Driving assistance method, related device and vehicle

Abstract

The invention discloses a driving assistance method, a related device and a vehicle, relates to the field of intelligent driving, and can judge whether a navigation assistance driving function of the vehicle is in an available state or not according to the attribute of a road on which the vehicle runs and the distance between the vehicle and an attribute switching point. And when the navigation aided driving function is in an unavailable state and the navigation aided driving function is in a non-activated state, the non-activated state is controlled to be kept. And when the navigation aided driving function is in an available state and the navigation aided driving function is in an activated state, further determining the position of an exit point for exiting the navigation aided driving function before the vehicle passes through the attribute switching point according to the road condition information between the attribute switching point and the vehicle. According to the invention, the activation of the navigation aided driving function can be inhibited when the vehicle is about to enter the internal road or on the internal road, so that risk behaviors are avoided, the driving safety is ensured, and the user experience is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a driving assistance method, related devices and vehicles. Background Art

[0002] With the continuous development of intelligent driving technology, the use of vehicle Navigation on Autopilot (NOA) in urban environments has gradually expanded, allowing users to activate NOA in a wide range of scenarios. However, due to the limited training data currently available, the performance of NOA on internal roads (i.e., non-public roads) such as residential areas is different from that on public roads. This can easily lead to risky behaviors such as crashing into gates and scraping curbs while turning, affecting driving safety and reducing the user experience. Summary of the Invention

[0003] In view of the above problems, this application provides a driving assistance method, related devices and vehicles to achieve the purpose of avoiding risky behaviors and ensuring driving safety. The specific solution is as follows:

[0004] A first aspect of the present application provides a driving assistance method, comprising:

[0005] determining whether the navigation-assisted driving function of the vehicle is available based on the attributes of the road on which the vehicle is traveling and the distance between the vehicle and the attribute switching point;

[0006] If the navigation-assisted driving function is in an unavailable state and the navigation-assisted driving function is in an inactivated state, controlling the vehicle to maintain the inactivated state;

[0007] If the navigation-assisted driving function is in an available state and is in an activated state, the position of the exit point for exiting the navigation-assisted driving function before the vehicle passes the attribute switching point is determined based on the road condition information between the attribute switching point and the vehicle.

[0008] In a possible implementation, before determining the position of the exit point for exiting the navigation-assisted driving function before the vehicle passes the attribute switching point based on the road condition information between the attribute switching point and the vehicle, the method further includes:

[0009] determining whether the road after the vehicle passes the attribute switching point supports an autonomous valet parking function;

[0010] If the autonomous valet parking function is supported, when the vehicle reaches the attribute switching point, the navigation-assisted driving function is exited and the autonomous valet parking function is enabled.

[0011] In one possible implementation, the driving assistance method further includes:

[0012] Identify the flag position of the driving assistance switch;

[0013] If the flag indicates that the driving assistance is turned off, the steps of the driving assistance method according to claim 1 or 2 are no longer executed.

[0014] In one possible implementation, determining the position of an exit point for exiting the navigation-assisted driving function before the vehicle passes the attribute switching point based on road condition information between the attribute switching point and the vehicle includes:

[0015] If there is an intersection between the vehicle and the attribute switching point, the exit point is determined according to the distance between the intersection and the attribute switching point and the driving direction of the vehicle at the intersection.

[0016] In one possible implementation, if there is an intersection between the vehicle and the attribute switching point, determining the exit point according to the distance between the intersection and the attribute switching point and the driving direction of the vehicle at the intersection includes:

[0017] If the driving direction is non-straight, the exit point is determined according to the distance between the intersection and the attribute switching point.

[0018] In a possible implementation, if the driving direction is non-straight, determining the exit point based on the distance between the intersection and the attribute switching point includes:

[0019] If the distance between the attribute switching point and the intersection is not greater than the second length value, determining the point between the intersection and the vehicle at a distance of a third length value from the intersection as the exit point;

[0020] If the distance between the attribute switching point and the intersection is greater than the second length value and not greater than the fourth length value, the point between the intersection and the vehicle at a distance of the fifth length value from the intersection is determined as the exit point;

[0021] If the distance between the attribute switching point and the intersection is greater than the fourth length value, the point between the attribute switching point and the intersection whose distance from the attribute switching point is the fourth length value is determined as the exit point, the fifth length value is not less than the third length value, and the fourth length value is less than the third length value.

[0022] In a possible implementation, the position of the exit point where the vehicle exits the navigation-assisted driving function before passing the attribute switching point is determined based on the road condition information between the attribute switching point and the vehicle, including:

[0023] If there is no intersection between the vehicle and the attribute switching point, or there is an intersection between the vehicle and the attribute switching point and the vehicle is traveling straight at the intersection, the point between the vehicle and the attribute switching point that is a first length value away from the attribute switching point is determined as the exit point.

[0024] In one possible implementation, determining whether the navigation-assisted driving function of the vehicle is in an available state based on the attributes of the road on which the vehicle is traveling and the distance between the vehicle and the attribute switching point includes:

[0025] If the attribute of the road on which the vehicle is traveling is of the first type, determining that the navigation-assisted driving function is in an unavailable state; or

[0026] If the attribute of the road on which the vehicle is traveling is of the second type, and the distance between the vehicle and the attribute switching point is not greater than a sixth length value, it is determined that the navigation-assisted driving function is in the unavailable state.

[0027] In one possible implementation, the driving assistance method further includes:

[0028] When the vehicle reaches the exit point or the navigation-assisted driving function is controlled to be turned off, a prompt message for exiting the navigation-assisted driving function is generated.

[0029] A second aspect of the present application provides a driving assistance device, comprising:

[0030] an available state determination module, configured to determine whether the navigation-assisted driving function of the vehicle is available based on the attributes of the road on which the vehicle is traveling and the distance between the vehicle and an attribute switching point;

[0031] a first state switching module, configured to control the vehicle to maintain the inactivated state when the available state judgment module judges that the navigation-assisted driving function is in an unavailable state and the navigation-assisted driving function is in an inactivated state; and

[0032] The second state switching module is used to determine the position of the exit point for exiting the navigation-assisted driving function before the vehicle passes the attribute switching point based on the road condition information between the attribute switching point and the vehicle when the available state judgment module determines that the navigation-assisted driving function is in an available state and the navigation-assisted driving function is in an activated state.

[0033] A third aspect of the present application provides a computer program product comprising computer-readable instructions. When the computer-readable instructions are executed on an electronic device, the electronic device implements the driving assistance method of the first aspect or any implementation of the first aspect.

[0034] A fourth aspect of the present application provides an electronic device, comprising at least one processor and a memory connected to the processor, wherein:

[0035] The memory is used to store computer programs;

[0036] The processor is used to execute the computer program so that the electronic device can implement the driving assistance method of the above-mentioned first aspect or any implementation manner of the first aspect.

[0037] In a fifth aspect, the present application provides a computer storage medium, which carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement the driving assistance method of the above-mentioned first aspect or any implementation method of the first aspect.

[0038] A sixth aspect of the present application provides a vehicle, comprising: a vehicle body and an electronic device as described in the fourth aspect above, arranged in the vehicle body.

[0039] By means of the above technical solution, the driving assistance method provided by the present application can determine whether the navigation-assisted driving function of the vehicle is in an available state according to the attributes of the road on which the vehicle is traveling and the distance between the vehicle and the attribute switching point. And when the navigation-assisted driving function is in an unavailable state and the navigation-assisted driving function is in an inactive state, the navigation-assisted driving function is controlled to remain in an inactive state. When the navigation-assisted driving function is in an available state and the navigation-assisted driving function is in an active state, the position of the exit point for exiting the navigation-assisted driving function before the vehicle passes the attribute switching point is further determined based on the road condition information between the attribute switching point and the vehicle. This achieves the ability to suppress the activation of the navigation-assisted driving function when the vehicle is about to enter an internal road or is on an internal road, thereby avoiding risky behaviors, ensuring driving safety, and improving user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The above and other features, advantages, and aspects of the various embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that the originals and elements are not necessarily drawn to scale.

[0041] Figure 1 This is an architectural diagram of a driving assistance system provided in this application;

[0042] Figure 2 This is a diagram of the architecture of a terminal provided by this application;

[0043] Figure 3 An architectural diagram of a server provided for this application;

[0044] Figure 4 A flowchart of a driving assistance method provided in this application;

[0045] Figure 5 A software architecture diagram of the driving assistance method provided in this application;

[0046] Figure 6 A scene graph that remains inactive for this application;

[0047] Figure 7 A scenario diagram for prematurely exiting the navigation-assisted driving function in the activated state provided by this application;

[0048] Figure 8 A diagram of the autonomous valet parking scenario provided for this application;

[0049] Figure 9 A flowchart of the driving assistance method provided in this application that incorporates a driving assistance switch;

[0050] Figure 10 A structural diagram of a driving assistance device provided in this application;

[0051] Figure 11 This is a structural diagram of an electronic device provided in this application. DETAILED DESCRIPTION

[0052] The following describes the embodiments of the present application in conjunction with the accompanying drawings. The terms used in the implementation methods of the present application are only used to explain the specific embodiments of the present application and are not intended to limit the present application.

[0053] The embodiments of the present application are described below in conjunction with the accompanying drawings. Those skilled in the art will appreciate that, with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0054] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, and this is merely a way of distinguishing the objects of the same attributes when describing them in the embodiments of the present application. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, so that the process, method, system, product or equipment comprising a series of units need not be limited to those units, but may include other units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0055] See also Figure 1 , Figure 1FIG. 1 shows a schematic diagram of the architecture of a driving assistance system. The system may include a terminal 100 and a server 200. The server 200 may include one or more servers ( Figure 1 (The example includes a server, which is used for illustration) and the server 200 can provide the driving assistance method provided in the embodiment of the present application to one or more terminals.

[0056] Among them, the terminal 100 can be installed with an application for collecting navigation information to obtain the attribute switching point data of the roads on the vehicle's route, and send the above data to the server 200. The server 200 can obtain the processing result of whether to turn off the navigation assisted driving function based on the received parameters, and return the processing result to the terminal 100.

[0057] It should be understood that in some optional implementations, the terminal 100 can also complete the action of obtaining the processing result based on the received parameters by itself without the need for the cooperation of the server, and the embodiments of the present application are not limited to this.

[0058] Next describe Figure 1 The product form of the mid-terminal 100;

[0059] The terminal 100 in the embodiment of the present application can be an ECU (Electronic Control Unit), a VCU (Vehicle Control Unit), an MCU (Micro Controller Unit), an HCU (Hybrid Control Unit), etc., and the embodiment of the present application does not impose any restrictions on this.

[0060] Figure 2 A schematic diagram of an optional hardware structure of the terminal 100 is shown.

[0061] refer to Figure 2 As shown, the terminal 100 may include a radio frequency unit 110, a memory 120, an input unit 130, a display unit 140, a camera 150 (optional), an audio circuit 160 (optional), a speaker 161 (optional), a microphone 162 (optional), an earphone jack 163 (optional), a processor 170, an external interface 180, a power supply 190 and other components. Those skilled in the art will understand that Figure 2 These are merely examples of terminals or multi-function devices and do not limit the terminal or multi-function device. The terminal or multi-function device may include more or fewer components than shown in the figure, or may combine certain components or different components.

[0062] The input unit 130 can be used to receive input digital or character information and generate key signal input related to user settings and function control of the portable multifunction device. Specifically, the input unit 130 may include a touch screen 131 (optional) and / or other input devices 132. The touch screen 131 can detect user touch operations on or near it (for example, operations performed on or near the touch screen using a finger, joint, stylus, or any other suitable object) and drive corresponding connected devices according to pre-set programs. The touch screen can detect user touch actions on the touch screen, convert the touch actions into touch signals and transmit them to the processor 170. It can also receive and execute commands sent by the processor 170; the touch signals include at least touch point coordinate information. The touch screen 131 provides an input interface and an output interface between the terminal 100 and the user. Touch screens can be implemented using various types, including resistive, capacitive, infrared, and surface acoustic wave. In addition to the touch screen 131, the input unit 130 may also include other input devices. Specifically, the other input devices 132 may include, but are not limited to, one or more of a physical keyboard, function keys (such as a volume control key, a switch key, etc.), a trackball, a mouse, a joystick, and the like.

[0063] The display unit 140 may be configured to display exit information of the navigation-assisted driving function.

[0064] Memory 120 can be used to store instructions and data. It primarily includes an instruction storage area and a data storage area. The data storage area can store various data, such as multimedia files and text. The instruction storage area can store software units such as the operating system, applications, and instructions required for at least one function, or subsets or extensions thereof. It may also include non-volatile random access memory (RAM). It provides processor 170 with management functions for the hardware, software, and data resources within the computing and processing device, supporting control software and applications. It is also used to store multimedia files and running programs and applications.

[0065] The processor 170 is the control center of the terminal 100. It connects all components of the terminal 100 using various interfaces and circuits. By executing instructions stored in the memory 120 and accessing data stored therein, it executes various functions of the terminal 100 and processes data, thereby providing overall control of the terminal device. Optionally, the processor 170 may include one or more processing units. Preferably, the processor 170 may integrate an application processor and a modem processor, with the application processor primarily processing the operating system, user interface, and application programs, while the modem processor primarily handles wireless communications. It is understood that the modem processor may not be integrated into the processor 170. In some embodiments, the processor and memory may be implemented on a single chip; in other embodiments, they may be implemented on separate chips. The processor 170 may also generate corresponding operational control signals and send them to the corresponding components of the computing and processing device. It may also read and process data in the software, particularly the data and programs in the memory 120, to enable the various functional modules therein to perform their corresponding functions, thereby controlling the corresponding components to operate as instructed.

[0066] Among them, the memory 120 can be used to store software codes related to the driving assistance method, the processor 170 can execute the steps of the driving assistance method, and can also dispatch other units (such as the above-mentioned input unit 130 and display unit 140) to implement corresponding functions.

[0067] The RF unit 110 (optional) can be used to send and receive information or receive and send signals during a call. For example, after receiving downlink information from the base station, it is passed to the processor 170 for processing; in addition, the designed uplink data is sent to the base station. Generally, the RF circuit includes but is not limited to an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier (LNA), a duplexer, etc. In addition, the RF unit 110 can also communicate with network devices and other devices via wireless communication. This wireless communication can use any communication standard or protocol, including but not limited to Global System of Mobile communication (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), email, Short Messaging Service (SMS), etc.

[0068] In this embodiment of the present application, the radio frequency unit 110 can send data such as the attribute switching point of the road to the server 200, and receive a processing result sent by the server 200 on whether the navigation assisted driving function is turned off.

[0069] It should be understood that the radio frequency unit 110 is optional and can be replaced by other communication interfaces, such as a network port.

[0070] The terminal 100 also includes a power supply 190 (such as a battery) for supplying power to various components. Preferably, the power supply can be logically connected to the processor 170 through a power management system, thereby managing functions such as charging, discharging, and power consumption through the power management system.

[0071] The terminal 100 further includes an external interface 180 , which may be a standard Micro USB interface or a multi-pin connector, and may be used to connect the terminal 100 to other devices for communication, or to connect a charger to charge the terminal 100 .

[0072] Although not shown, the terminal 100 may also include a flashlight, a wireless fidelity (WiFi) module, a Bluetooth module, sensors with different functions, etc., which will not be described in detail here. Some or all of the methods described below can be applied to Figure 2 In the terminal 100 shown.

[0073] Next describe Figure 1 The product form of the server 200;

[0074] Figure 3 A structural diagram of a server 200 is provided, such as Figure 3 As shown, the server 200 includes a bus 201, a processor 202, a communication interface 203, and a memory 204. The processor 202, the memory 204, and the communication interface 203 communicate with each other via the bus 201.

[0075] The bus 201 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0076] The processor 202 may be any one or more of a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP).

[0077] The memory 204 may include volatile memory, such as random access memory (RAM). The memory 204 may also include non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid state drive (SSD).

[0078] The memory 204 may be used to store software codes related to the driving assistance method, and the processor 202 may execute the steps of the driving assistance method of the chip, and may also schedule other units to implement corresponding functions.

[0079] It should be understood that the above-mentioned terminal 100 and server 200 can be centralized or distributed devices, and the processors in the above-mentioned terminal 100 and server 200 (such as processor 170 and processor 202) can be hardware circuits (such as application specific integrated circuit (ASIC), field-programmable gate array (FPGA), general-purpose processor, digital signal processor (DSP), microprocessor or microcontroller, etc.), or a combination of these hardware circuits. For example, the processor can be a hardware system with an instruction execution function, such as a CPU, DSP, etc., or a hardware system without an instruction execution function, such as an ASIC, FPGA, etc., or a combination of the above-mentioned hardware systems without an instruction execution function and hardware systems with an instruction execution function.

[0080] Reference Figure 4 , Figure 4 A process diagram of a driving assistance method provided in an embodiment of the present application is shown as follows: Figure 4 As shown, a driving assistance method provided by an embodiment of the present application may include steps 401 to 403, and these steps are described in detail below.

[0081] 401. Determine whether the navigation-assisted driving function of the vehicle is available based on the attributes of the road on which the vehicle is traveling and the distance between the vehicle and an attribute switching point.

[0082] Specifically, refer to Figure 5 The software architecture shown here implements navigation-assisted driving, primarily consisting of the intelligent driving ECU and the cockpit ECU. The map engine broadcasts forward navigation information and road characteristics (such as intersection locations and road attributes, such as internal roads and external roads (i.e., public roads other than internal roads)) in real time. Environmental modeling is primarily based on static perception information and map engine information, calculating the relationship between the vehicle and the road and forwarding upstream information. The functional state machine primarily controls function activation and exit. It also connects to the cockpit ECU's display-related software modules, forwarding user function settings. The state machine also outputs interactive text to the cockpit display.

[0083] In actual use, after the user sets a navigation route, the map engine will generate attribute information for the internal and external roads of each section of the route in the navigation direction based on positioning and navigation information. This attribute information can be represented by different identifiers in the system. For example, when the system's signal interface is "road_property", internal and external roads can be assigned values ​​of 1 and 2, respectively, to distinguish them. The location of the attribute switching point where the internal and external roads switch is also displayed. The attribute switching point can be based on the location of the internal and external road division, such as the entrance of the community or the gate.

[0084] Whether the vehicle's navigation-assisted driving function is in an activated state can be determined by obtaining the identification of the activation status bit in the function state machine.

[0085] Reference Figure 6 As shown, when the navigation destination is on a second type of road (i.e., an external road) and the vehicle is currently on a first type of road (i.e., an internal road), to avoid risky behaviors such as hitting a gate or scraping a curb while turning on the internal road, the vehicle's navigation-assisted driving function may be determined to be unavailable, meaning it is not supported on internal roads. Conversely, when the vehicle is on an external road, the navigation-assisted driving function may be determined to be available.

[0086] When the navigation endpoint is on an internal road, although the vehicle is on an external road (supporting the navigation assisted driving function), if the distance to the attribute switching point between the internal road and the external road is not greater than the sixth length value (such as 30m), the navigation assisted driving function is also judged to be unavailable to avoid risky behavior after activating the navigation assisted driving function.

[0087] It is understandable that those skilled in the art may select and adjust the parameters such as the position of the attribute switching point and the sixth length value as needed, which will not be elaborated here.

[0088] 402. If the navigation-assisted driving function is unavailable and the navigation-assisted driving function is in an inactivated state, control the vehicle to maintain the inactivated state.

[0089] Specifically, when it is determined that the navigation-assisted driving function of the vehicle is in an unavailable state, if the navigation-assisted driving function of the vehicle is in an activated state at this time, the navigation-assisted driving function is turned off to avoid risky behavior.

[0090] 403. If the navigation-assisted driving function is available and activated, determine the location of an exit point for exiting the navigation-assisted driving function before the vehicle passes the attribute switching point based on road condition information between the attribute switching point and the vehicle.

[0091] Specifically, when the vehicle is in a scenario other than the above, for example, when the vehicle is on an external road and the navigation destination is on an internal road, and the vehicle is far away from the attribute switching point, while the navigation assisted driving function is activated, in order to ensure a safe, smooth, and predictable exit of the navigation assisted driving function and ensure smooth and safe driving, the exit point for the navigation assisted driving function can be calculated based on the road condition information between the attribute switching point and the vehicle. Based on this information, the functional state machine sends interactive information to the cockpit display in advance to remind the driver that the function is about to exit, and exit as expected.

[0092] From the above, it can be seen that the driving assistance method can suppress the activation of the navigation-assisted driving function when the vehicle is about to enter or is on an internal road, thereby avoiding risky behavior, ensuring driving safety, and improving user experience. It can meet the needs of most users and optimize the availability of the vehicle's navigation-assisted driving function in internal road scenarios.

[0093] Based on the above embodiment, considering that most internal roads already support vehicle ‌AVP‌ (Automated Valet Parking), it is possible to achieve full autonomous control of the vehicle without manual operation, thereby realizing intelligent functions comparable to navigation-assisted driving functions. To further meet user needs and user experience, the driving assistance method also includes the following processing:

[0094] Before executing step 403 and determining the position of the exit point for exiting the navigation-assisted driving function before the vehicle passes the attribute switching point based on the road condition information between the attribute switching point and the vehicle, the method further includes:

[0095] Step 11: Determine whether the road after the vehicle passes the attribute switching point supports the autonomous valet parking function.

[0096] Step 12: If the autonomous valet parking function is supported, when the vehicle reaches the attribute switching point, exit the navigation-assisted driving function and enable the autonomous valet parking function.

[0097] Specifically, refer to Figure 8 As shown, after the user turns on the NOA function, the vehicle will continue to run the NOA function in front of the community gate. The function will switch to AVP (autonomous valet parking) from the community gate. The vehicle will continue to drive to the target parking space in the community through the AVP function. The position of the gate can be equivalent to the position of the attribute switching point, thereby meeting the user's usage needs.

[0098] To further optimize this technical solution, in some specific embodiments, considering that not all internal roads have performance limitations and to meet the personalized needs of users, a setting switch is added to the cockpit display module. The user can choose whether to enable this function. The function state machine receives the user's selection result. If the user enables this function, the above-mentioned driving assistance method will no longer take effect. If the user disables this function, the logic strategy of the above-mentioned driving assistance method will not take effect. The specific judgment process includes:

[0099] Identify the flag position of the driving assistance switch;

[0100] If the flag indicates that the driving assistance is turned off, the steps of the driving assistance method described in the above embodiment will no longer be executed.

[0101] When the flag indicates that the driving assistance is turned on, the various steps of the above-mentioned driving assistance method are performed normally during the operation of the vehicle.

[0102] As a feasible implementation of step 403, the process of determining the location of the exit point for exiting the navigation-assisted driving function before the vehicle passes the attribute switching point based on the road condition information between the attribute switching point and the vehicle may specifically include: if there is an intersection between the vehicle and the attribute switching point, then determining the exit point based on the distance between the intersection and the attribute switching point and the vehicle's driving direction at the intersection. The specific determination process may include the following steps:

[0103] Step 21: If there is no intersection between the vehicle and the attribute switching point, a point between the vehicle and the attribute switching point that is a first length value away from the attribute switching point is determined as an exit point.

[0104] Step 22: If there is an intersection between the vehicle and the attribute switching point, the exit point is determined based on the distance between the intersection and the attribute switching point.

[0105] Among them, if the distance between the attribute switching point and the intersection is not greater than the second length value, the point where the distance between the intersection and the vehicle is the third length value from the intersection is determined as the exit point.

[0106] If the distance between the attribute switching point and the intersection is greater than the second length value and not greater than the fourth length value, the point between the intersection and the vehicle at a distance of the fifth length value from the intersection is determined as the exit point.

[0107] If the distance between the attribute switching point and the intersection is greater than the fourth length value, the point whose distance between the attribute switching point and the intersection is the fourth length value is determined as the exit point, where the fifth length value is not less than the third length value and the fourth length value is less than the third length value.

[0108] Specifically, refer to Figure 7As shown in the example, when the location of the attribute switching point in front of the vehicle is determined by the vehicle's navigation information, the third length value and the fifth length value are both 30m, and the fourth length value is 20m. Figure 7 As shown in the first picture from the left in the middle: starting from the attribute switching point, calculate 30m in the direction of the vehicle. If there is an intersection within the 30m range, the position calculated 30m in the direction of the vehicle from this intersection is determined as the exit point.

[0109] Reference Figure 7 As shown in the second picture from the left: If there is no intersection within 30m from the attribute switching point to the vehicle direction, then continue to calculate 20m in the vehicle direction based on the 30m. If there is an intersection within the 20m range, then the exit point will be determined as 30 meters away from the intersection in the vehicle direction.

[0110] Reference Figure 7 As shown in the third picture from the left: If there is no intersection within the 20m range, in order to reserve reaction time for the navigation-assisted driving function when the vehicle may encounter an intersection, the 20m position can be used as the exit point.

[0111] Reference Figure 7 As shown in the fourth picture from the left: If any of the above exit points is missed when the navigation assisted driving function is activated (that is, when the distance to the attribute switching point is close), the exit will be executed at the latest 30 meters before the attribute switching point, that is, 30 meters before the attribute switching point will be used as the exit point.

[0112] By following the above exit point determination process, the navigation-assisted driving function can be disabled as close to the attribute switching point as possible, maximizing its advantages and ensuring user experience and driving safety. At the same time, exiting at intersections is avoided, allowing the navigation-assisted driving function to operate effectively within intersections and preventing safety risks such as sudden steering movements within intersections.

[0113] Furthermore, to enhance the driving experience and maintain the usability of navigation-assisted driving, if there's no intersection between the vehicle and the attribute switching point, or if there's an intersection between the vehicle and the attribute switching point and the vehicle is traveling straight through the intersection, the point that's a first distance away from the attribute switching point is determined as the exit point. Even if an intersection is determined to exist, if the vehicle maintains straight driving at the intersection and no steering or other maneuvers are involved, navigation-assisted driving can remain enabled, minimizing user intervention and improving the user experience while ensuring driving safety.

[0114] It is understandable that those skilled in the art may adjust the above distance determination information as needed, which will not be elaborated here.

[0115] On the basis of the above embodiment, in order to reduce the abruptness of the sudden exit of the navigation-assisted driving function when it is activated, thereby affecting the user's experience, the driving assistance method further includes the following processing steps:

[0116] When the vehicle reaches the exit point or the navigation-assisted driving function is controlled to be turned off, a prompt message for exiting the navigation-assisted driving function is generated.

[0117] Specifically, when the vehicle is on an internal road, according to the processing of the above-mentioned assisted driving method, the navigation assisted driving function will not be activated. When the user activates the function, a voice reminder such as "Currently on an internal road, please exit and reactivate" may be given.

[0118] When the vehicle is about to reach the exit point, interactive information can be sent to the cockpit in advance to remind the user that the navigation assisted driving function is about to be automatically exited and exited as expected, thereby improving the user experience.

[0119] Based on the above embodiment, if the user chooses to turn off the driving assistance function through the driving assistance switch when sending the prompt message, the above-mentioned navigation assisted driving function exit operation will no longer be performed to keep the navigation assisted driving function valid and meet the user's needs.

[0120] As a specific application of the above driving assistance method, refer to Figure 9 As shown, the driving assistance method may include the following processing steps:

[0121] After the vehicle starts running, it is first determined that the driving assistance switch is in the off state, and then the steps of the above driving assistance method are no longer executed.

[0122] When the driving assistance switch is on, based on the attributes of the road the vehicle is on, if it is an external road, the processing of steps 401 and 403 is executed; if it is an internal road, the processing of step 401 is executed, and before executing step 403, the processing of steps 11 and 12 is executed to determine whether the internal road supports AVP.

[0123] If AVP is supported, the system switches to AVP operation. Otherwise, the system continues to execute the process of step 403 and exits the navigation-assisted driving function in advance at the exit point. Similarly, the system exits the navigation-assisted driving function when the system is on an internal road.

[0124] The above describes a driving assistance method provided by an embodiment of the present application. The following describes a device for executing the above driving assistance method.

[0125] See also Figure 10 , Figure 10 This is a schematic diagram of the structure of a driving assistance device provided in an embodiment of the present application. Figure 10As shown, the driving assistance device includes:

[0126] The available state judgment module 1001 is used to judge whether the navigation-assisted driving function of the vehicle is available based on the attributes of the road on which the vehicle is traveling and the distance between the vehicle and the attribute switching point.

[0127] The first state switching module 1002 is configured to control the vehicle to maintain the inactive state when the available state judgment module judges that the navigation-assisted driving function is in an unavailable state and the navigation-assisted driving function is in an inactive state. And,

[0128] The second state switching module 1003 is used to determine the position of the exit point for exiting the navigation-assisted driving function before the vehicle passes the attribute switching point based on the road condition information between the attribute switching point and the vehicle when the available state judgment module determines that the navigation-assisted driving function is in an available state and the navigation-assisted driving function is in an activated state.

[0129] In a possible implementation, the method further includes: a third state switching module configured to, before determining, based on road condition information between the attribute switching point and the vehicle, a position of an exit point at which the vehicle exits the navigation-assisted driving function before passing the attribute switching point:

[0130] determining whether the road after the vehicle passes the attribute switching point supports an autonomous valet parking function;

[0131] If the autonomous valet parking function is supported, when the vehicle reaches the attribute switching point, the navigation-assisted driving function is exited and the autonomous valet parking function is turned on.

[0132] In a possible implementation, the system further includes: a switch control module configured to identify a flag position of a driving assistance switch;

[0133] If the flag indicates that the driving assistance is turned off, the steps of the driving assistance method according to claim 1 or 2 are no longer executed.

[0134] In one possible implementation, the second state switching module 1003 determines the position of the exit point for exiting the navigation-assisted driving function before the vehicle passes the attribute switching point based on the road condition information between the attribute switching point and the vehicle, including:

[0135] If there is an intersection between the vehicle and the attribute switching point, the exit point is determined according to the distance between the intersection and the attribute switching point and the driving direction of the vehicle at the intersection.

[0136] In one possible implementation, if there is an intersection between the vehicle and the attribute switching point, the second state switching module 1003 determines the exit point based on the distance between the intersection and the attribute switching point and the driving direction of the vehicle at the intersection, including:

[0137] If the driving direction is not straight, the exit point is determined according to the distance between the intersection and the attribute switching point.

[0138] In a possible implementation, if the driving direction is non-straight, the second state switching module 1003 determines the exit point based on the distance between the intersection and the attribute switching point, including:

[0139] If the distance between the attribute switching point and the intersection is not greater than the second length value, determining the point between the intersection and the vehicle at a distance of a third length value from the intersection as the exit point;

[0140] If the distance between the attribute switching point and the intersection is greater than the second length value and not greater than the fourth length value, the point between the intersection and the vehicle at a distance of the fifth length value from the intersection is determined as the exit point;

[0141] If the distance between the attribute switching point and the intersection is greater than the fourth length value, the point between the attribute switching point and the intersection whose distance from the attribute switching point is the fourth length value is determined as the exit point, the fifth length value is not less than the third length value, and the fourth length value is less than the third length value.

[0142] In one possible implementation, the second state switching module 1003 determines the position of the exit point of the navigation assisted driving function before the vehicle passes the attribute switching point based on the road condition information between the attribute switching point and the vehicle, including:

[0143] If there is no intersection between the vehicle and the attribute switching point, or there is an intersection between the vehicle and the attribute switching point and the vehicle is traveling straight at the intersection, the point between the vehicle and the attribute switching point that is a first length value away from the attribute switching point is determined as the exit point.

[0144] In one possible implementation, the process of the available state determination module 1001 determining whether the navigation-assisted driving function of the vehicle is in an available state based on the attributes of the road on which the vehicle is traveling and the distance between the vehicle and the attribute switching point includes:

[0145] If the attribute of the road on which the vehicle is traveling is of the first type, determining that the navigation-assisted driving function is in an unavailable state; or

[0146] If the attribute of the road on which the vehicle is traveling is of the second type, and the distance between the vehicle and the attribute switching point is not greater than a sixth length value, it is determined that the navigation-assisted driving function is in the unavailable state.

[0147] In a possible implementation, the system further includes: a switching prompt module, configured to generate a prompt message for exiting the navigation-assisted driving function when the vehicle reaches the exit point or controls the navigation-assisted driving function to be turned off.

[0148] An electronic device is also provided in an embodiment of the present application. Figure 11 , which shows a schematic diagram of the structure of an electronic device suitable for implementing the embodiments of the present application. The electronic devices in the embodiments of the present application may include, but are not limited to, ECUs (Electronic Control Units), VCUs (Vehicle Control Units), MCUs (Micro Controller Units), and HCUs (Hybrid Control Units). Figure 11 The electronic device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0149] like Figure 11 As shown, the electronic device may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 1101, which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 1102 or programs loaded from a storage device 1108 into a random access memory (RAM) 1103. When the electronic device is powered on, the RAM 1103 also stores various programs and data required for the operation of the electronic device. The processing device 1101, ROM 1102, and RAM 1103 are interconnected via a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.

[0150] Typically, the following devices may be connected to the I / O interface 1105: an input device 1106 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 1107 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 1108 including, for example, a memory card, a hard disk, etc.; and a communication device 1109. The communication device 1109 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Figure 11The electronic device is shown with various devices, but it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed instead.

[0151] An embodiment of the present application also provides a computer program product including computer-readable instructions. When the computer-readable instructions are executed on an electronic device, the electronic device implements any one of the driving assistance methods provided in the embodiments of the present application.

[0152] A computer-readable storage medium is also provided in an embodiment of the present application. The storage medium carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement any driving assistance method provided in the embodiment of the present application.

[0153] An embodiment of the present application further provides a vehicle, comprising: a vehicle body and an electronic device as described in the above embodiment arranged in the vehicle body.

[0154] It should also be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed across multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment. In addition, in the drawings of the device embodiments provided in this application, the connection relationship between the modules indicates that there is a communication connection between them, which can be specifically implemented as one or more communication buses or signal lines.

[0155] Through the description of the above embodiments, those skilled in the art can clearly understand that the present application can be implemented by means of software plus necessary general hardware, and of course can also be implemented by special hardware including application-specific integrated circuits, special CPUs, special memories, special components, etc. In general, all functions performed by computer programs can be easily implemented with corresponding hardware, and the specific hardware structures used to implement the same function can also be diverse, such as analog circuits, digital circuits or special circuits, etc. However, for the present application, software program implementation is a better implementation method in most cases. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer's floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk or optical disk, etc., and includes a number of instructions to enable a computer device (which can be a personal computer, training equipment, or network equipment, etc.) to execute the methods described in each embodiment of the present application.

[0156] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0157] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, a computer, a training device or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website, a computer, a training device or a data center. The computer-readable storage medium can be any available medium that a computer can store or a data storage device such as a training device, a data center, etc. that includes one or more available media integrations. The available medium can be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

Claims

1. A driving assistance method, characterized in that: include: determining whether the navigation-assisted driving function of the vehicle is available based on the attributes of the road on which the vehicle is traveling and the distance between the vehicle and the attribute switching point; If the navigation-assisted driving function is in an unavailable state and the navigation-assisted driving function is in an inactivated state, controlling the vehicle to maintain the inactivated state; If the navigation-assisted driving function is in an available state and is in an activated state, the position of the exit point for exiting the navigation-assisted driving function before the vehicle passes the attribute switching point is determined based on the road condition information between the attribute switching point and the vehicle.

2. The driving assistance method according to claim 1, characterized in that: Before determining the position of the exit point for exiting the navigation-assisted driving function before the vehicle passes the attribute switching point based on the road condition information between the attribute switching point and the vehicle, the method further includes: Determining whether the road after the attribute switching point supports the autonomous valet parking function; If the autonomous valet parking function is supported, when the vehicle reaches the attribute switching point, the navigation-assisted driving function is exited and the autonomous valet parking function is enabled.

3. The driving assistance method according to claim 1 or 2, characterized in that: Also includes: Identify the flag position of the driving assistance switch; If the flag indicates that the driving assistance is turned off, the steps of the driving assistance method according to claim 1 or 2 are no longer executed.

4. The driving assistance method according to any one of claims 1 to 3, characterized in that: Determining, based on road condition information between the attribute switching point and the vehicle, a position of an exit point for exiting the navigation-assisted driving function before the vehicle passes the attribute switching point, including: If there is an intersection between the vehicle and the attribute switching point, the exit point is determined according to the distance between the intersection and the attribute switching point and the driving direction of the vehicle at the intersection.

5. The driving assistance method according to claim 4, characterized in that: If there is an intersection between the vehicle and the attribute switching point, determining the exit point according to the distance between the intersection and the attribute switching point and the driving direction of the vehicle at the intersection includes: If the driving direction is non-straight, the exit point is determined according to the distance between the intersection and the attribute switching point.

6. The driving assistance method according to claim 5, characterized in that: If the driving direction is non-straight, determining the exit point according to the distance between the intersection and the attribute switching point includes: If the distance between the attribute switching point and the intersection is not greater than the second length value, determining the point between the intersection and the vehicle at a distance of a third length value from the intersection as the exit point; If the distance between the attribute switching point and the intersection is greater than the second length value and not greater than the fourth length value, the point between the intersection and the vehicle at a distance of the fifth length value from the intersection is determined as the exit point; If the distance between the attribute switching point and the intersection is greater than the fourth length value, the point between the attribute switching point and the intersection whose distance from the attribute switching point is the fourth length value is determined as the exit point, the fifth length value is not less than the third length value, and the fourth length value is less than the third length value.

7. The driving assistance method according to claim 5 or 6, characterized in that: Determining, based on road condition information between the attribute switching point and the vehicle, a position of an exit point for exiting the navigation-assisted driving function before the vehicle passes the attribute switching point, including: If there is no intersection between the vehicle and the attribute switching point, or there is an intersection between the vehicle and the attribute switching point and the vehicle is traveling straight at the intersection, the point between the vehicle and the attribute switching point that is a first length value away from the attribute switching point is determined as the exit point.

8. The driving assistance method according to any one of claims 1 to 3, characterized in that: Determining whether the navigation-assisted driving function of the vehicle is in an available state based on the attributes of the road on which the vehicle is traveling and the distance between the vehicle and the attribute switching point includes: If the attribute of the road on which the vehicle is traveling is of the first type, determining that the navigation-assisted driving function is in an unavailable state; or If the attribute of the road on which the vehicle is traveling is of the second type, and the distance between the vehicle and the attribute switching point is not greater than a sixth length value, it is determined that the navigation-assisted driving function is in the unavailable state.

9. The driving assistance method according to any one of claims 1 to 8, characterized in that: Also includes: When the vehicle reaches the exit point or the navigation-assisted driving function is controlled to be turned off, a prompt message for exiting the navigation-assisted driving function is generated.

10. A driving assistance device, characterized in that: include: an available state determination module, configured to determine whether the navigation-assisted driving function of the vehicle is available based on the attributes of the road on which the vehicle is traveling and the distance between the vehicle and an attribute switching point; a first state switching module, configured to control the vehicle to maintain the inactivated state when the available state judgment module judges that the navigation-assisted driving function is in an unavailable state and the navigation-assisted driving function is in an inactivated state; as well as, The second state switching module is used to determine the position of the exit point for exiting the navigation-assisted driving function before the vehicle passes the attribute switching point based on the road condition information between the attribute switching point and the vehicle when the available state judgment module determines that the navigation-assisted driving function is in an available state and the navigation-assisted driving function is in an activated state.

11. A computer program product, characterized in that The method comprises computer-readable instructions, which, when executed on an electronic device, enable the electronic device to implement the driving assistance method according to any one of claims 1 to 9.

12. An electronic device, characterized in that: comprising at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs; The processor is configured to execute the computer program so that the electronic device can implement the driving assistance method according to any one of claims 1 to 9.

13. A computer storage medium, characterized in that The storage medium carries one or more computer programs, and when the one or more computer programs are executed by an electronic device, the electronic device can implement the driving assistance method as described in any one of claims 1 to 9.

14. A vehicle, characterized in that: include: A vehicle body and the electronic device according to claim 12 arranged in the vehicle body.

Images