Vehicle auxiliary driving method and device, vehicle and medium

Abstract

The invention provides a vehicle auxiliary driving method and device, a vehicle and a medium, and relates to the technical field of auxiliary driving, if the light brightness of the environment where the vehicle is located is smaller than the preset brightness, information of obstacles in front of the vehicle is collected, the obstacles are displayed on a head-up display area of the vehicle, and the displayed obstacles and road conditions can be conveniently observed before front view; and the driving safety is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of assisted driving technology, and in particular, to a vehicle assisted driving method, device, vehicle, and medium. Background Art

[0002] Assisted driving technology in vehicles significantly improves driving safety and saves drivers time and effort. Existing assisted driving technology displays obstacle information on the central control screen when it detects an obstacle while the vehicle is in motion. However, in backlit situations, when emergency braking or steering is required, the driver must look down at the obstacle information on the central control screen while simultaneously looking directly at the obstacle in front of the vehicle. This undoubtedly increases the risk of emergency driving. Summary of the Invention

[0003] The purpose of the present disclosure is to provide a vehicle assisted driving method, device, vehicle and medium to solve the above problems.

[0004] In order to achieve the above-mentioned objectives, the present disclosure provides a vehicle assisted driving method, which includes: obtaining ambient light information of the vehicle's environment collected by an optical sensor system on the vehicle; if the ambient light information meets a preset glare condition, collecting obstacle information in front of the vehicle, and displaying the obstacle corresponding to the obstacle information on the head-up display area of ​​the vehicle.

[0005] Optionally, the optical sensor system includes a light sensor and a front camera of the vehicle, and the ambient light information includes the light brightness of the environment in which the vehicle is located, which is collected by the light sensor, and image information collected by the front camera. If the ambient light information meets a preset glare condition, the obstacle information in front of the vehicle is collected, including: if the light brightness is less than the preset brightness, obtaining the image information collected by the front camera; if it is determined according to the image information that there is a preset strong light source in front of the vehicle, determining that the ambient light information meets the preset glare condition, and collecting the obstacle information in front of the vehicle.

[0006] Optionally, the collecting the obstacle information in front of the vehicle includes: collecting the obstacle information in front of the vehicle by using a radar on the vehicle.

[0007] Optionally, the vehicle assisted driving method further includes: braking the vehicle when there is a risk of collision between the vehicle and the obstacle.

[0008] Optionally, the braking of the vehicle includes: if no braking behavior is detected, assisting the vehicle in braking; if braking behavior is detected, braking the vehicle according to the braking behavior.

[0009] Optionally, if braking behavior is detected, the vehicle is braked according to the braking behavior, including: if braking behavior is detected, obtaining the braking force corresponding to the braking behavior; if the braking force meets the preset conditions, controlling the vehicle braking according to the braking force; if the braking force does not meet the preset conditions, assisting the vehicle in braking.

[0010] Optionally, the vehicle assisted driving method further includes: when there is a risk of collision between the vehicle and the obstacle, controlling the vehicle to turn to avoid the obstacle.

[0011] Optionally, controlling the vehicle steering to avoid the obstacle includes: if no avoidance behavior is detected, activating an emergency avoidance function to control the vehicle steering to avoid the obstacle; if avoidance behavior is detected, controlling the vehicle steering to avoid the obstacle based on the avoidance behavior.

[0012] The present disclosure provides a vehicle assisted driving device, which includes: an acquisition module for acquiring ambient light information of the vehicle's environment collected by an optical sensor system on the vehicle; a display module for collecting obstacle information in front of the vehicle if the ambient light information meets a preset glare condition, and displaying the obstacle corresponding to the obstacle information on the head-up display area of ​​the vehicle.

[0013] The present disclosure provides a vehicle, comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to implement the steps of the vehicle assisted driving method when executing the instructions.

[0014] The present disclosure provides a computer-readable storage medium having computer program instructions stored thereon. When the program instructions are executed by a processor, the steps of the vehicle assisted driving method described in the first aspect are implemented.

[0015] The present disclosure provides a vehicle assisted driving method, device, vehicle and medium. If the brightness of the light in the vehicle's environment is less than a preset brightness, obstacle information in front of the vehicle is collected and the obstacle is displayed on the vehicle's head-up display area. The displayed obstacle and road conditions can be observed by looking straight ahead, thereby improving driving safety.

[0016] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following detailed description, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0018] Figure 1 is a flow chart showing a vehicle assisted driving method according to an exemplary embodiment;

[0019] Figure 2 is a flow chart showing a vehicle assisted driving method according to an exemplary embodiment;

[0020] Figure 3 is a logic block diagram of a vehicle driving assistance device according to an exemplary embodiment;

[0021] Figure 4 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0022] The following describes the specific embodiments of the present disclosure in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure and are not intended to limit the present disclosure.

[0023] Assisted driving technology in vehicles significantly improves driving safety and saves drivers time and effort. Existing assisted driving technology displays obstacle information on the central control screen when it detects an obstacle while the vehicle is in motion. However, in backlit situations, when emergency braking or steering is required, the driver must look down at the obstacle information on the central control screen while simultaneously looking directly at the obstacle in front of the vehicle. This undoubtedly increases the risk of emergency driving.

[0024] Furthermore, the existing technology usually uses infrared cameras for scanning. For example, an infrared camera is used to scan the environment around the vehicle body and output it to the central control screen to determine the distance between the vehicle and the vehicle in front and monitor the driver's driving status for automatic braking and other operations. During this process, the driver will alternate between lowering and raising his head, which increases the risk of driving. In addition, this method of the existing technology requires the vehicle to be equipped with additional infrared camera equipment, and its imaging effect is poor, the resolution is low, and the detection content is limited. It can only monitor the information of living things such as people and animals, and the infrared camera will experience glare under strong light, resulting in the output image not allowing the driver to easily obtain obstacles on the road. The infrared camera needs to work continuously and cannot be flexibly adapted to road conditions. It consumes power and shortens the service life of the infrared camera.

[0025] To this end, the present disclosure provides a vehicle assisted driving method, which can be applied to Figure 3 The vehicle driving assistance device 300 shown, Figure 4 The vehicle 600 and the computer readable storage medium shown in the embodiment are applied to a vehicle as an example. The vehicle can be a hybrid vehicle, a non-hybrid vehicle, or an electric vehicle. For another example, the vehicle can be an autonomous vehicle or a semi-autonomous vehicle. Figure 1 , the vehicle assisted driving method may include the following steps:

[0026] Step S110: Acquire ambient light information of the environment in which the vehicle is located, collected by an optical sensor system on the vehicle.

[0027] The vehicle is equipped with an optical sensor system. For example, the optical sensor system may include a camera, a light sensor, etc. The light sensor may be a photoresistor sensor, a photodiode sensor, or other optical sensor system. For example, the optical sensor system may be installed in the vehicle's headlights, the vehicle's hull, or other locations. The optical sensor system collects ambient light information about the vehicle's surroundings.

[0028] In one embodiment, the optical sensor system includes a light sensor and a front-facing camera of the vehicle. Accordingly, the ambient light information includes ambient light brightness and image information. The light sensor collects the ambient light brightness of the vehicle's environment. The front-facing camera collects image information. Optionally, in this embodiment, the light sensor can be located in the vehicle's headlights, near the dashboard of the cab, above the front windshield, on the roof, or other locations.

[0029] In another embodiment, the optical sensor system includes a front-facing camera of the vehicle, and the ambient light information includes image information. Furthermore, based on the image captured by the front-facing camera, the system determines whether the ambient light brightness is relatively low and whether there is a preset strong light source in front of the vehicle. Ambient light brightness refers to the brightness of the light surrounding the vehicle and is used to indicate the degree of brightness of the vehicle's surroundings.

[0030] Step S120: If the ambient light information meets a preset glare condition, obstacle information in front of the vehicle is collected, and the obstacle corresponding to the obstacle information is displayed on a head-up display area of ​​the vehicle.

[0031] In one embodiment, the ambient light information includes light brightness and image information. Step S120 may be performed as follows: if the light brightness is less than a preset brightness, image information captured by the front camera is obtained. If, based on the image information, it is determined that a preset strong light source is present in front of the vehicle, the ambient light information is determined to meet the preset glare condition, and obstacle information in front of the vehicle is then collected.

[0032] If the light brightness is less than the preset brightness, it means that the vehicle is in a dim environment, for example, the vehicle is in the dark, dusk, etc., or the vehicle is in a dim scene such as a tunnel or basement. In the aforementioned dimly lit environment, the driver's naked eyes may not notice obstacles. This embodiment collects obstacle information corresponding to the vehicle through the vehicle. For example, the obstacle can be in front of the vehicle, on the side, etc., and may interfere with the vehicle's driving. If the light brightness is greater than or equal to the preset brightness, it means that the vehicle is in a brighter environment. In this environment, the driver's field of vision is not restricted, and in this environment, even if the oncoming vehicle turns on the high beam, it will not cause glare. In this scenario, the vehicle speed, navigation arrow, etc. are displayed on the head-up display area.

[0033] Among them, the preset strong light source refers to a light source with brightness greater than the preset brightness. The preset strong light source may cause glare to the driver. For example, the preset strong light source may be the high beam of an oncoming vehicle, a street light, a flash of an electronic camera, etc.

[0034] In another embodiment, the ambient light information includes image information, and step S120 can be as follows: the image information is recognized by an image recognition algorithm to obtain a recognition result. If the recognition result indicates that the light in the vehicle's environment is less than a preset brightness, and there is a preset strong light source in front of the vehicle, it is determined that the ambient light information meets the preset glare condition. At this time, the obstacle information in front of the vehicle is collected.

[0035] In another embodiment, the obstacle corresponding to the obstacle information is displayed on the head-up display area of ​​the vehicle in step S120. This can be accomplished by adjusting at least one of the following parameters, such as brightness, color, and contrast, of the head-up display area based on the preset strong light source. For example, the brightness of the head-up display area can be increased to prevent the driver from being unable to see the displayed content due to strong light; or the color of the head-up display area can be adjusted to a dark color such as red, blue, or purple to prevent the driver from being unable to see the displayed content due to strong light; or the contrast of the head-up display area can be adjusted to a high contrast to prevent the driver from being unable to see the displayed content due to strong light. Alternatively, the head-up display area can be used to remind the driver to avoid the obstacle by displaying text, symbols, or the like. Furthermore, the method of reminding the driver to avoid the obstacle can include playing a voice prompt through the vehicle's speakers. For example, the voice prompt can be "There is a vehicle 150 meters ahead, please avoid it."

[0036] In the prior art, the head-up display area usually displays the vehicle speed and navigation arrows, while obstacles are displayed on the central control screen and flash. During driving, the driver has to look down at the obstacle information on the central control screen while looking directly at the obstacle in front of the vehicle. This is undoubtedly very dangerous for emergency driving. Therefore, the vehicle assisted driving method provided by the present invention shows a new assisted driving method, that is, when the light brightness is lower than the preset brightness, especially in the face of glare, the driver's field of vision is even more limited. In the above situation, the obstacles are displayed on the head-up display area, and the driver only needs to look straight ahead to observe the displayed obstacles and road conditions, thereby improving driving safety.

[0037] The vehicle assisted driving method provided in this embodiment collects obstacle information in front of the vehicle if the light brightness of the vehicle's environment is less than a preset brightness, and displays the obstacle on the vehicle's head-up display area. The displayed obstacles and road conditions can be observed by looking straight ahead, thereby improving driving safety.

[0038] In one embodiment, the obstacle information in front of the vehicle may be collected in step S120 in the following manner: if the ambient light information meets a preset glare condition, the obstacle information in front of the vehicle is collected by a radar on the vehicle.

[0039] When the vehicle is in glare conditions, the glare will seriously affect the driver's field of vision. Under this condition, the radar is controlled to collect obstacle information in front of the vehicle.

[0040] Optionally, brightness information is collected by a camera installed in front of the vehicle. If the brightness information is greater than a set brightness, it indicates that the vehicle is in a glare condition and there is a strong backlight source in front of the vehicle. For example, the strong backlight source may be the high beam of an oncoming vehicle, a street lamp, or the flash of an electronic camera. The preset brightness is less than the set brightness.

[0041] In one embodiment, the radar can be turned on to scan for obstacle information. When the vehicle is exposed to glare, the radar transmits the obstacle information to the vehicle, which then calculates and processes the obstacle information. The vehicle then generates an obstacle based on the obstacle information. In this embodiment, the radar only transmits the obstacle information to the vehicle when the vehicle is exposed to glare, reducing the amount of data required for calculation and processing, thereby conserving processing resources.

[0042] In another embodiment, the radar can be in a dormant state, in which it does not collect obstacle information. When the vehicle is exposed to glare, the vehicle sends a command to the radar, which responds by switching from a dormant state to an active state. In the active state, the radar collects obstacle information and feeds it back to the vehicle, allowing the vehicle to generate obstacle maps based on the information. In this embodiment, the radar is in a dormant state when the vehicle is not exposed to glare, thereby conserving energy and reducing radar losses.

[0043] Optionally, the radar may be a lidar, a millimeter-wave radar, or the like.

[0044] Optionally, the obstacle can be either stationary or moving. In one embodiment, a radar scan is performed at a first moment to determine the first location of the obstacle, and at a second moment to determine the second location of the obstacle. If the first and second locations coincide, the obstacle is stationary. If the first and second locations do not coincide, the obstacle is moving.

[0045] Optionally, in order to avoid collision between the vehicle and the obstacle and improve driving safety, the vehicle assisted driving method may further include: braking the vehicle when there is a risk of collision between the vehicle and the obstacle.

[0046] For example, the distance between the vehicle and the obstacle is scanned by radar, and the vehicle's speed is obtained. Based on the above distance and speed, it is calculated whether a collision will occur when the vehicle encounters the obstacle. If a collision occurs, it indicates that there is a collision risk between the vehicle and the obstacle. At this time, in order to ensure driving safety, the vehicle is braked.

[0047] In one embodiment, the vehicle may be braked as follows: if no braking action is detected, assisting the vehicle in braking. It is understood that the vehicle itself has a braking function. If no braking action by the driver is detected, the braking function is activated to assist the vehicle in braking. If braking action is detected, the vehicle is braked based on the braking action.

[0048] Optionally, a pressure sensor is installed on the accelerator pedal. If the pressure sensor detects no pressure, it indicates that braking is not detected. Conversely, if the pressure sensor detects pressure, it indicates that braking is detected.

[0049] As one approach, if braking action is detected, i.e., a pressure value is detected by a pressure sensor, a braking force corresponding to the braking action is obtained, which may be a pressure value. If the braking force satisfies a preset condition, indicating that braking according to the braking force can prevent a collision between the vehicle and an obstacle, the vehicle is braked according to the braking force. If the braking force does not meet the preset condition, indicating that braking according to the braking force is insufficient to prevent a collision between the vehicle and an obstacle, the vehicle is assisted in braking. For example, a braking function is activated on the vehicle, and braking is assisted according to the braking function.

[0050] In this embodiment, when there is a risk of collision between the vehicle and an obstacle, if the driver's braking force meets preset conditions, the braking function is not activated, and control of the vehicle is handed over to the driver. Braking is performed according to the driver's braking force to avoid collision with the obstacle, thereby improving driving safety. If the braking force is insufficient to stop the vehicle, or even if no braking is performed, there may be a collision risk if the driver still controls the vehicle. In this case, the auxiliary vehicle braking is performed. Thus, the vehicle's assisted driving function (here, the braking function) can avoid collision with the obstacle and also improve driving safety.

[0051] Optionally, in addition to the aforementioned braking method to prevent collisions between the vehicle and the obstacle, the vehicle can also be controlled to steer, thereby avoiding collisions and improving driving safety. Based on this, the method disclosed herein further includes: when there is a risk of collision between the vehicle and the obstacle, controlling the vehicle to steer to avoid the obstacle. For example, if no evasive maneuver is detected, activating an emergency evasive maneuver function to steer the vehicle to avoid the obstacle; if evasive maneuver is detected, controlling the vehicle to steer to avoid the obstacle based on the evasive maneuver.

[0052] For example, a steering wheel angle sensor can be installed on the steering wheel. When the driver turns the steering wheel, the steering wheel angle sensor can detect the angle signal. If there is a risk of collision between the vehicle and an obstacle, if the steering wheel angle sensor does not detect an angle signal, it indicates that the driver has not detected an evasive maneuver. The emergency avoidance function is activated to control the vehicle's steering to avoid the obstacle. If the steering wheel angle sensor detects an angle signal, it indicates that the driver has detected an evasive maneuver. Based on the driver's evasive maneuver, the vehicle's steering is controlled to avoid the obstacle, preventing a collision between the vehicle and the obstacle and ensuring driving safety.

[0053] Optionally, the obstacle avoidance method can be determined based on whether the obstacle is a stationary obstacle or a moving obstacle. For example, if the obstacle is a moving obstacle, braking can be used to avoid a collision between the obstacle and the vehicle. If the obstacle is a stationary obstacle, steering can be used to avoid a collision between the obstacle and the vehicle.

[0054] This disclosure provides a vehicle assisted driving method, see Figure 2 , the vehicle assisted driving method may include the following steps:

[0055] Step S201: The optical sensing system senses the surrounding light environment.

[0056] Step S202: Determine whether the ambient light intensity meets the driver's driving requirements.

[0057] If the driving requirements are met, the process ends; if the driving requirements are not met, the process enters step S203.

[0058] If the driving requirements are met, it means the vehicle is driving in a brighter scene with a better driver's field of vision. If the driving requirements are not met, it means the vehicle is driving in a darker scene with a limited driver's field of vision and requires assisted driving.

[0059] Step S203: Determine whether a strong backlight source is detected in the opposite lane or on the road.

[0060] If a strong backlight source is identified, the process proceeds to step S204; if no strong backlight source is identified, the process ends.

[0061] Step S204: Start the laser radar or millimeter wave radar.

[0062] Step S205: Determine whether an obstacle is detected on the road.

[0063] If an obstacle is detected on the road, the process proceeds to step S206 ; if no obstacle is detected on the road, the process ends.

[0064] Step S206: Projecting onto the front windshield.

[0065] Step S207: Determine whether there is a collision risk.

[0066] If there is a collision risk, the process proceeds to step S208; if there is no collision risk, the process ends.

[0067] Step S208: Determine whether the driver has braked.

[0068] If there is braking, the process proceeds to step S209; if there is no braking, the process proceeds to step S211.

[0069] Step S209: Determine whether the driver's braking force is sufficient to stop the vehicle.

[0070] If the vehicle can be stopped, the process proceeds to step S211 ; if the vehicle cannot be stopped, the process proceeds to step S210 .

[0071] Step S210: The emergency brake is turned on to assist the driver in stopping the vehicle.

[0072] Step S211: The vehicle stops.

[0073] Step S212: Determine whether the driver has taken evasive action.

[0074] If there is an avoidance action, the process enters step S213; if there is no avoidance action, the process enters step S215.

[0075] Step S213: Assist the driver in emergency steering.

[0076] Step S214: The vehicle stops for avoidance.

[0077] Step S215: Automatically activate the emergency avoidance function.

[0078] The detailed description of steps S201 to S215 in this embodiment can be found in the above embodiment and will not be repeated here.

[0079] In the prior art, infrared cameras are used to scan the vehicle's surroundings and output them to a screen, determining the distance between the vehicle and the preceding vehicle and monitoring the driver's driving status for automatic braking and other maneuvers. Compared to body-mounted sensors like lidar and millimeter-wave radar, these conventional vehicles require additional infrared cameras. Furthermore, infrared cameras suffer from poor imaging quality, low resolution, and limited detection capabilities, limited to monitoring vital information such as people and animals. Infrared cameras can experience glare under strong sunlight, preventing drivers from easily obtaining road information. They also lack automatic start / stop functionality, requiring the infrared camera to operate continuously, making them inflexible to road conditions and consuming power while shortening their lifespan. In contrast, the cameras and radars discussed in this disclosure are already sensors already installed on the vehicle. The vehicle-assisted driving method provided in this disclosure reuses existing sensors, resulting in low hardware cost. The method uses visual recognition captured by the camera to determine the vehicle's specific operating condition, while relying on lidar, ultrasonic radar, and other sensors to obtain road and obstacle information, which is then rendered and displayed on the heads-up display. Furthermore, vehicle safety features such as audible warnings, emergency braking, and emergency steering ensure driving safety. First, the light sensor determines whether the current lighting conditions meet the activation requirements. Next, the camera determines whether there are strong light sources that could dazzle the driver. Then, sensors such as LiDAR and millimeter-wave radar are activated to scan road conditions and the surrounding environment. Finally, the driver is informed of road conditions through the head-up display. If a collision is imminent, emergency braking or evasive maneuvers are implemented to prevent the collision and improve driving safety.

[0080] In addition, the present disclosure relies on vehicle body sensors and does not require additional equipment. It can be flexibly adjusted according to the vehicle configuration. The functions can be achieved by relying only on light and dark sensors, ultrasonic radars and head-up displays. The function activation process is reasonable, and there is no need to keep the sensors on to collect road information. This can extend the service life of the sensors while also saving vehicle power. Relying on the vehicle rendering function, obstacle information on the road and surrounding environment is projected onto the head-up display area. The types of obstacles identified are relatively rich, including obstacle information on the road, road surface flatness information, and suspended objects that may affect driving, for example, suspended objects are special-shaped obstacles such as tree branches. For situations where the driver has no time to respond or responds insufficiently, driving assistance can help the driver perform emergency braking or emergency avoidance operations, effectively reducing the probability of accidents and ensuring driving safety.

[0081] To implement the above method embodiments, the present disclosure provides a vehicle assisted driving device, see Figure 3 , the vehicle auxiliary driving device 300 includes: an acquisition module 310 and a display module 320;

[0082] An acquisition module 310 is configured to acquire ambient light information of an environment in which the vehicle is located, collected by an optical sensor system on the vehicle;

[0083] The display module 320 is configured to collect obstacle information in front of the vehicle if the ambient light information satisfies a preset glare condition, and display the obstacle corresponding to the obstacle information on a head-up display area of ​​the vehicle.

[0084] Optionally, the optical sensor system includes a light sensor and a front camera of the vehicle, and the ambient light information includes the light brightness of the environment in which the vehicle is located, collected by the light sensor, and image information collected by the front camera;

[0085] The display module is specifically used to obtain image information captured by the front camera if the light brightness is less than the preset brightness; if it is determined based on the image information that there is a preset strong light source in front of the vehicle, determine that the ambient light information meets the preset glare condition, and collect obstacle information in front of the vehicle.

[0086] Optionally, the display module 320 includes: an obstacle display module;

[0087] The obstacle display module is used to collect obstacle information in front of the vehicle through the radar on the vehicle.

[0088] Optionally, the vehicle auxiliary driving device 300 further includes: a braking module;

[0089] A braking module is used to brake the vehicle when there is a risk of collision between the vehicle and the obstacle.

[0090] Optionally, the braking module includes: a first braking module and a second braking module;

[0091] a first braking module, configured to assist the vehicle in braking if no braking action is detected;

[0092] The second braking module is configured to brake the vehicle according to the braking behavior if a braking behavior is detected.

[0093] Optionally, the second braking module includes: a force detection module, a third braking module and a fourth braking module;

[0094] A force detection module, configured to obtain a braking force corresponding to a braking action if a braking action is detected;

[0095] a third braking module, configured to control the vehicle braking according to the braking force if the braking force meets a preset condition;

[0096] A fourth braking module is configured to assist the vehicle in braking if the braking force does not meet the preset condition.

[0097] Optionally, the vehicle auxiliary driving device 300 further includes: an avoidance module;

[0098] The avoidance module is used to control the vehicle to turn to avoid the obstacle when there is a risk of collision between the vehicle and the obstacle.

[0099] Optionally, the avoidance module includes: a first avoidance module and a second avoidance module;

[0100] a first avoidance module, configured to activate an emergency avoidance function to control the vehicle to steer to avoid the obstacle if no avoidance action is detected;

[0101] The second avoidance module is configured to control the vehicle to turn to avoid the obstacle according to the avoidance behavior if an avoidance behavior is detected.

[0102] The specific description of this embodiment can be found in the above embodiment and will not be repeated here.

[0103] The present disclosure also provides a vehicle, Figure 4 FIG6 is a block diagram of a vehicle according to an exemplary embodiment. For example, vehicle 600 may be a vehicle, such as a hybrid vehicle, a non-hybrid vehicle, or an electric vehicle. For another example, the vehicle may be an autonomous vehicle or a semi-autonomous vehicle.

[0104] Please refer to Figure 4 Vehicle 600 may include various subsystems, such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. Vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and each component of vehicle 600 may be interconnected via wired or wireless means.

[0105] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, a navigation system, and the like.

[0106] The perception system 620 may include several sensors for sensing information about the environment surrounding the vehicle 600. For example, the perception system 620 may include an accelerometer, a temperature sensor, a global positioning system (which may be a GPS system, a BeiDou system, or another positioning system), an inertial measurement unit (IMU), a laser radar, a millimeter-wave radar, an ultrasonic radar, and a camera.

[0107] The decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0108] The drive system 640 may include components that provide power to the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission system, and wheels. The engine may be an internal combustion engine, an electric motor, an air compression engine, or a combination thereof. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0109] Part or all functions of the vehicle 600 are controlled by a computing platform 650. The computing platform 650 may include at least one first processing device 651 and a memory 652. The first processing device 651 may execute instructions 653 stored in the memory 652 to implement the above method.

[0110] The first processing device 651 can be any conventional processor, such as a commercially available CPU. The processor can also include a graphics processor (GPU), a field programmable gate array (FPGA), a system on chip (SOC), an application specific integrated circuit (ASIC), or a combination thereof.

[0111] The memory 652 may be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0112] In addition to instructions 653 , memory 652 may also store data, such as road maps, route information, and vehicle location, direction, speed, etc. The data stored in memory 652 may be used by computing platform 650 .

[0113] In the embodiment of the present disclosure, the first processing device 651 can execute the instruction 653 to complete all or part of the steps of the above-mentioned vehicle assisted driving method.

[0114] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon, which implement the steps of the aforementioned vehicle assisted driving method when the program instructions are executed by a processor.

[0115] The present disclosure also provides a computer program product, which includes a computer program that can be executed by a programmable device, and has a code portion for executing the above-mentioned vehicle assisted driving method when executed by the programmable device.

[0116] In summary, the vehicle assisted driving method, device, vehicle and medium provided by the present disclosure collect obstacle information in front of the vehicle if the light brightness of the vehicle's environment is less than a preset brightness, and display the obstacle on the vehicle's head-up display area. The displayed obstacles and road conditions can be observed by looking straight ahead, thereby improving driving safety.

[0117] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the scope of protection of the present disclosure.

[0118] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0119] In addition, the various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A vehicle assisted driving method, characterized in that: The vehicle assisted driving method comprises: Acquiring ambient light information of an environment in which the vehicle is located, collected by an optical sensor system on the vehicle; If the ambient light information meets a preset glare condition, obstacle information in front of the vehicle is collected, and the obstacle corresponding to the obstacle information is displayed on a head-up display area of ​​the vehicle.

2. The method according to claim 1, characterized in that The optical sensor system includes a light sensor and a front camera of a vehicle, the ambient light information includes the brightness of the light in the environment of the vehicle collected by the light sensor and image information collected by the front camera, and if the ambient light information meets a preset glare condition, collecting obstacle information in front of the vehicle includes: If the light brightness is less than a preset brightness, acquiring image information captured by the front camera; If it is determined based on the image information that there is a preset strong light source in front of the vehicle, it is determined that the ambient light information meets the preset glare condition, and obstacle information in front of the vehicle is collected.

3. The method according to claim 1, characterized in that The collecting of obstacle information in front of the vehicle includes: Obstacle information in front of the vehicle is collected by a radar on the vehicle.

4. The method according to any one of claims 1 to 3, characterized in that The method further comprises: When there is a risk of collision between the vehicle and the obstacle, the vehicle is braked.

5. The method according to claim 4, characterized in that The braking of the vehicle comprises: If no braking action is detected, assisting the vehicle in braking; If a braking action is detected, the vehicle is braked according to the braking action.

6. The method according to claim 5, characterized in that If a braking behavior is detected, braking the vehicle according to the braking behavior includes: If a braking action is detected, obtaining a braking force corresponding to the braking action; If the braking force meets a preset condition, controlling the vehicle braking according to the braking force; If the braking force does not meet the preset condition, assist the vehicle in braking.

7. The method according to any one of claims 1 to 3, characterized in that The method further comprises: When there is a risk of collision between the vehicle and the obstacle, the vehicle is controlled to steer to avoid the obstacle.

8. The method according to claim 7, characterized in that The controlling the vehicle to turn to avoid the obstacle includes: If no avoidance action is detected, activating an emergency avoidance function to control the vehicle to steer to avoid the obstacle; If an avoidance action is detected, the vehicle is controlled to steer according to the avoidance action to avoid the obstacle.

9. A vehicle auxiliary driving device, characterized in that: The vehicle auxiliary driving device includes: an acquisition module, configured to acquire ambient light information of an environment in which the vehicle is located, collected by an optical sensor system on the vehicle; The display module is configured to collect obstacle information in front of the vehicle if the ambient light information meets a preset glare condition, and display the obstacle corresponding to the obstacle information on a head-up display area of ​​the vehicle.

10. A vehicle, characterized in that: include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to implement the steps of the vehicle assisted driving method according to any one of claims 1 to 8 when executing the instruction.

11. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the steps of the vehicle assisted driving method described in any one of claims 1 to 8 are implemented.

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