A driving assistance method, electronic device, vehicle, and computer program product

Abstract

This application relates to the field of vehicle driving technology, and discloses an assisted driving method, electronic device, vehicle, and computer program product. In this method, when the electronic device detects that the vehicle meets driving adjustment conditions and the vehicle's navigation function is not activated, the electronic device can acquire environmental perception data, generate a first guidance path based on the environmental perception data, and control the vehicle to drive based on the first guidance path. Thus, even when the vehicle meets driving adjustment conditions and the vehicle's navigation function is not activated, by controlling the vehicle's driving based on environmental perception data, even if the vehicle cannot update map data in real time based on the navigation function, an accurate guidance path can be determined based on real environmental perception data to control the vehicle's driving, ensuring that the vehicle's driving path matches the user's driving intention.

Description

Technical Field

[0001] This application relates to the field of vehicle driving technology, and more particularly to a driving assistance method, electronic device, vehicle, and computer program product. Background Technology

[0002] With the rapid development of intelligent vehicle technology, driver assistance functions are gradually becoming a core feature of the next generation of cars. When driver assistance is activated, if the navigation function is not engaged, the vehicle cannot drive based on real-time updated map data; it can only drive based on outdated map data. Outdated map data may not match the actual road conditions, potentially leading to a discrepancy between the vehicle's route and the user's intended driving path. Summary of the Invention

[0003] To address the issue of discrepancies between the actual driving path of a vehicle and the user's driving intentions due to outdated map data, embodiments of this application provide an assisted driving method, electronic device, vehicle, and computer program product, including:

[0004] In a first aspect, embodiments of this application provide an assisted driving method applied to an electronic device, comprising: detecting that a vehicle meets driving adjustment conditions; acquiring environmental perception data and a first position data of the vehicle; generating driving environment data based on the environmental perception data, wherein the driving environment data includes at least one lane and at least one driving direction corresponding to each lane in the at least one lane; generating a first guidance path based on the first position data of the vehicle and the driving environment data; and controlling the vehicle to drive based on the first guidance path.

[0005] Based on the above scheme, when the vehicle meets the driving adjustment conditions, the vehicle driving is controlled by environmental perception data. Even if the vehicle cannot update map data in real time based on the navigation function, it can determine an accurate guidance path based on real environmental perception data to control the vehicle driving, so that the vehicle driving path matches the user's driving intention.

[0006] In some implementations, vehicles can be equipped with multiple onboard cameras, such as forward-facing wide-angle cameras, forward-facing narrow-angle cameras, panoramic cameras, and rear-view cameras. In this way, electronic devices can acquire environmental perception data based on these onboard cameras, such as bird's-eye view (BEV) images of the area in front of the vehicle, as well as data on lane lines, curbs, and traffic signs. Based on the BEV images and speed data from lane lines, curbs, and traffic signs, the system can determine whether there are target areas such as intersections, roundabouts, ramps, or construction zones ahead of the vehicle.

[0007] When a target area is detected ahead of the vehicle, the electronic equipment can determine the distance between the vehicle and the target area to ascertain whether the distance is within a preset range, i.e., whether the vehicle is about to approach the target area. For example, if an intersection is detected ahead of the vehicle, the electronic equipment can obtain the distance between the vehicle and the traffic lights in the intersection area and determine this distance as the distance between the vehicle and the intersection area. If the distance between the vehicle and the target area is determined to be within the preset range, the electronic equipment can determine that the vehicle meets the driving adjustment conditions.

[0008] In other implementations, the vehicle may also be equipped with multiple sensing devices, such as a steering wheel sensor and a turn signal sensor. In this case, the electronic device can receive sensing data from the steering wheel sensor and / or the turn signal sensor at preset time intervals, and determine whether there is a command to turn the steering wheel and / or a command to activate the turn signal based on the sensing data. If a command to turn the steering wheel and / or a command to activate the turn signal are determined, the electronic device can determine that the vehicle meets the driving adjustment conditions.

[0009] In some implementations of the first aspect, the driving adjustment conditions include the vehicle not activating navigation and at least one of the following: the distance between the vehicle and the target area is within a preset distance range; or, a first user lane change command is detected; or, no map data is received within a preset time period after the first user lane change command is detected.

[0010] In some implementations of the first aspect, the target area includes at least one of the following: intersection area, roundabout area, ramp area, or construction area.

[0011] In some implementations of the first aspect, the environmental perception data includes one or more of the following: a bird's-eye view of the front of the vehicle, as well as lane lines, curbs, and traffic signs.

[0012] In some implementations of the first aspect, generating a first guidance path based on the vehicle's first location data and driving environment data includes: determining, based on the vehicle's first location data, the target lane corresponding to the vehicle in at least one lane, and at least one driving direction corresponding to the target lane; and generating the first guidance path based on the target lane and the at least one driving direction corresponding to the target lane.

[0013] In some implementations of the first aspect, generating a first guidance path based on a target lane and at least one driving direction corresponding to the target lane includes: generating a first guidance path based on the first driving direction corresponding to the target lane when the target lane corresponds to a first driving direction.

[0014] In some implementations of the first aspect, generating a first guidance path based on a target lane and at least one driving direction corresponding to the target lane includes: generating multiple second guidance paths based on the multiple driving directions corresponding to the target lane when the target lane corresponds to multiple driving directions; and determining the first guidance path from the multiple second guidance paths.

[0015] In some implementations of the first aspect, determining the first guidance path from multiple second guidance paths includes: obtaining a second user lane-changing instruction, the second user lane-changing instruction instructing the vehicle to travel based on a second driving direction; determining a third guidance path from multiple second guidance paths as the first guidance path, the driving direction indicated by the third guidance path being the second driving direction.

[0016] In a second aspect, embodiments of this application provide an electronic device, including: a memory for storing instructions executed by one or more processors of the electronic device, and a processor, which is one of the one or more processors of the electronic device, for executing the first aspect and any possible implementation of the assisted driving method provided in the first aspect.

[0017] Thirdly, embodiments of this application provide a vehicle, including: any of the electronic devices provided in the second aspect and various implementations of the second aspect.

[0018] Fourthly, embodiments of this application provide a computer program product, which includes computer instructions. When executed by an electronic device, the electronic device performs the assisted driving method provided as described in the first aspect and any possible implementation of the first aspect.

[0019] It is understood that the specific implementation methods and beneficial effects of the second to fourth aspects mentioned above can be found in the relevant descriptions of any of the assisted driving methods in the first aspect or the various implementation methods provided in the first aspect, and will not be repeated here. Attached Figure Description

[0020] Figure 1 According to some embodiments of this application, a schematic diagram of an application scenario is shown;

[0021] Figure 2 According to some embodiments of this application, a flowchart of an assisted driving method is shown;

[0022] Figure 3 According to some embodiments of this application, a schematic diagram of a road simulation image generated based on environmental perception data is shown;

[0023] Figure 4 According to some embodiments of this application, a schematic diagram of another road simulation image generated based on environmental perception data is shown;

[0024] Figure 5 A schematic diagram of a first type of first boot path is shown according to some embodiments of this application;

[0025] Figure 6 According to some embodiments of this application, a schematic diagram of a second type of first boot path is shown;

[0026] Figure 7 According to some embodiments of this application, a schematic diagram of a third type of first boot path is shown;

[0027] Figure 8 According to some embodiments of this application, a schematic diagram of the structure of an assisted driving device is shown;

[0028] Figure 9 According to some embodiments of this application, a possible functional framework diagram of a vehicle 100 is shown. Detailed Implementation

[0029] The embodiments of this application include, but are not limited to, driver assistance methods, electronic devices, vehicles, and computer program products.

[0030] It is understood that the assisted driving method mentioned in the embodiments of this application can be applied to electronic devices. These electronic devices can be referred to as terminals, user equipment (UE), mobile stations (MS), or mobile terminals (MT), etc.

[0031] In some implementations, the electronic device can be a smartphone, smart TV, smartwatch, smart bracelet, desktop computer, laptop computer, personal computer (PC), virtual reality (VR) device, or a terminal in augmented reality (e.g., an in-vehicle terminal).

[0032] like Figure 1 The diagram illustrates an application scenario where the road changes from three lanes to two lanes. Assuming the user's intention is to turn right, the vehicle activates its driver assistance function when it is at position A in the right-turn lane of the three-lane road.

[0033] Since the vehicle's navigation function is not activated, it cannot obtain real-time updated map data from the navigation system. The map data it receives is still based on the three lanes, causing the vehicle to travel from position A to position A1. However, in actual road conditions, the lane at position A1 is a straight-ahead lane, preventing right turns. This results in the vehicle's travel path deviating from the user's intended route.

[0034] To address the aforementioned issues, this application provides an assisted driving method. In this method, when an electronic device detects that the vehicle meets driving adjustment conditions and the vehicle's navigation function is not activated, the electronic device can acquire environmental perception data, such as a bird's-eye view (BEV) image of the area in front of the vehicle, as well as data on lane lines, curbs, traffic signs, the positions of dynamic obstacles, and the speeds of dynamic obstacles. Furthermore, the electronic device can generate a first guidance path based on the environmental perception data and control the vehicle to drive based on the first guidance path.

[0035] Thus, when the vehicle meets the driving adjustment conditions and the navigation function is not turned on, the vehicle's driving is controlled based on environmental perception data. Even if the vehicle cannot update map data in real time based on the navigation function, it can determine an accurate guidance path based on real environmental perception data to control the vehicle's driving, so that the vehicle's driving path matches the user's driving intention.

[0036] The assisted driving method mentioned in the embodiments of this application is described below. For example... Figure 2 The diagram shows a flowchart of an assisted driving method, which can be executed by electronic devices, such as the vehicle terminal mentioned above.

[0037] For example, the assisted driving method may include:

[0038] S201: The vehicle was found to meet the driving adjustment conditions, and the navigation function was not turned on.

[0039] It is understandable that during vehicle operation, electronic devices can detect whether the vehicle meets the driving conditions and whether the navigation function is activated.

[0040] The driving adjustment conditions may include at least one of the following: the distance between the vehicle and the target area is within a preset distance range; or, a lane change command from the first user is detected; or, no map data is received within a preset time period after the lane change command from the first user is detected.

[0041] The target area may include at least one of the following: intersection area, roundabout area, ramp area, or construction area. The first user lane change command may include at least one of the following: a command to turn the steering wheel, or a command to turn on the turn signal.

[0042] The following describes the specific implementation method for checking whether a vehicle meets the driving adjustment conditions.

[0043] In some implementations, vehicles can be equipped with multiple onboard cameras, such as forward-facing wide-angle cameras, forward-facing narrow-angle cameras, panoramic cameras, and rear-view cameras. In this way, electronic devices can acquire environmental perception data based on these onboard cameras, such as bird's-eye view (BEV) images of the area in front of the vehicle, as well as data on lane lines, curbs, and traffic signs. Based on the BEV images and speed data from lane lines, curbs, and traffic signs, the system can determine whether there are target areas such as intersections, roundabouts, ramps, or construction zones ahead of the vehicle.

[0044] When a target area is detected ahead of the vehicle, the electronic equipment can determine the distance between the vehicle and the target area to ascertain whether the distance is within a preset range, i.e., whether the vehicle is about to approach the target area. For example, if an intersection is detected ahead of the vehicle, the electronic equipment can obtain the distance between the vehicle and the traffic lights in the intersection area and determine this distance as the distance between the vehicle and the intersection area. If the distance between the vehicle and the target area is determined to be within the preset range, the electronic equipment can determine that the vehicle meets the driving adjustment conditions.

[0045] In other implementations, the vehicle may also be equipped with multiple sensing devices, such as a steering wheel sensor and a turn signal sensor. In this case, the electronic device can receive sensing data from the steering wheel sensor and / or the turn signal sensor at preset time intervals, and determine whether there is a command to turn the steering wheel and / or a command to activate the turn signal based on the sensing data. If a command to turn the steering wheel and / or a command to activate the turn signal are determined, the electronic device can determine that the vehicle meets the driving adjustment conditions.

[0046] S202: Acquire environmental perception data.

[0047] It is understandable that when the vehicle meets the driving adjustment conditions and the navigation function is not turned on, the electronic device can acquire BEV images around the vehicle, as well as data such as lane lines, curbs, and traffic signs, based on multiple on-board cameras such as forward wide-angle cameras, forward narrow-angle cameras, panoramic cameras, and rear-view cameras. It can also use environmental perception data such as the speed of BEV images, lane lines, curbs, and traffic signs to perceive the environment.

[0048] In some implementations, electronic devices can acquire environmental perception data within 200 meters in front of the vehicle and 100 meters behind it.

[0049] S203: Generate a first guidance path based on environmental perception data, and control the vehicle to drive based on the first guidance path.

[0050] It is understandable that when the vehicle meets the driving adjustment conditions and the navigation function is not activated, the electronic device can acquire environmental perception data and the vehicle's initial location data. Furthermore, the electronic device can generate driving environment data based on the environmental perception data, which may include at least one lane and at least one driving direction corresponding to each lane. Then, the electronic device can generate a first guidance path based on the vehicle's initial location data and the driving environment data.

[0051] In some implementations, when the electronic device acquires environmental perception data within 200 meters in front of the vehicle and 100 meters behind it, the electronic device can construct a road simulation image of 200 meters in front of the vehicle and 100 meters behind it as driving environment data based on the environmental perception data.

[0052] It is understandable that in some implementations, the simulated road image can be the same as the actual road within 200 meters in front of the vehicle and 100 meters behind it.

[0053] like Figure 3 As shown in (a), when a vehicle is about to approach an intersection area, the actual road surface where the vehicle is located may include a left-turn lane, a straight-ahead lane, and a right-turn lane. Thus, electronic devices can construct... Figure 3 The road simulation image shown in (b) is as follows. The road simulation image can be: the left-turn lane, the straight lane and the right-turn lane are included from 100 meters behind the vehicle to 200 meters in front of the vehicle.

[0054] Understandably, in some other implementations, the simulated road image may differ from the actual road within 200 meters in front of and 100 meters behind the vehicle.

[0055] like Figure 4 As shown in (a), when a vehicle is about to approach the intersection area, the actual road conditions include a left-turn lane, a straight lane, and a right-turn lane, and part of the right-turn lane (as shown by the diagonally filled area in the figure) is under construction. Thus, electronic equipment can construct... Figure 4 The road simulation image shown in (b) is as follows. The road simulation image can be: 100 meters behind the vehicle including a left-turn lane, a straight lane and a right-turn lane (not shown), and 200 meters in front of the vehicle including a left-turn lane and a straight + right-turn lane.

[0056] Electronic devices can also be built as Figure 4 The road simulation image shown in (c) is as follows. The road simulation image can be: 100 meters behind the vehicle to 50 meters in front of the vehicle including left-turn lane, straight lane and right-turn lane; 50 meters in front of the vehicle to 150 meters in front of the vehicle including left-turn lane and straight + right-turn lane; and 150 meters in front of the vehicle to 200 meters in front of the vehicle including left-turn lane, straight lane and right-turn lane.

[0057] It is understandable that during the process of generating a first guidance path based on the vehicle's first position data and driving environment data, the electronic device can determine the target lane corresponding to the vehicle in at least one lane of the road simulation image, as well as at least one driving direction corresponding to the target lane, based on the vehicle's first position data. Furthermore, the electronic device can generate the first guidance path based on the target lane and the at least one driving direction corresponding to the target lane.

[0058] In some implementations, when the target lane corresponds to a driving direction, for example, if the target lane corresponds to a first driving direction, the electronic device can generate a first guidance path based on the first driving direction corresponding to the target lane.

[0059] For example, when determining that the vehicle is in such a situation Figure 3 In the case of a right-turn lane in the road simulation image shown in (b), the electronic device can obtain the position and speed of obstacles in the right-turn lane, and generate a model based on the vehicle's position, the obstacle's position, and the obstacle's speed. Figure 5 The indicated first guide path is a right turn that avoids collisions with obstacles.

[0060] In other implementations, when the target lane corresponds to multiple driving directions, the electronic device can generate multiple second guidance paths based on the multiple second driving directions corresponding to the target lane, and determine the first guidance path from the multiple second guidance paths.

[0061] For example, when the target lane corresponds to both a second and a third driving direction, the electronic device can acquire a second user lane-changing instruction. This second user lane-changing instruction can be a steering wheel instruction instructing the vehicle to travel in the second driving direction or an instruction to activate the turn signal. Furthermore, the electronic device determines a third guidance path from among multiple second guidance paths as a first guidance path, wherein the driving direction indicated by the third guidance path is the second driving direction.

[0062] For example, after determining that the vehicle is in such a situation Figure 4In the road simulation image shown in (b), where there is a straight-ahead + right-turn lane, if the electronic device detects a command to activate the right turn signal, it can obtain the position and speed of obstacles in the straight-ahead + right-turn lane, and generate a sequence of data based on the vehicle's position, the obstacle's position, and the obstacle's speed. Figure 6 The indicated first guide path is a right turn that avoids collisions with obstacles.

[0063] For example, after determining that the vehicle is in such a situation Figure 4 In the case of a right-turn lane in the road simulation image shown in (c), if the electronic device detects a command to activate the right turn signal, the electronic device can obtain the position and speed of obstacles in the straight lane 100 meters behind the vehicle to 50 meters in front of the vehicle, the position and speed of obstacles in the straight + right-turn lane 50 meters in front of the vehicle to 150 meters in front of the vehicle, and the position and speed of obstacles in the right-turn lane 150 meters in front of the vehicle to 200 meters in front of the vehicle, and generate a data set as shown in Figure (c). Figure 7 The indicated first guide path is a right turn that avoids collisions with obstacles.

[0064] It is understandable that while generating the first guidance path, the electronic device can also generate instructions for controlling the status of driver assistance functions, such as off, standby, passive, active, override, failure, or minimum risk manager (MRM) prompts.

[0065] In this embodiment, when the vehicle meets the driving adjustment conditions and the navigation function is not turned on, the vehicle driving is controlled by environmental perception data. Even if the vehicle cannot update the map data in real time based on the navigation function, the accurate guidance path can be determined based on the real environmental perception data to control the vehicle driving, so that the vehicle driving path matches the user's driving intention.

[0066] It is understood that the assisted driving method mentioned in the embodiments of this application can be applied to assisted driving devices. For example... Figure 8 As shown, the driver assistance device may include:

[0067] The detection module 801 can be used to detect that the vehicle meets the driving adjustment conditions and that the navigation function is not turned on.

[0068] In some implementations, the detection module may include a perception submodule. The perception submodule can be used to acquire environmental perception data based on the vehicle-mounted camera, such as a bird's-eye view image of the front of the vehicle, as well as data on lane lines, curbs, traffic signs, etc., and based on the BEV image and speed data of lane lines, curbs, traffic signs, etc., to determine whether there are target areas such as intersections, roundabouts, ramps, or construction zones in front of the vehicle.

[0069] For example, the perception submodule may include multiple vehicle cameras such as a forward wide-angle camera, a forward narrow-angle camera, a panoramic camera, and a rear-view camera.

[0070] The acquisition module 802 can be used to acquire environmental perception data;

[0071] In some implementations, the acquisition module 802 may include an environment modeling submodule. The environment modeling submodule can be used to acquire environmental perception data within 200 meters in front of the vehicle and 100 meters behind it, and based on the environmental perception data, construct a road simulation image of 200 meters in front of the vehicle and 100 meters behind it as driving environment data.

[0072] The control module 803 can be used to generate a first guidance path based on environmental perception data and control the vehicle to drive based on the first guidance path.

[0073] In some implementations, the control module 803 may include a prediction submodule, a map engine submodule, a planning control submodule, and a state machine submodule.

[0074] The system comprises several submodules: a prediction submodule for acquiring obstacle positions and speeds; a map engine submodule for generating a first guidance path based on environmental perception data, obstacle positions, and speeds; a planning and control submodule for controlling the vehicle to travel along the first guidance path; and a state machine submodule for generating commands to control driver assistance functions, such as "off," "standby," "passive," "active," "override," "failure," or "minimum risk management (MRM)" prompts.

[0075] It is understood that the assisted driving method mentioned in the embodiments of this application is applied to electronic devices in vehicle 100. Figure 9 This is a schematic diagram of a possible functional framework of a vehicle 100 provided in an embodiment of this application.

[0076] like Figure 9 As shown, the functional framework of vehicle 100 may include various subsystems, such as Figure 9The sensor system 110, control system 120, one or more peripheral devices 130 (one is shown as an example), power supply 140, and computer system 150 are shown. Optionally, the vehicle 100 may also include other functional systems, such as an engine system that provides power to the vehicle 100, etc., which are not limited herein.

[0077] The sensor system 110 may include several detection devices that can sense the measured information and convert the sensed information into electrical signals or other desired forms of information output according to a certain rule. Figure 9 As shown, these detection devices may include a global positioning system (GPS), a vehicle speed sensor (112), an inertial measurement unit (IMU), etc., and this application does not limit them.

[0078] The Global Positioning System (GPS) 111 is a system that uses GPS positioning satellites to perform real-time positioning and navigation globally. In this application, the GPS 111 can be used to achieve real-time positioning of vehicle 100, providing the geographical location information of vehicle 100. The vehicle speed sensor 112 is used to detect the vehicle speed of vehicle 100. The inertial measurement unit 113 may include a combination of an accelerometer and a gyroscope, and is a device for measuring the angular rate and acceleration of vehicle 100. For example, during the movement of vehicle 100, the inertial measurement unit can measure the changes in the vehicle's position and angle based on the inertial acceleration of vehicle 100, such as measuring the acceleration and angular rate of vehicle 100.

[0079] The control system 120 may include a steering unit 121 and a braking unit 122, etc.

[0080] Steering unit 121 can represent a system for adjusting the direction of travel of vehicle 100, and may include, but is not limited to, a steering wheel or other structural device for adjusting or controlling the direction of travel of vehicle 100. Braking unit 122 can represent a system for slowing down the speed of vehicle 100, and may also be referred to as the vehicle 100 braking system. It may include, but is not limited to, a brake controller, a reducer, or other structural device for slowing down vehicle 100. In practical applications, braking unit 122 can use friction to slow down the tires of vehicle 100, thereby slowing down the speed of vehicle 100.

[0081] Peripheral device 130 may include several components, such as Figure 9 The diagram shows a communication system 131, a touchscreen 132, a user interface 133, etc. The communication system 131 is used to enable network communication between the vehicle 100 and other devices besides the vehicle 100.

[0082] In practical applications, the communication system 131 can use wireless communication technology or wired communication technology to realize network communication between the vehicle 100 and other devices. The wired communication technology can refer to communication between the vehicle 100 and other devices via network cables or optical fibers. The wireless communication technology includes, but is not limited to, Global System for Mobile Communications (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Time Division Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE), Wireless Local Area Networks (WLAN) (such as Wireless Fidelity (Wi-Fi) networks), Bluetooth (BT), Global Navigation Satellite System (GNSS), Frequency Modulation (FM), Near Field Communication (NFC), and Infrared (IR) technology, etc.

[0083] The touchscreen 132 can be used to detect operation commands on the touchscreen 132. For example, the user can perform touch operations on the content data displayed on the touchscreen 132 according to actual needs to achieve the corresponding function, such as playing music, video, or other multimedia files. The user interface 133 can specifically be a touch panel for detecting operation commands on the touch panel. The user interface 133 can also be a physical button or a mouse. The user interface 133 can also be a display screen for outputting data and displaying images or data. Optionally, the user interface 133 can also be at least one device belonging to the category of peripheral devices, such as a touchscreen, microphone, and speaker.

[0084] Several functions of vehicle 100 are controlled and implemented by computer system 150. Computer system 150 may include multiple processors such as processor 151, chassis domain controller (CDC) 152, automated driving domain controller (MDC) 153, telematics box (T-BOX) 154, as well as memory 155 (also referred to as storage device) and gateway 156. In practical applications, memory 155 may be located inside computer system 150 or outside computer system 150, for example, as a cache in vehicle 100, etc., and this application does not limit this.

[0085] Among them, processor 151, CDC 152, MDC 153, and T-BOX 154 can be used to run relevant programs or instructions corresponding to programs stored in memory 155 to realize the corresponding functions of vehicle 100, such as the function of calling vehicle camera.

[0086] In some implementations, when the processor 151 detects that the vehicle meets the driving adjustment conditions and the vehicle has not activated the navigation function, the processor 151 can acquire environmental perception data, such as a bird's-eye view (BEV) image in front of the vehicle, as well as data such as the position and speed of lane lines, curbs, traffic signs, dynamic obstacles, and dynamic obstacles. Then, the processor 151 can generate a first guidance path based on the environmental perception data and control the vehicle to drive based on the first guidance path.

[0087] Thus, when the vehicle meets the driving adjustment conditions and the navigation function is not turned on, the vehicle's driving is controlled based on environmental perception data. Even if the vehicle cannot update map data in real time based on the navigation function, it can determine an accurate guidance path based on real environmental perception data to control the vehicle's driving, so that the vehicle's driving path matches the user's driving intention.

[0088] Memory 155 may include volatile memory, such as RAM; it may also include non-volatile memory, such as ROM, flash memory, HDD, or SSD; or it may include a combination of the above types of memory. Memory 155 can be used to store a set of program code or instructions corresponding to program code, so that processor 151 can call the program code or instructions stored in memory 155 to implement the corresponding functions of vehicle 100. This function includes, but is not limited to, […]. Figure 9The schematic diagram of the functional framework of the vehicle 100 shown includes some or all of the functions. In this application, the memory 155 can store a set of program codes for controlling the vehicle 100. The processor 151, CDC 152, MDC 153, and T-BOX 154 can call the program codes to control the vehicle 100 to perform the assisted driving method in this application.

[0089] Optionally, in addition to storing program code or instructions, the memory 155 may also store information such as road maps, driving routes, and sensor data. The computer system 150 can be combined with other components in the functional framework diagram of the vehicle 100, such as sensors in the sensor system and GPS, to realize the relevant functions of the vehicle 100. For example, the computer system 150 can control the driving direction or speed of the vehicle 100 based on data input from the sensor system 110; this application does not impose limitations on this.

[0090] This application provides a computer program product that, when run on a device, causes the device to execute the technical solutions described in the above embodiments. Its implementation principle and technical effects are similar to those of the related embodiments described above, and will not be repeated here.

[0091] It is understood that the various embodiments of the mechanisms disclosed in this application can be implemented in hardware, software, firmware, or a combination of these implementation methods. Embodiments of this application can be implemented as computer programs or program code executable on a programmable system, the programmable system including at least one processor, a storage system (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device.

[0092] Program code can be applied to input instructions to execute the functions described in this application and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of this application, the processing system includes any system having a processor such as, for example, a digital signal processor (DSP), a microcontroller, an application-specific integrated circuit (ASIC), or a microprocessor.

[0093] The program code can be implemented using a high-level procedural language or an object-oriented programming language to communicate with the processing system. Assembly language or machine language can also be used when needed. The mechanisms described in this application are not limited to any particular programming language. In either case, the language can be a compiled language or an interpreted language.

[0094] The above describes the possible hardware structures of electronic devices. It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the electronic device. In other embodiments of this application, the electronic device may include more or fewer components than illustrated, or combine certain components, or split certain components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of both.

[0095] In the accompanying drawings, some structural or methodological features may be shown in a specific arrangement and / or order. However, it should be understood that such a specific arrangement and / or order may not be necessary. Rather, in some embodiments, these features may be arranged in a manner and / or order different from that shown in the illustrative drawings. Furthermore, the inclusion of structural or methodological features in a particular figure does not imply that such features are required in all embodiments, and in some embodiments, these features may be omitted or may be combined with other features.

[0096] It should be noted that in the examples and description of this patent, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the aforementioned element.

[0097] Although this application has been illustrated and described with reference to certain embodiments thereof, those skilled in the art will understand that various changes in form and detail may be made thereto without departing from the scope of this application.

Claims

1. A driving assistance method, characterized in that, Applied to electronic devices, including: The vehicle is detected to meet the driving adjustment conditions; the driving adjustment conditions include the vehicle not having its navigation function activated and at least one of the following: the distance between the vehicle and the target area is within a preset distance range; or, a first user lane change command is detected. Acquire environmental perception data and the vehicle's first location data; Based on the environmental perception data, driving environment data is generated, wherein the driving environment data includes at least one lane and at least one driving direction corresponding to each lane in the at least one lane; A first guidance path is generated based on the vehicle's first location data and the driving environment data; Control the vehicle to travel based on the first guidance path.

2. The assisted driving method according to claim 1, characterized in that, After detecting the first user's lane change command, the process further includes: No map data was received within the preset time period.

3. The assisted driving method according to claim 2, characterized in that, The target area includes at least one of the following: Intersection area, roundabout area, ramp area, or construction area.

4. The assisted driving method according to any one of claims 1 to 3, characterized in that, The environmental perception data includes any one or more of the following: a bird's-eye view image of the front of the vehicle, as well as lane lines, curbs, and traffic signs.

5. The assisted driving method according to claim 4, characterized in that, The step of generating the first guidance path based on the vehicle's first location data and the driving environment data includes: Based on the vehicle's first location data, the target lane corresponding to the vehicle in the at least one lane and at least one driving direction corresponding to the target lane are determined. The first guidance path is generated based on the target lane and at least one driving direction corresponding to the target lane.

6. The assisted driving method according to claim 5, characterized in that, The step of generating the first guidance path based on the target lane and at least one driving direction corresponding to the target lane includes: When the target lane corresponds to a first driving direction, the first guidance path is generated based on the first driving direction corresponding to the target lane.

7. The assisted driving method according to claim 5, characterized in that, The step of generating the first guidance path based on the target lane and at least one driving direction corresponding to the target lane includes: When the target lane corresponds to multiple driving directions, multiple second guidance paths are generated based on the multiple driving directions corresponding to the target lane; The first guidance path is determined from the plurality of second guidance paths.

8. The assisted driving method according to claim 7, characterized in that, Determining the first guidance path from the plurality of second guidance paths includes: Obtain a second user lane change command, which instructs the vehicle to travel in a second direction of travel. The third guide path among the multiple second guide paths is determined as the first guide path, and the driving direction indicated by the third guide path is the second driving direction.

9. An electronic device, characterized in that, Includes: a memory for storing instructions executed by one or more processors of the electronic device. And a processor, which is one or more processors of the electronic device, for performing the assisted driving method according to any one of claims 1 to 8.

10. A vehicle, characterized in that, Includes the electronic device as described in claim 9.

11. A computer program product, characterized in that, The computer program product includes computer instructions that, when executed by an electronic device, enable the electronic device to perform the assisted driving method as described in any one of claims 1 to 8.

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