Auxiliary driving method, device and equipment and storage medium

Abstract

The invention provides an auxiliary driving method and device, equipment and a storage medium. The method comprises the following steps: acquiring at least one of road information of a driving road section of a first vehicle, information of other vehicles of the driving road section and driving state information of the first vehicle; and generating a driving decision for assisting vehicle driving according to at least one of the road information of the driving road section of the first vehicle, the information of other vehicles and the driving state information of the first vehicle. According to the driving decision generated on the basis of at least one of the road information of the driving road section of the first vehicle, the information of other vehicles of the driving road section and the state information of the first vehicle, auxiliary driving can be performed on the vehicle, and even if the road on which the vehicle is driven is not covered by a high-precision map, the driving efficiency is improved. Or the auxiliary driving function of the vehicle cannot take effect due to the fact that the navigation function of the vehicle is not started, the corresponding driving decision can be generated by utilizing the scheme, so that the driving of the vehicle is assisted, and the driving safety of the vehicle is ensured.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and particularly to an assisted driving method, device, equipment, and storage medium. Background Art

[0002] With the development of computer and communication technologies, some vehicles are equipped with assisted driving functions. The assisted driving functions can give driving suggestions during the process of a driver driving a vehicle to assist the driver in driving and ensure the safety of driving.

[0003] Currently, the assisted driving function of a vehicle needs to meet two conditions to take effect, that is, the road on which the vehicle is driving is covered by a high-precision map, and the vehicle needs to turn on the navigation function. In the case where these two conditions cannot be met simultaneously, the assisted driving function cannot take effect, resulting in a reduction in driving safety. Summary of the Invention

[0004] Based on the above problems, this application provides an assisted driving method, device, equipment, and storage medium, aiming to solve the problem of low driving safety.

[0005] The embodiments of this application disclose the following technical solutions:

[0006] First aspect: This application provides an assisted driving method, including:

[0007] Obtaining at least one of the road information of the driving section of the first vehicle, the information of other vehicles driving on the driving section, and the driving state information of the first vehicle, where the road information is used to indicate the lane information corresponding to the first vehicle, and the driving state information of the first vehicle is used to indicate the driving state of the first vehicle;

[0008] Generating a driving decision according to at least one of the road information of the driving section of the first vehicle, the information of other vehicles, and the driving state information of the first vehicle, where the driving decision is used to assist vehicle driving.

[0009] In a possible implementation manner, the driving state information of the first vehicle includes the vehicle speed of the first vehicle, the information of other vehicles includes the vehicle speed of a second vehicle in front of the first vehicle, the time when the second vehicle is in front of the first vehicle, and the vehicle speed of a third vehicle in the adjacent lane of the first vehicle, and the road information of the driving section of the first vehicle indicates whether there is a lane change space in the adjacent lane of the first vehicle. The generating a driving decision according to at least one of the road information of the driving section of the first vehicle, the information of other vehicles, and the driving state information of the first vehicle includes:

[0010] If the difference between the speed of the first vehicle and the speed of the second vehicle is higher than a first threshold, the speed of the first vehicle is lower than a speed threshold, the time that the second vehicle is in front of the first vehicle is greater than a preset time, the speed of the third vehicle is higher than the speed of the second vehicle, and there is a lane-changing space in the lane next to the first vehicle, a slow vehicle overtaking lane-changing decision is generated, and the slow vehicle overtaking lane-changing decision indicates overtaking a vehicle with a slow driving speed in front of the first vehicle.

[0011] In a possible implementation, the road information includes the lane where the first vehicle is located, the information of other vehicles indicates whether there is a lane-changing space in the lane next to the first vehicle, and generating a driving decision according to at least one of the road information of the driving section of the first vehicle, the information of other vehicles, and the driving state information of the first vehicle includes:

[0012] According to the lane speed limit information provided by the high-precision map, determine the speed limit information of the lane where the first vehicle is located;

[0013] If the speed limit information of the lane where the first vehicle is located indicates that the lane where the first vehicle is located is a non-fast lane and there is a lane-changing space in the lane next to the first vehicle, generate a lane-changing decision to enter the fast lane.

[0014] In a possible implementation, generating a driving decision according to at least one of the road information of the driving section of the first vehicle, the information of other vehicles, and the driving state information of the first vehicle includes:

[0015] Obtain the user's historical driving behavior information corresponding to the driving section;

[0016] Generate a driving decision according to at least one of the road information of the driving section of the first vehicle, the information of other vehicles, the driving state information of the first vehicle, and the user's historical driving behavior information.

[0017] In a possible implementation, the driving state information of the first vehicle includes the speed of the first vehicle, the user's historical driving behavior information corresponding to the driving section includes the number of times the user adjusts the speed in the driving section and the speed of the user after each speed adjustment in the driving section, and generating a driving decision according to at least one of the road information of the driving section of the first vehicle, the information of other vehicles, the driving state information of the first vehicle, and the user's historical driving behavior information includes:

[0018] When the number of times the user adjusts the speed in the driving section is greater than a first number, based on the speed of the user after each speed adjustment in the driving section, determine the target speed corresponding to the driving section;

[0019] Generate a speed adjustment decision based on the speed of the first vehicle and the target speed, where the speed adjustment decision instructs to adjust the speed of the first vehicle to the target speed corresponding to the driving section.

[0020] In a possible implementation, the user's historical driving behavior information corresponding to the driving section includes the number of times the user drives to the ramp in the driving section and the distance from the ramp each time the user changes lanes in the direction of the ramp. Generating a driving decision according to at least one of the road information of the driving section of the first vehicle, the information of other vehicles, and the driving state information of the first vehicle, and the user's historical driving behavior information includes:

[0021] When the number of times the user drives to the ramp in the driving section is greater than a second number, based on the distance from the ramp each time the user changes lanes in the direction of the ramp, determine the target distance from the ramp when the user changes lanes in the direction of the ramp in the driving section;

[0022] Generate a ramp driving decision to drive towards the ramp according to the road information of the driving section of the first vehicle, the information of other vehicles, the driving state information of the first vehicle, and the target distance.

[0023] In a possible implementation, the driving state information of the first vehicle includes the speed of the first vehicle, and the road information includes road speed limit information. Generating a driving decision according to at least one of the road information of the driving section of the first vehicle, the information of other vehicles, and the driving state information of the first vehicle includes:

[0024] If the speed of the first vehicle is greater than the limit speed indicated by the road speed limit information, generate a speed limit decision, where the speed limit decision instructs to control the speed of the first vehicle to be less than or equal to the limit speed.

[0025] Second aspect: This application provides an assisted driving device, including:

[0026] An acquisition unit and a generation unit;

[0027] The acquisition unit is used to acquire at least one of the road information of the driving section of the first vehicle, the information of other vehicles driving on the driving section, and the driving state information of the first vehicle. The road information is used to indicate the lane information corresponding to the first vehicle, and the driving state information of the first vehicle is used to indicate the driving state of the first vehicle;

[0028] The generating unit is configured to generate a driving decision based on at least one of the road information of the first vehicle's driving section, the information of other vehicles, and the driving state information of the first vehicle, and the driving decision is used to assist vehicle driving.

[0029] In a possible implementation, the driving state information of the first vehicle includes the vehicle speed of the first vehicle, the information of other vehicles includes the vehicle speed of a second vehicle in front of the first vehicle, the time when the second vehicle is in front of the first vehicle, and the vehicle speed of a third vehicle in the adjacent lane of the first vehicle, and the road information of the first vehicle's driving section indicates whether there is a lane-changing space in the adjacent lane of the first vehicle. The generating unit is specifically configured to:

[0030] If the difference between the vehicle speed of the first vehicle and the vehicle speed of the second vehicle is higher than a first threshold, the vehicle speed of the first vehicle is lower than a vehicle speed threshold, the time when the second vehicle is in front of the first vehicle is greater than a preset time, the vehicle speed of the third vehicle is higher than the vehicle speed of the second vehicle, and there is a lane-changing space in the adjacent lane of the first vehicle, generate a decision to overtake a slow vehicle by changing lanes, where the decision to overtake a slow vehicle by changing lanes indicates overtaking a vehicle with a slow driving speed in front of the first vehicle.

[0031] In a possible implementation, the road information includes the lane where the first vehicle is located, and the information of other vehicles indicates whether there is a lane-changing space in the adjacent lane of the first vehicle. The generating unit includes: a first determining subunit and a first generating subunit;

[0032] The first determining subunit is configured to determine the speed limit information of the lane where the first vehicle is located according to the lane speed limit information provided by the high-precision map;

[0033] The first generating subunit is configured to generate a lane-changing decision to enter the fast lane if the speed limit information of the lane where the first vehicle is located indicates that the lane where the first vehicle is located is a non-fast lane and there is a lane-changing space in the adjacent lane of the first vehicle.

[0034] In a possible implementation, the generating unit includes:

[0035] An obtaining subunit and a second generating subunit;

[0036] The obtaining subunit is configured to obtain the user's historical driving behavior information corresponding to the driving section;

[0037] The second generating subunit is configured to generate a driving decision based on at least one of the road information of the first vehicle's driving section, the information of other vehicles, the driving state information of the first vehicle, and the user's historical driving behavior information.

[0038] In a possible implementation, the driving state information of the first vehicle includes the vehicle speed of the first vehicle, and the user's historical driving behavior information corresponding to the driving section includes the number of times the user adjusts the vehicle speed in the driving section and the vehicle speed after the user adjusts the vehicle speed each time in the driving section. The generating unit includes: a second determining subunit and a third generating subunit;

[0039] The second determining subunit is configured to, when the number of times the user adjusts the vehicle speed in the driving section is greater than the first number, determine the target vehicle speed corresponding to the driving section based on the vehicle speed after the user adjusts the vehicle speed each time in the driving section;

[0040] The third generating subunit is configured to generate a speed adjustment decision according to the vehicle speed of the first vehicle and the target vehicle speed, where the speed adjustment decision instructs to adjust the vehicle speed of the first vehicle to the target vehicle speed corresponding to the driving section.

[0041] In a possible implementation, the user's historical driving behavior information corresponding to the driving section includes the number of times the user drives to the ramp in the driving section and the distance from the ramp each time the user changes lanes in the direction of the ramp. The generating unit includes:

[0042] a third determining subunit and a fourth generating subunit;

[0043] The third determining subunit is configured to, when the number of times the user drives to the ramp in the driving section is greater than the second number, determine the target distance from the ramp when the user changes lanes in the direction of the ramp in the driving section based on the distance from the ramp each time the user changes lanes in the direction of the ramp;

[0044] The fourth generating subunit is configured to generate a ramp driving decision to drive to the ramp according to the road information of the driving section of the first vehicle, the information of other vehicles, the driving state information of the first vehicle, and the target distance.

[0045] In a possible implementation, the driving state information of the first vehicle includes the vehicle speed of the first vehicle, and the road information includes road speed limit information. The generating unit is specifically configured to: if the vehicle speed of the first vehicle is greater than the limit vehicle speed indicated by the road speed limit information, generate a speed limit decision, where the speed limit decision instructs to control the vehicle speed of the first vehicle to be less than or equal to the limit vehicle speed.

[0046] In a third aspect, the present application provides an electronic device, where the electronic device includes: a processor and a memory;

[0047] The memory is used to store program code and transmit the program code to the processor;

[0048] The processor is used to execute the steps of the above-mentioned assisted driving method according to the instructions in the program code.

[0049] Fourth aspect: The present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned assisted driving method are implemented.

[0050] Compared with the prior art, the present application has the following beneficial effects:

[0051] The present application provides an assisted driving method, device, equipment and storage medium. The method includes: obtaining at least one of road information of a first vehicle driving section, information of other vehicles in the driving section, and driving state information of the first vehicle; generating a driving decision for assisting vehicle driving according to at least one of road information of the first vehicle driving section, information of other vehicles, and driving state information of the first vehicle. In the present application, a driving decision can be generated based on at least one of road information of the first vehicle driving section, information of other vehicles in the driving section, and state information of the first vehicle to assist vehicle driving. In one example, even if the assisted driving function of the vehicle fails to take effect because the road where the vehicle is driving is not covered by a high-precision map or the vehicle does not turn on the navigation function, with this solution, a corresponding driving decision can be generated to assist the vehicle in driving to ensure the driving safety of the vehicle. Description of the Drawings

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0053] Figure 1 It is a schematic diagram of the current situation of an assisted driving function provided by the present application;

[0054] Figure 2 It is a flowchart of an assisted driving method provided by an embodiment of the present application;

[0055] Figure 3 It is an interface block diagram of an assisted driving function provided by an embodiment of the present application;

[0056] Figure 4 It is a schematic diagram of driving towards a ramp provided by an embodiment of the present application;

[0057] Figure 5 It is a schematic diagram of a driving decision-making process provided by an embodiment of the present application;

[0058] Figure 6 It is a schematic diagram of a common lane-changing scenario provided by an embodiment of the present application;

[0059] Figure 7 It is a schematic diagram of the structure of an assisted driving device provided by an embodiment of the present application. Detailed implementation manners

[0060] The assisted driving function of a vehicle utilizes various sensors installed on the vehicle (such as millimeter-wave radars, lidars, single / multi-cameras, and satellite navigation, etc.) to sense the surrounding environment in real time during vehicle driving, collect data, identify, detect, and track static and dynamic objects, and combine with navigation map data to perform system operations and analyses, so as to pre-let the driver be aware of possible dangers, which can effectively improve the comfort and safety of vehicle driving.

[0061] In the actual application process, users usually pay more attention to whether the operation of the assisted driving function is convenient and whether the vehicle's behavior can meet the driver's expectations. For example, under the action of the assisted driving function, whether the lane-changing function of the vehicle is intelligent, that is, whether the vehicle can automatically select a suitable driving route according to the scenario and reduce the driver's manual operation of the vehicle.

[0062] Currently, there are two ways to implement the vehicle lane-changing function under the action of the assisted driving function. The first is that the vehicle always drives along the lane. When the current lane does not meet the driver's driving requirements, the driver needs to actively turn on the turn signal to trigger the vehicle to change lanes. Since the vehicle lane-changing depends on the user, that is, depends on the driver manually turning on the turn signal to trigger, the intelligent level of the vehicle's assisted driving function is low and the safety is poor.

[0063] The second way requires the vehicle to meet two conditions, that is, the road where the vehicle is driving is covered by a high-precision map, and the vehicle needs to turn on the navigation function. Since the assisted driving function cannot take effect when these two conditions cannot be met simultaneously, the driving safety is reduced.

[0064] At the same time, for the familiar routes that users often drive, such as the daily commuting routes, users can reach the destination without setting the navigation. Therefore, setting the navigation as a prerequisite for the assisted driving function to take effect may be a burden for users.

[0065] Such as Figure 1As shown in the figure, this figure is a schematic diagram of the current status of an assisted driving function provided by this application. For non-high-precision map sections and situations where, although the vehicle is located in a high-precision map section but no navigation is set, the vehicle needs to respond to the operation of the user toggling the turn signal to change lanes, cannot change lanes automatically, and does not support the speed adjustment function. When the vehicle is within the high-precision map range and a navigation path is set, the assisted driving function of the vehicle can take effect, that is, when the road on which the vehicle is driving is covered by the high-precision map and the vehicle turns on the navigation function, the vehicle can support lever-based lane change, intelligent lane change decision-making, and intelligent speed adjustment decision-making.

[0066] As described above, currently, for the assisted driving function of the vehicle to take effect, two conditions need to be met, that is, the road on which the vehicle is driving is covered by the high-precision map, and the vehicle needs to turn on the navigation function. In the case where these two conditions cannot be met simultaneously, the assisted driving function cannot take effect, resulting in a reduction in driving safety.

[0067] Based on this, this application provides an assisted driving method, which obtains at least one of the road information of the first vehicle's driving section, the information of other vehicles on the driving section, and the driving state information of the first vehicle; and generates a driving decision for assisting vehicle driving according to at least one of the road information of the first vehicle's driving section, the information of other vehicles, and the driving state information of the first vehicle. Even if the assisted driving function of the vehicle cannot take effect due to the road on which the vehicle is driving not being covered by the high-precision map or the vehicle not turning on the navigation function, with this solution, corresponding driving decisions can be generated to assist the vehicle in driving to ensure the driving safety of the vehicle.

[0068] To enable those skilled in the art to better understand the solution of this application, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0069] See Figure 2 , this figure is a flowchart of an assisted driving method provided by an embodiment of this application, including S101 - S102.

[0070] S101. Obtain at least one of the road information of the first vehicle's driving section, the information of other vehicles driving on the driving section, and the driving state information of the first vehicle.

[0071] Among them, the road information is used to indicate the lane information corresponding to the first vehicle, and the driving state information of the first vehicle is used to indicate the driving state of the first vehicle.

[0072] S102. Generate a driving decision based on at least one of the road information of the first vehicle's driving section, the information of other vehicles, and the driving state information of the first vehicle.

[0073] Wherein, the driving decision is used to assist vehicle driving.

[0074] Exemplarily, the road information of the first vehicle's driving section and the information of other vehicles can come from high-precision maps, navigation maps, radars, sensors around the first vehicle, etc.

[0075] As Figure 3 shown, this figure is an interface block diagram of an assisted driving function provided by an embodiment of the present application. Exemplarily, the interfaces corresponding to the assisted driving function may include, but are not limited to, a high-precision map interface for receiving information from a high-precision map, a navigation map interface for receiving information from a navigation map, a positioning interface for obtaining the position information of the first vehicle, a front vision sensor interface for receiving lane line and other vehicle information from a front vision sensor, a radar interface for receiving other vehicle information from a radar, a vehicle information interface for receiving the driving state information of the first vehicle, and a surround view sensor interface for receiving other vehicle information from a surround view sensor.

[0076] Among them, the high-precision map interface, the navigation map interface, and the surround view sensor interface are non-essential interfaces, that is, when the vehicle does not have the high-precision map interface, the navigation map interface, and the surround view sensor interface, the assisted driving of the vehicle can also be realized based on the method provided by the present application.

[0077] Exemplarily, after the map processing module processes the lane line information, ramp entrance information, etc. from the high-precision map interface, the navigation path information, etc. from the navigation map interface, and the positioning information such as longitude and latitude from the positioning interface, the lane-level positioning information corresponding to the first vehicle can be obtained, such as the lane information where the first vehicle is currently driving, the total number of lanes, lane line information, ramp entrance distance information, ramp entrance attributes, traffic flow information in each lane, etc.

[0078] The target fusion module can perform target fusion on the lane line information and other vehicle information from the front vision sensor interface, the other vehicle information from the surround view sensor interface, and the other vehicle information from the radar interface to obtain the lane line information and other vehicle information.

[0079] The intelligent decision-making module can obtain a suitable driving route and driving speed based on the lane-level positioning information corresponding to the first vehicle from the map processing module, the lane line information and other vehicle information from the target fusion module, and the driving state information from the vehicle information interface, and generate a corresponding driving strategy according to the driving route.

[0080] Among them, the driving state information from the vehicle information interface, that is, the driving state information of the first vehicle, may include, but is not limited to, vehicle information such as throttle, brake, gear position, steering wheel angle, and steering wheel torque. The driving state information of the first vehicle can be used to indicate the driving state of the first vehicle. The road information of the driving section of the first vehicle may include lane-level positioning information from the map processing module and lane line information from the target fusion module.

[0081] In a possible implementation manner, the driving state information of the first vehicle includes the vehicle speed of the first vehicle, the information of other vehicles includes the vehicle speed of the second vehicle in front of the first vehicle, the time when the second vehicle is in front of the first vehicle, and the vehicle speed of the third vehicle in the adjacent lane of the first vehicle. The road information of the driving section of the first vehicle indicates whether there is a lane-changing space in the adjacent lane of the first vehicle. Generating a driving decision according to at least one of the road information of the driving section of the first vehicle, the information of other vehicles, and the driving state information of the first vehicle includes:

[0082] If the difference between the vehicle speed of the first vehicle and the vehicle speed of the second vehicle is higher than a first threshold, the vehicle speed of the first vehicle is lower than the vehicle speed threshold, the time when the second vehicle is in front of the first vehicle is greater than a preset time, the vehicle speed of the third vehicle is higher than the vehicle speed of the second vehicle, and there is a lane-changing space in the adjacent lane of the first vehicle, generate an overtaking slow vehicle lane-changing decision, and the overtaking slow vehicle lane-changing decision indicates overtaking the vehicle with a slow driving speed in front of the first vehicle.

[0083] Exemplarily, in the embodiment of the present application, the first vehicle can sense the information of other vehicles and road information in front of the vehicle through a front view sensor, a front radar, a front corner radar, and a surround view sensor, and obtain information such as the information of the front lane, the information of the second vehicle driving in front, and the speed limit information of the front road. The first vehicle can sense the information of other vehicles and road information behind the vehicle through the surround view sensor and the rear corner radar signal.

[0084] When the section where the first vehicle is driving is not covered by a high-precision map, the first vehicle can only perform lane-level positioning of the vehicle itself through the road information obtained by sensors and radars, and obtain road information, such as obtaining the total number of lanes, which lane the first vehicle is in, the cut-off distance of each lane, and the speed limit information of the front road. The first vehicle can obtain the information of other vehicles around the vehicle by using a front view sensor, a millimeter wave radar, a surround view sensor, etc.

[0085] If the difference between the speed of the first vehicle and the speed of the second vehicle is higher than a first threshold, the speed of the first vehicle is lower than a speed threshold, the time that the second vehicle is in front of the first vehicle is greater than a preset time, the speed of the third vehicle in the lane next to the first vehicle is higher than the speed of the second vehicle, and there is a lane-changing space in the lane next to the first vehicle, a slow vehicle overtaking lane-changing decision is generated, and the slow vehicle overtaking lane-changing decision instructs to overtake the vehicle with a slow driving speed in front of the first vehicle.

[0086] In one example, the difference between the speed of the first vehicle and the speed of the second vehicle is higher than 10 km / h, the speed of the first vehicle is lower than 15 km / h, the time that the second vehicle is in front of the first vehicle exceeds 30 seconds, the speed of the third vehicle in the lane next to the first vehicle is higher than the speed of the second vehicle, and there is a lane-changing space in the lane next to the first vehicle, then a slow vehicle overtaking lane-changing decision is generated.

[0087] The first vehicle can overtake the second vehicle with a slow driving speed in front of the first vehicle from the lane-changing space based on the slow vehicle overtaking lane-changing decision.

[0088] Exemplarily, when there is only one other vehicle or no other vehicle in the lane next to the first vehicle, or the distance between the front and rear vehicles is greater than 70 meters, it can be considered that there is a lane-changing space in the lane next to the first vehicle.

[0089] It should be noted that the first threshold, the speed threshold, the preset time, and the conditions for the existence of a lane-changing space in the lane next to the first vehicle in the embodiments of the present application can all be calibrated. In the embodiments of the present application, the first threshold, the speed threshold, the preset time, and the conditions for the existence of a lane-changing space in the lane next to the first vehicle are not specifically limited, and the above are only examples.

[0090] In one example, based on at least one of the road information of the driving section of the first vehicle, the information of other vehicles, and the driving state information of the first vehicle, it can be recognized whether the lane where the first vehicle is located is about to end and whether there is a lane-changing space in the adjacent lane.

[0091] When it is determined that the lane where the first vehicle is located is about to end and there is a lane-changing space in the adjacent lane, a lane-changing decision for lane line cut-off lane-changing avoidance is generated.

[0092] Exemplarily, when there is only one other vehicle or no vehicle in the lane next to the first vehicle, or the distance between the front and rear vehicles is greater than 70 meters, it can be considered that there is a lane-changing space in the adjacent lane. Among them, the distance between the front and rear vehicles being greater than 70 meters is only an example and can be set according to specific situations.

[0093] If the adjacent lane of the first vehicle does not meet the lane change condition, that is, there is no lane change space in the adjacent lane, the first vehicle can immediately issue an alarm reminder so that the user can intervene in advance.

[0094] In a possible implementation, the road information includes the lane where the first vehicle is located, and the information of other vehicles indicates whether there is a lane change space in the adjacent lane of the first vehicle. Generating a driving decision according to at least one of the road information of the driving section of the first vehicle, the information of other vehicles, and the driving state information of the first vehicle includes:

[0095] Determine the speed limit information of the lane where the first vehicle is located according to the lane speed limit information provided by the high-precision map; if the speed limit information of the lane where the first vehicle is located indicates that the lane where the first vehicle is located is a non-fast lane and there is a lane change space in the adjacent lane of the first vehicle, generate a lane change decision to enter the fast lane.

[0096] When the user is driving in the coverage area of the high-precision map but has not set a navigation, since the high-precision map can provide the speed limit information of each lane, in this case, according to the lane speed limit information provided by the high-precision map, the speed limit information of the lane where the first vehicle is located can be determined. Furthermore, based on the speed limit information of the lane where the first vehicle is located, it can be determined whether the first vehicle is in the fast lane. When the first vehicle is not driving in the fast lane, it can be determined that there is a lane change space in the adjacent lane of the first vehicle according to at least one of the road information of the driving section of the first vehicle, the information of other vehicles, and the driving state information of the first vehicle. If the speed limit information of the lane where the first vehicle is located indicates that the lane where the first vehicle is located is a non-fast lane and there is a lane change space in the adjacent lane of the first vehicle, a lane change decision to enter the fast lane can be generated, so that the first vehicle can drive into the fast lane based on the lane change decision to enter the fast lane.

[0097] In a possible implementation, the generating a driving decision according to at least one of the road information of the driving section of the first vehicle, the information of other vehicles, and the driving state information of the first vehicle includes:

[0098] Obtain the user's historical driving behavior information corresponding to the driving section;

[0099] Generate a driving decision according to at least one of the road information of the driving section of the first vehicle, the information of other vehicles, the driving state information of the first vehicle, and the user's historical driving behavior information.

[0100] In the embodiments of the present application, if the user does not set navigation and there is no coverage of high-precision maps on the current driving section, the first vehicle can enter the familiar road mode. In the familiar road mode, the intelligent decision-making system in the first vehicle can run the positioning algorithm in real time to achieve the positioning of the current driving position of the vehicle itself.

[0101] Exemplarily, in the familiar road mode, the first vehicle can learn and memorize the user's historical driving behavior information, and the learned user's historical driving behavior information can affect the driving decision of the first vehicle.

[0102] Among them, the user's historical driving behavior information may include, but is not limited to, the driving route and the user's driving behavior. The user's driving behavior may include operation information such as the behavior of the vehicle, the user turning on the turn signal, the user changing lanes, and the user adjusting the vehicle speed.

[0103] In a possible implementation manner, the driving state information of the first vehicle includes the vehicle speed of the first vehicle, the user's historical driving behavior information corresponding to the driving section includes the number of times the user adjusts the vehicle speed on the driving section and the vehicle speed after the user adjusts the vehicle speed each time on the driving section. Generating a driving decision according to at least one of the road information of the driving section of the first vehicle, the information of other vehicles, the driving state information of the first vehicle, and the user's historical driving behavior information includes:

[0104] When the number of times the user adjusts the vehicle speed on the driving section is greater than the first number, based on the vehicle speed after the user adjusts the vehicle speed each time on the driving section, determine the target vehicle speed corresponding to the driving section;

[0105] According to the vehicle speed of the first vehicle and the target vehicle speed, generate a speed adjustment decision, and the speed adjustment decision instructs to adjust the vehicle speed of the first vehicle to the target vehicle speed corresponding to the driving section.

[0106] Exemplarily, when the user actively adjusts the vehicle speed while driving on a certain section of the road, the intelligent decision-making module of the first vehicle can learn the operation of the user adjusting the vehicle speed and store the learning result in the array [n, TargSpd]. Where n represents the number of times the user actively adjusts the vehicle speed when entering this section of the road, and TargSpd is the vehicle speed after the user adjusts the vehicle speed.

[0107] When n reaches the first number, when the user drives to this section of the road again, if the user does not set navigation or there is no coverage of high-precision maps on the current section, the intelligent decision-making module can generate a speed adjustment decision, so as to automatically adjust the vehicle speed of the first vehicle to the recorded target vehicle speed. Among them, the target vehicle speed can be determined based on the vehicle speed after the user adjusts the vehicle speed each time on the driving section.

[0108] In a possible implementation, the user's historical driving behavior information corresponding to the driving section includes the number of times the user drives to the ramp in the driving section and the distance from the ramp each time the user changes lanes in the direction of the ramp. Generating a driving decision based on at least one of the road information of the first vehicle's driving section, the information of other vehicles, and the driving state information of the first vehicle, and the user's historical driving behavior information includes:

[0109] When the number of times the user drives to the ramp in the driving section is greater than a second number, based on the distance from the ramp each time the user changes lanes in the direction of the ramp, determine the target distance from the ramp when the user changes lanes in the direction of the ramp in the driving section;

[0110] Generate a ramp driving decision to drive towards the ramp according to the road information of the first vehicle's driving section, the information of other vehicles, the driving state information of the first vehicle, and the target distance.

[0111] Exemplarily, when the user does not set navigation or is driving in an area without high-precision map coverage, the intelligent decision-making module in the first vehicle can memorize the routes that the user often drives. For example, if the user often exits the highway from a certain ramp, the intelligent decision-making module can store the number of times the user drives to the ramp in the driving section and the distance from the ramp each time the user changes lanes in the direction of the ramp into an array [w, RampDist], where w represents the number of times the user drives to the ramp in the driving section, and RampDist represents the distance from the ramp each time the user changes lanes in the direction of the ramp.

[0112] As Figure 4 shown, this figure is a schematic diagram of driving towards a ramp provided by an embodiment of the present application. Exemplarily, when the user is within a range of 2 kilometers from the target ramp and has a behavior of changing lanes to the target ramp on the right and finally drives to the target ramp, the intelligent decision-making module will record the behavior of the first vehicle driving into the target ramp this time, and record w = w + 1; if the user has driven into the target ramp before, but this time the user does not drive into the target ramp, then record w = w - 1.

[0113] When w reaches the second number, and the user drives to this section again, even if the user does not set navigation or the assisted driving function is not in effect, when the distance between the vehicle and the target ramp reaches the target distance, the first vehicle can generate a ramp driving decision to drive towards the ramp, thereby guiding the first vehicle to the target ramp. Among them, the target distance can be determined based on the distance from the ramp each time the user changes lanes in the direction of the ramp.

[0114] In a possible implementation, the driving state information of the first vehicle includes the vehicle speed of the first vehicle, the road information includes road speed limit information, and generating a driving decision based on at least one of the road information of the driving section of the first vehicle, the information of other vehicles, and the driving state information of the first vehicle includes: when the vehicle speed of the first vehicle is greater than the speed limit indicated by the road speed limit information, generating a speed limit decision, where the speed limit decision instructs to control the vehicle speed of the first vehicle to be less than or equal to the speed limit.

[0115] The following Figure 5 provides an overall introduction to the method provided by the embodiments of the present application. Figure 5 is a schematic diagram of a driving decision-making process provided by the embodiments of the present application.

[0116] In the embodiments of the present application, when there is no high-precision map coverage in the driving section, but navigation is set, or when there is no high-precision map coverage in the driving section and navigation is not set, if the first vehicle is in an unfamiliar road mode, the first vehicle can support turn signal lane change, overtaking slow vehicle lane change decision, lane line cut-off lane change avoidance decision, and speed limit decision; if the first vehicle is in a familiar road mode, in addition to supporting turn signal lane change, overtaking slow vehicle lane change decision, lane line cut-off lane change avoidance decision, and speed limit decision, the first vehicle can also support the decision of driving along the user's frequently traveled road at a Y-shaped intersection, the decision of exiting the main road, the ramp driving decision of driving towards the ramp, the decision of entering the main road, etc.

[0117] For the ramp routes and Y-shaped intersections that the user often travels, the intelligent decision-making module of the first vehicle can learn and remember. After the learning is completed, when the user travels to this section again, the intelligent decision-making module can guide the first vehicle to the frequently traveled route.

[0118] Through the familiar road mode, it is possible to guess and learn the user's driving intention. When the user does not set navigation, or there is no high-precision map coverage in the current section, or the user's first vehicle is not equipped with an assisted driving function, or the user does not turn on the assisted driving function, a driving route and vehicle speed that meet the user's driving needs can be selected for the user, providing convenience for the user and improving driving safety.

[0119] When there is no high-precision map coverage in the driving section, but navigation is set, or when there is no high-precision map coverage in the driving section and navigation is not set, due to the lack of high-precision map support, the first vehicle relies on vision for positioning, and the positioning accuracy is limited.

[0120] When there is high-precision map coverage on the driving section but no navigation is set, if the first vehicle is in the unfamiliar road mode, the first vehicle can support turn signal lane change, overtaking slow vehicle lane change decision-making, lane change decision-making for entering the fast lane, decision-making for driving along the high-class road at the Y-junction, lane change decision-making for avoiding lane change when the lane line ends, and speed limit decision-making; if the first vehicle is in the familiar road mode, in addition to supporting turn signal lane change, overtaking slow vehicle lane change decision-making, lane change decision-making for entering the fast lane, lane change decision-making for avoiding lane change when the lane line ends, and speed limit decision-making, the first vehicle can also support decision-making for driving along the road frequently traveled by the user at the Y-junction, decision-making for exiting the main road, ramp driving decision-making for driving towards the ramp, decision-making for entering the main road, etc.

[0121] Since the high-precision map can provide rich information and accurately estimate which lane the first vehicle is in, more lane change decision-making can be supported. As Figure 6 shown, this figure is a schematic diagram of a common lane change scenario provided by an embodiment of the present application.

[0122] The first vehicle can obtain information such as the lane information in front of the vehicle, the current lane information, and the information of other vehicles around the vehicle based on the information from sensors such as the front view sensor, radar, and surround view sensor, and make intelligent decisions.

[0123] In a possible implementation manner, when the first vehicle finds that the slow vehicle in front is suppressing and there is lane change space around, an overtaking slow vehicle lane change decision can be generated.

[0124] In a possible implementation manner, when the first vehicle finds that the lane line in front of its own lane is about to end, a lane change decision for avoiding lane change when the lane line ends can be generated. Due to the support of the high-precision map, the first vehicle can obtain farther road information, making up for the recognition distance limitation when there is only vision, and can output a lane change decision for avoiding lane change when the lane line ends at a relatively far position before the road ends, improving the lane change success rate.

[0125] In a possible implementation manner, since the high-precision map can provide the speed limit information of each lane, when the first vehicle is not driving in the fast lane, the intelligent decision-making module can automatically recognize that the first vehicle is not driving in the fast lane, and thus generate a lane change decision for entering the fast lane to guide the vehicle to drive into the fast lane.

[0126] In a possible implementation manner, at the Y-junction, the high-precision map can default to recommend a high-class road according to the road structure and big data statistics results, etc. Therefore, when the intelligent decision-making module of the first vehicle finds that the vehicle is driving on a low-class road at the Y-junction, a decision for driving along the high-class road at the Y-junction can be output, so as to guide the vehicle to the high-class road at the Y-junction.

[0127] In a possible implementation, the intelligent decision-making module may fuse the speed limit information from vision with the lane-level speed limit information from the high-precision map to obtain the final target speed limit information. When the target speed limit information is inconsistent with the current vehicle speed of the host vehicle, a speed limit decision is generated, thereby automatically adjusting the vehicle speed of the first vehicle to be lower than or equal to the speed limit of the current road.

[0128] In the case where the driving section is covered by a high-precision map, the information that the driving decision can provide includes, but is not limited to, the lane change direction, the reason for lane change, the lane change trajectory, etc., the adjusted vehicle speed, the source of vehicle speed adjustment, etc.

[0129] When the user is driving in the area covered by the high-precision map and the user has set the navigation information, as Figure 5 shown, the first vehicle can obtain the road signal and the user's destination information, so it can support more driving decisions, such as lever lane change, overtaking slow vehicle lane change decision, lane change decision to enter the fast lane, lane change decision to change lanes in advance according to the navigation at the Y-shaped intersection, lane change decision to avoid lane change at the end of the lane line, speed limit decision, decision to drive out of the main road, ramp driving decision to drive towards the ramp, decision to enter the main road, etc.

[0130] Exemplarily, according to the current position of the first vehicle and the target ramp information, the target ramp distance, the target ramp direction, etc., when the vehicle is about to get off the ramp ahead and the host vehicle is not in the rightmost lane, the intelligent decision-making module outputs a lane change decision to drive out of the main road to guide the vehicle to the rightmost lane; when the host vehicle is already in the rightmost lane, the intelligent decision-making module outputs an intelligent lane change decision to enter the ramp according to the distance from the target ramp; similarly, when the host vehicle is currently in the ramp and is about to merge into the main road ahead, the intelligent decision-making module can output a lane change decision to enter the main road to guide the first vehicle onto the main road.

[0131] In summary, the assisted driving method provided in this application obtains at least one of the road information of the driving section of the first vehicle, the information of other vehicles in the driving section, and the driving state information of the first vehicle; and generates a driving decision for assisting vehicle driving according to at least one of the road information of the driving section of the first vehicle, the information of other vehicles, and the driving state information of the first vehicle. Even if the assisted driving function of the vehicle fails to take effect due to the road where the vehicle is driving not being covered by the high-precision map or the vehicle not turning on the navigation function, with this solution, corresponding driving decisions can also be generated to assist the vehicle in driving to ensure the driving safety of the vehicle.

[0132] This application provides an assisted driving device. Refer to Figure 7 , this figure is a schematic structural diagram of an assisted driving device provided in an embodiment of this application. Its specific implementation is the same as the implementation described in the embodiment of the above method and the achieved technical effects, and some contents will not be elaborated again.

[0133] An assisted driving device 1100, comprising:

[0134] An acquisition unit 1101 and a generation unit 1102;

[0135] The acquisition unit 1101 is configured to acquire at least one of road information of the first vehicle driving section, information of other vehicles driving on the driving section, and driving state information of the first vehicle, where the road information is used to indicate lane information corresponding to the first vehicle, and the driving state information of the first vehicle is used to indicate the driving state of the first vehicle;

[0136] The generation unit 1102 is configured to generate a driving decision according to at least one of the road information of the first vehicle driving section, the information of other vehicles, and the driving state information of the first vehicle, where the driving decision is used to assist vehicle driving.

[0137] In a possible implementation manner, the driving state information of the first vehicle includes the vehicle speed of the first vehicle, the information of other vehicles includes the vehicle speed of a second vehicle in front of the first vehicle, the time when the second vehicle is in front of the first vehicle, and the vehicle speed of a third vehicle in the adjacent lane of the first vehicle, the road information of the first vehicle driving section indicates whether there is a lane change space in the adjacent lane of the first vehicle, and the generation unit is specifically configured to:

[0138] If the difference between the vehicle speed of the first vehicle and the vehicle speed of the second vehicle is higher than a first threshold, the vehicle speed of the first vehicle is lower than a vehicle speed threshold, the time when the second vehicle is in front of the first vehicle is greater than a preset time, the vehicle speed of the third vehicle is higher than the vehicle speed of the second vehicle, and there is a lane change space in the adjacent lane of the first vehicle, generate an overtaking slow vehicle lane change decision, where the overtaking slow vehicle lane change decision indicates overtaking a vehicle with a slow driving speed in front of the first vehicle.

[0139] In a possible implementation manner, the road information includes the lane where the first vehicle is located, the information of other vehicles indicates whether there is a lane change space in the adjacent lane of the first vehicle, and the generation unit includes: a first determination subunit and a first generation subunit;

[0140] The first determination subunit is configured to determine speed limit information of the lane where the first vehicle is located according to the lane speed limit information provided by the high-precision map;

[0141] The first generation subunit is configured to generate a lane-changing decision to enter the fast lane if the speed limit information of the lane where the first vehicle is located indicates that the lane where the first vehicle is located is a non-fast lane and there is lane-changing space in the lane next to the first vehicle.

[0142] In a possible implementation, the generation unit includes:

[0143] An acquisition subunit and a second generation subunit;

[0144] The acquisition subunit is configured to acquire the user's historical driving behavior information corresponding to the driving section;

[0145] The second generation subunit is configured to generate a driving decision according to at least one of the road information of the driving section of the first vehicle, the information of other vehicles, the driving state information of the first vehicle, and the user's historical driving behavior information.

[0146] In a possible implementation, the driving state information of the first vehicle includes the vehicle speed of the first vehicle, and the user's historical driving behavior information corresponding to the driving section includes the number of times the user adjusts the vehicle speed in the driving section and the vehicle speed after the user adjusts the vehicle speed each time in the driving section. The generation unit includes: a second determination subunit and a third generation subunit;

[0147] The second determination subunit is configured to, when the number of times the user adjusts the vehicle speed in the driving section is greater than the first number, determine the target vehicle speed corresponding to the driving section based on the vehicle speed after the user adjusts the vehicle speed each time in the driving section;

[0148] The third generation subunit is configured to generate a speed adjustment decision according to the vehicle speed of the first vehicle and the target vehicle speed, and the speed adjustment decision indicates to adjust the vehicle speed of the first vehicle to the target vehicle speed corresponding to the driving section.

[0149] In a possible implementation, the user's historical driving behavior information corresponding to the driving section includes the number of times the user drives to the ramp in the driving section and the distance from the ramp each time the user changes lanes in the direction of the ramp. The generation unit includes:

[0150] A third determination subunit and a fourth generation subunit;

[0151] The third determination subunit is configured to, when the number of times the user drives to the ramp in the driving section is greater than the second number, determine the target distance from the ramp when the user changes lanes in the direction of the ramp in the driving section based on the distance from the ramp each time the user changes lanes in the direction of the ramp;

[0152] The fourth generating subunit is configured to generate a ramp driving decision to drive towards the ramp according to the road information of the first vehicle driving section, the information of the other vehicle, the driving state information of the first vehicle, and the target distance.

[0153] In a possible implementation manner, the driving state information of the first vehicle includes the vehicle speed of the first vehicle, and the road information includes road speed limit information. The generating unit is specifically configured to: when the vehicle speed of the first vehicle is greater than the limit vehicle speed indicated by the road speed limit information, generate a speed limit decision, and the speed limit decision instructs to control the vehicle speed of the first vehicle to be less than or equal to the limit vehicle speed.

[0154] In summary, for the assisted driving device provided in this application, even if the assisted driving function of the vehicle fails to take effect due to the road where the vehicle is driving not being covered by the high-precision map or the vehicle not turning on the navigation function, with this solution, corresponding driving decisions can also be generated to assist the vehicle in driving to ensure the driving safety of the vehicle.

[0155] This application provides an electronic device, where the electronic device includes: a processor and a memory;

[0156] The memory is used to store program codes and transmit the program codes to the processor;

[0157] The processor is configured to execute the steps of an assisted driving method as described above according to the instructions in the program codes.

[0158] This application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of an assisted driving method as described above are implemented.

[0159] The above is only a specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in this application should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. An assisted driving method, characterized in that, Including: Obtaining at least one of the road information of the first vehicle's driving section, the information of other vehicles driving on the driving section, and the driving state information of the first vehicle, where the road information is used to indicate the lane information corresponding to the first vehicle, and the driving state information of the first vehicle is used to indicate the driving state of the first vehicle; Generating a driving decision according to at least one of the road information of the first vehicle's driving section, the information of other vehicles, and the driving state information of the first vehicle, where the driving decision is used to assist vehicle driving.

2. The method according to claim 1, wherein The driving state information of the first vehicle includes the vehicle speed of the first vehicle, the information of other vehicles includes the vehicle speed of the second vehicle in front of the first vehicle, the time when the second vehicle is in front of the first vehicle, and the vehicle speed of the third vehicle in the adjacent lane of the first vehicle. The road information of the first vehicle's driving section indicates whether there is a lane change space in the adjacent lane of the first vehicle. The generating a driving decision according to at least one of the road information of the first vehicle's driving section, the information of other vehicles, and the driving state information of the first vehicle includes: If the difference between the vehicle speed of the first vehicle and the vehicle speed of the second vehicle is higher than a first threshold, the vehicle speed of the first vehicle is lower than the vehicle speed threshold, the time when the second vehicle is in front of the first vehicle is greater than a preset time, the vehicle speed of the third vehicle is higher than the vehicle speed of the second vehicle, and there is a lane change space in the adjacent lane of the first vehicle, generating an overtaking slow vehicle lane change decision, where the overtaking slow vehicle lane change decision indicates overtaking the vehicle with a slow driving speed in front of the first vehicle.

3. The method according to claim 1, characterized in that, The road information includes the lane where the first vehicle is located, and the information of other vehicles indicates whether there is a lane change space in the adjacent lane of the first vehicle. The generating a driving decision according to at least one of the road information of the first vehicle's driving section, the information of other vehicles, and the driving state information of the first vehicle includes: Determining the speed limit information of the lane where the first vehicle is located according to the lane speed limit information provided by the high-precision map; If the speed limit information of the lane where the first vehicle is located indicates that the lane where the first vehicle is located is a non-fast lane and there is a lane change space in the adjacent lane of the first vehicle, generating a lane change decision to enter the fast lane.

4. The method according to claim 1, characterized in that, The generating a driving decision according to at least one of the road information of the first vehicle's driving section, the information of other vehicles, and the driving state information of the first vehicle includes: Obtaining the user's historical driving behavior information corresponding to the driving section; Generating a driving decision according to at least one of the road information of the first vehicle's driving section, the information of other vehicles, the driving state information of the first vehicle, and the user's historical driving behavior information.

5. The method according to claim 4, characterized in that, The driving state information of the first vehicle includes the vehicle speed of the first vehicle. The user historical driving behavior information corresponding to the driving section includes the number of times the user adjusts the vehicle speed in the driving section and the vehicle speed after the user adjusts the vehicle speed each time in the driving section. Generating a driving decision based on at least one of the road information of the driving section of the first vehicle, the information of other vehicles, the driving state information of the first vehicle, and the user historical driving behavior information includes: When the number of times the user adjusts the vehicle speed in the driving section is greater than the first number, based on the vehicle speed after the user adjusts the vehicle speed each time in the driving section, determine the target vehicle speed corresponding to the driving section; Generate a speed adjustment decision according to the vehicle speed of the first vehicle and the target vehicle speed, and the speed adjustment decision instructs to adjust the vehicle speed of the first vehicle to the target vehicle speed corresponding to the driving section.

6. The method according to claim 4, characterized in that, The user historical driving behavior information corresponding to the driving section includes the number of times the user travels to the ramp in the driving section and the distance from the ramp when the user changes lanes towards the ramp each time. Generating a driving decision based on at least one of the road information of the driving section of the first vehicle, the information of other vehicles, the driving state information of the first vehicle, and the user historical driving behavior information includes: When the number of times the user travels to the ramp in the driving section is greater than the second number, based on the distance from the ramp when the user changes lanes towards the ramp each time, determine the target distance from the ramp when the user changes lanes towards the ramp in the driving section; Generate a ramp driving decision to drive towards the ramp according to the road information of the driving section of the first vehicle, the information of other vehicles, the driving state information of the first vehicle, and the target distance.

7. The method according to any one of claims 1-6, characterized in that, The driving state information of the first vehicle includes the vehicle speed of the first vehicle. The road information includes road speed limit information. Generating a driving decision based on at least one of the road information of the driving section of the first vehicle, the information of other vehicles, and the driving state information of the first vehicle includes: If the vehicle speed of the first vehicle is greater than the limit vehicle speed indicated by the road speed limit information, generate a speed limit decision, and the speed limit decision instructs to control the vehicle speed of the first vehicle to be less than or equal to the limit vehicle speed.

8. An assisted driving device, characterized in that, Includes: An acquisition unit and a generation unit; The acquisition unit is configured to acquire at least one of the road information of the driving section of the first vehicle, the information of other vehicles driving on the driving section, and the driving state information of the first vehicle. The road information is used to indicate the lane information corresponding to the first vehicle, and the driving state information of the first vehicle is used to indicate the driving state of the first vehicle; The generation unit is configured to generate a driving decision according to at least one of the road information of the driving section of the first vehicle, the information of other vehicles, and the driving state information of the first vehicle, and the driving decision is used to assist vehicle driving.

9. An electronic device, characterized in that, The electronic device includes: a processor and a memory; The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the steps of an assisted driving method according to any one of claims 1-7 based on the instructions in the program code.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of an assisted driving method according to any one of claims 1-7 are implemented.

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