels, L0 (no driving automation)-L5 (full driving automation).

[0041] The autonomous driving vehicle itself is known in the art and will not be described in detail here. Only some features that it may optionally have are listed as examples:

[0042] - An autonomous vehicle may be equipped with sensors, such as cameras, radars, lidars, ultrasonic sensors, etc., to sense through the sensors, such as detecting objects, obstacles, infrastructure, etc. around the vehicle;

[0043] - An autonomous vehicle is suitable for vehicle-to-vehicle communication and / or communication with an online server or database, and can access, for example, a highly automated driving (HAD) map, etc.;

[0044] - An autonomous vehicle may have a positioning function, and can determine its own position, for example, by one or a combination of the following: a global navigation satellite system (GNSS), a HAD map, data sensed by sensors;

[0045] - An autonomous vehicle may have a navigation function, for example, it can connect to an online server and determine a navigation route with the help of the online server;

[0046] - An autonomous vehicle may have a path planning function, for example, it can perform route and path planning based on the sensing of sensors and its own positioning results;

[0047] - An autonomous vehicle may have a central controller. For example, through this controller: send control signals to the powertrain, steering system, and transmission system based on the planned path to drive in accordance with the planned path, and receive instructions to control other vehicle components or in-vehicle components such as doors and cameras.

[0048] In one embodiment, a computer device is provided, which includes a memory and a processor. Computer instructions executable by the processor are stored on the memory. When the computer instructions are executed by the processor, the processor is instructed to execute each step of the method of the present invention. This computer device can be generally a server, or any other electronic device with necessary computing and / or processing capabilities. In one embodiment, this computer device may include a processor, a memory, a network interface, a communication interface, etc. connected through a system bus. The processor of this computer device can be used to provide necessary computing, processing, and / or control capabilities. The memory of this computer device may include a non-volatile storage medium and an internal memory. An operating system, computer programs, etc. may be stored in or on the non-volatile storage medium. The internal memory can provide an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface and communication interface of this computer device can be used to connect and communicate with external devices through a network. When the computer program is executed by the processor, each step of the method of the present invention is executed.

[0049] The present invention can be implemented as a computer-readable storage medium having a computer program stored thereon, which when executed by a processor causes the steps of the method of the present invention to be performed. In one embodiment, the computer program is distributed across a plurality of network-coupled computer devices or processors such that the computer program is stored, accessed, and executed by one or more computer devices or processors in a distributed manner. A single method step / operation, or two or more method steps / operations, can be performed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations can be performed by one or more computer devices or processors, and one or more other method steps / operations can be performed by one or more other computer devices or processors. One or more computer devices or processors can perform a single method step / operation, or perform two or more method steps / operations.

[0050] Those of ordinary skill in the art will understand that all or part of the operations of the method of the present invention can be completed by a computer program instructing relevant hardware such as a computer device or a processor. The computer program can be stored in a non-transitory computer-readable storage medium, and when the computer program is executed, the operations of the method of the present invention are caused to be performed. Depending on the circumstances, any reference herein to a memory, storage, database, or other medium may include non-volatile and / or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc. The various technical features described above can be combined arbitrarily.

[0051] The various technical features described above can be combined arbitrarily. Although not all possible combinations of these technical features have been described, any combination of these technical features should be considered to be covered by this specification as long as such a combination is not contradictory.

[0052] Although the present invention has been described in conjunction with embodiments, those skilled in the art should understand that the above description and the accompanying drawings are merely exemplary and not restrictive, and the present invention is not limited to the disclosed embodiments. Various modifications and variations are possible without departing from the spirit of the present invention.

Claims

1. An assisted driving method for a vehicle, comprising: A determination step: when it is detected that an emergency occurs in front of the vehicle, determining whether the vehicle is undergoing a lane change maneuver; A provision step: when the determination result is affirmative, providing a reverse control for the vehicle to resist the lane change maneuver.

2. The assisted driving method according to claim 1, further comprising: A determination step: when the determination result is affirmative, determining whether the intensity of the lane change maneuver that the vehicle is undergoing exceeds a threshold intensity, wherein the provision step comprises: when the determination result is affirmative and the determination result of the determination step is affirmative, providing a reverse control for the vehicle to resist the lane change maneuver.

3. The assisted driving method according to claim 2, wherein, The provision step further comprises: when it is detected that an emergency occurs in front of the vehicle, in response to the accelerator pedal of the vehicle being depressed, providing an additional control for resisting the depression maneuver of the accelerator pedal.

4. The assisted driving method according to any one of claims 1 to 3, wherein, The lane change maneuver includes a steering maneuver achieved by applying a steering torque to the steering wheel of the vehicle, and the reverse control includes a reverse torque for resisting the steering torque.

5. The assisted driving method according to claim 3, further comprising a cancellation step, the cancellation step comprising: when the reverse control is provided, if the determination result or the determination result of the determination step becomes negative, canceling the reverse control; and / or when the additional control is provided, if it is detected that there is no longer an emergency in front of the vehicle, canceling the additional control.

6. The assisted driving method according to any one of claims 1-3, wherein, When detecting one of the following, it is determined that the vehicle is undergoing a lane change maneuver: the angular velocity of the steering wheel of the vehicle exceeds an angular velocity threshold; the angular acceleration of the steering wheel of the vehicle exceeds an angular acceleration threshold; at least one wheel of the vehicle is located on a lane line or is passing over a lane line.

7. The assisted driving method according to any one of claims 1-3, wherein, The emergency is a cut-in event.

8. An assisted driving device for a vehicle, comprising: A determination device configured to: when it is detected that an emergency occurs in front of the vehicle, determine whether the vehicle is undergoing a lane change maneuver; A provision device configured to: when the determination result is affirmative, provide a reverse control for the vehicle to resist the lane change maneuver.

9. The assisted driving device according to claim 8, further comprising: A determination device configured to: when the determination result is affirmative, determine whether the intensity of the lane change maneuver that the vehicle is undergoing exceeds a threshold intensity, wherein the provision device is configured to: when the determination result is affirmative and the determination result of the determination device is affirmative, provide a reverse control for the vehicle to resist the lane change maneuver.

10. The auxiliary driving device according to claim 9, wherein, The provision device is further configured to: when it is detected that an emergency occurs in front of the vehicle, in response to the accelerator pedal of the vehicle being depressed, provide an additional control for resisting the depression maneuver of the accelerator pedal.

11. The auxiliary driving device according to any one of claims 8-10, wherein, The lane change maneuver includes a steering maneuver achieved by applying a steering torque to the steering wheel of the vehicle, and the reverse control includes a reverse torque for resisting the steering torque.

12. The assisted driving device according to claim 10, further comprising a cancellation device, the cancellation device being configured to: In the case of providing the reverse control, if the judgment result or determination result becomes negative, cancel the reverse control; and / or In the case of providing the additional control, if it is detected that there is no longer an emergency ahead of the vehicle, cancel the additional control.

13. The auxiliary driving device according to any one of claims 8-10, wherein, When one of the following is detected, it is determined that the vehicle is undergoing a lane change maneuver: The angular velocity of the steering wheel of the vehicle exceeds an angular velocity threshold; The angular acceleration of the steering wheel of the vehicle exceeds an angular acceleration threshold; At least one wheel of the vehicle is located on the lane line or is passing over the lane line.

14. The auxiliary driving device according to any one of claims 8-10, wherein, The emergency is a cut-in event.

15. A vehicle, comprising the assisted driving device according to any one of claims 8-14.

16. A computer device, comprising a memory and a processor, wherein computer instructions are stored on the memory, and when the computer instructions are executed by the processor, the assisted driving method according to any one of claims 1-7 is caused to be executed.

17. A non-transitory computer-readable storage medium, on which computer instructions are stored, and when the computer instructions are executed by a processor, the assisted driving method according to any one of claims 1-7 is caused to be executed.

Images