Method and system for providing driving assistance

Abstract

This application relates to a method for providing driving assistance, the method comprising: detecting the state of a preceding vehicle, wherein the state of the preceding vehicle includes information related to the preceding vehicle's deceleration and / or the preceding vehicle's bumps; determining, based on the state of the preceding vehicle, that a bumpy area exists ahead of the vehicle; and, upon determining that the bumpy area exists ahead of the vehicle, performing trajectory planning on the vehicle's posture to comfortably pass through the bumpy area, the trajectory planning being a cross-lane planned driving trajectory. This application also relates to a system, computer program product, and computing device for providing driving assistance.

Description

Technical Field

[0001] This application relates to the field of automotive electronic control, and more specifically, to a method and system for providing driving assistance, a computer program product, and a computing device. Background Technology

[0002] In existing autonomous driving or driver assistance functions (such as lane keeping assist in ADAS), there is no speed control or special lateral control logic for road bumps caused by speed bumps or steel plates laid due to road construction. Under medium and high speed conditions, if a vehicle drives directly over a speed bump or road protrusion, it will cause severe jolts and seriously affect the driver's driving experience. Summary of the Invention

[0003] According to one aspect of this application, a method for providing driving assistance is provided, the method comprising: detecting the state of a preceding vehicle, wherein the state of the preceding vehicle includes information related to the preceding vehicle's deceleration and / or the preceding vehicle's bumps; determining, based on the state of the preceding vehicle, that a bumpy area exists ahead of the vehicle; and, upon determining that the bumpy area exists ahead of the vehicle, performing trajectory planning on the vehicle's posture to comfortably pass through the bumpy area, the trajectory planning being a cross-lane planned driving trajectory. Here, the cross-lane planned driving trajectory is a high-curvature trajectory planning, which can ensure, for example, that in the case of a wide obstacle (occupying multiple lanes), one side of the vehicle's front wheels passes over the obstacle first, thereby improving the driver's driving experience.

[0004] As a supplement or replacement to the above solution, in the above method, the state of the vehicle in front is determined based on information from one or more sensors, which in turn indicate environmental information in front of the vehicle.

[0005] As a supplement or replacement to the above solution, in the above method, determining the existence of a bumpy area in front of the vehicle based on the state of the preceding vehicle includes: when the sensor information indicates that a speed bump or similar obstacle is detected in front of the vehicle, and the state of the preceding vehicle indicates that the preceding vehicle is bumpy and that the preceding vehicle is decelerating, determining that there is a bumpy area in front of the vehicle.

[0006] As a supplement or replacement to the above solution, in the above method, when it is determined that there is a bumpy area in front of the vehicle, trajectory planning of the vehicle body posture to comfortably pass through the bumpy area includes:

[0007] The planned trajectory is determined based on the distance Dist between the bumpy area and the vehicle, the lane centerline, and the lane width Width.

[0008] As a supplement or replacement to the above scheme, the planned trajectory in the above method is as follows:

[0009] y desire =C′1x+C′2x 2 +C′3x 3 ,

[0010] The coefficients C′1, C′2, and C′3 are obtained by solving the following system of equations:

[0011] C′1Dist+C′2Dist 2 +C′3Dist 3 =C0+C1Dist+C2Dist 2 +C3Dist 3 +Width;

[0012] C′1+2C′2Dist+3C′3Dist 2 =C1 + 2C2Dist + 3C3Dist 2 +theta;

[0013] 2C′2+6C′3Dist=2C2+6C3Dist,

[0014] Where Dist is the distance between the bumpy area and the vehicle in the vehicle coordinate system, Width is the lane width, and theta is the heading angle offset of the planned trajectory at the planned target point relative to the lane centerline. This heading angle offset is an adjustable parameter.

[0015] As a supplement or replacement to the above scheme, the above method may also include: longitudinal deceleration control of the vehicle according to the planned trajectory.

[0016] As a supplement or replacement to the above scheme, in the above method, longitudinal deceleration control of the vehicle based on the planned trajectory includes: obtaining the curvature of the anchor points on the planned trajectory. anchor ; and based on the curvature, calculate and output the target longitudinal vehicle speed v in real time according to the following formula. desire :

[0017]

[0018] Where Ay is the lateral acceleration of the vehicle (an adjustable parameter), and curv anchor The curvature of the anchor point on the planned trajectory.

[0019] As a supplement or replacement to the above scheme, the longitudinal deceleration control of the vehicle according to the planned trajectory in the above method further includes: providing the target longitudinal vehicle speed to the longitudinal control actuator for longitudinal deceleration control, wherein the longitudinal control actuator includes the engine management system (EMS) and / or the electronic stability program (ESP).

[0020] According to another aspect of this application, a system for providing driving assistance is provided, the system comprising: a sensor; a domain controller; and a lateral / longitudinal control actuator, wherein the domain controller is configured to: detect the state of a preceding vehicle based on sensor information provided by the sensor, wherein the state of the preceding vehicle includes information related to the preceding vehicle's deceleration and / or preceding vehicle bumps; determine, based on the state of the preceding vehicle, that a bumpy area exists ahead of the vehicle; and, upon determining that the bumpy area exists ahead of the vehicle, perform trajectory planning for the vehicle body posture and provide it to the lateral / longitudinal control actuator to facilitate comfortable passage through the bumpy area, the trajectory planning being a cross-lane planned driving trajectory.

[0021] As a supplement or replacement to the above solution, in the above system, the domain controller includes: a scene analysis module, used to receive sensor information, the sensor information indicating environmental information in front of the vehicle; based on the sensor information, detect the state of the vehicle in front, and determine, at least based on the state of the vehicle in front, that there is a bumpy area in front of the vehicle; and a trajectory planning module, used to perform trajectory planning when it is determined that there is a bumpy area in front of the vehicle, wherein the trajectory planning is a cross-lane planning driving trajectory.

[0022] As a supplement or replacement to the above solution, in the above system, the trajectory planning module is configured to: determine the planned trajectory based on the distance Dist between the bumpy area and the vehicle, the lane centerline, and the lane width Width, wherein the lane centerline is represented in the vehicle coordinate system as:

[0023] y = C0 + C1x + C2x 2 +C3x 3 ,

[0024] Where x represents the vertical distance, y represents the horizontal distance, and C0, C1, C2, and C3 are polynomial coefficients;

[0025] And the planned trajectory is as follows:

[0026] y desire =C′1x+C′2x 2 +C′3x 3 ,

[0027] The coefficients C′1, C′2, and C′3 are obtained by solving the following system of equations:

[0028] C′1Dist+C′2Dist 2 +C′3Dist 3 =C0+C1Dist+C2Dist 2 +C3Dist 3 +Widht;

[0029] C′1+2C′2Dist+3C′3Dist 2 =C1 + 2C2Dist + 3C3Dist 2 +theta;

[0030] 2C′2+6C′3Dist=2C2+6C3Dist,

[0031] Where Dist is the distance between the bumpy area and the vehicle in the vehicle coordinate system, Width is the lane width, and theta is the heading angle offset of the planned trajectory at the planned target point relative to the lane centerline. This heading angle offset is an adjustable parameter.

[0032] As a supplement or replacement to the above solution, the system also includes: a longitudinal planning module, used to perform longitudinal deceleration control on the vehicle according to the planned trajectory.

[0033] As a supplement or replacement to the above solution, in the above system, the longitudinal planning module is configured to: obtain the curvature of the anchor points on the planned trajectory. anchor Based on the curvature, the target longitudinal vehicle speed v is calculated and output in real time according to the following formula. desire : Where Ay is the lateral acceleration of the vehicle (an adjustable parameter), and curv anchor The curvature of the anchor points on the planned trajectory; and the provision of the target longitudinal vehicle speed to the longitudinal control actuator for longitudinal deceleration control, wherein the longitudinal control actuator includes the engine management system (EMS) and / or the electronic stability program (ESP).

[0034] As a supplement or replacement to the above solution, the system further includes: a motion control module, used to receive the planned trajectory from the trajectory planning module and generate lateral control commands based on the planned trajectory, so as to provide them to the lateral control actuator, wherein the lateral control actuator includes an electric power steering system EPS.

[0035] According to another aspect of this application, a computer program product is provided, including a computer program that, when executed by a processor, implements the method described above.

[0036] According to another aspect of this application, a computing device is provided, including a memory, a processor, and a computer program stored in the memory, the processor executing the computer program to perform the following steps: receiving data from one or more sensors; and, based on the received data, performing the method as described above.

[0037] The driving assistance scheme provided in this application detects bumpy conditions and completes trajectory planning based on the status of the vehicle in front. This trajectory planning involves planning a driving trajectory across lanes (considering vehicle posture), i.e., high-curvature trajectory planning. This ensures that, for example, in situations where obstacles are wide (occupying multiple lanes), the vehicle's front wheels on one side pass over the obstacle first, comfortably navigating bumpy areas and thus improving the driver's driving experience.

[0038] In addition, the vehicle can also perform longitudinal deceleration for comfort according to the planned trajectory. In one embodiment, longitudinal deceleration control of the vehicle according to the planned trajectory includes: obtaining the curvature of the anchor points on the planned trajectory. anchor ; and based on the curvature, calculate and output the target longitudinal vehicle speed v in real time according to the following formula. desire :

[0039]

[0040] Where Ay is the lateral acceleration of the vehicle (an adjustable parameter), and curv anchor Let Ay be the curvature of the anchor points on the planned trajectory. Since Ay is directly related to centripetal force, it is also related to the driver's cornering experience; therefore, by controlling the vehicle speed v... desire To adapt to different curvatures (corresponding to different planned trajectories), it can maintain lateral acceleration within a suitable range, thus providing a better cornering feel. Attached Figure Description

[0041] The above and other objects and advantages of this application will become more fully clear from the following detailed description taken in conjunction with the accompanying drawings, wherein the same or similar elements are indicated by the same reference numerals.

[0042] Figure 1 A flowchart illustrating a method for providing driving assistance according to an embodiment of this application is shown;

[0043] Figure 2 A schematic diagram of the framework of an autonomous driving system or driver assistance system according to an embodiment of this application is shown;

[0044] Figure 3 A schematic diagram of environmental information detection according to an embodiment of this application is shown;

[0045] Figure 4 A schematic diagram of trajectory planning considering vehicle body posture according to an embodiment of this application is shown; and

[0046] Figure 5 A schematic diagram of the structure of a computing device according to an embodiment of this application is shown. Detailed Implementation

[0047] In the following, the implementation schemes of various exemplary embodiments of the autonomous driving system or driver assistance system according to the present application will be described in detail with reference to the accompanying drawings.

[0048] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples, without contradiction.

[0049] Figure 1 A flowchart illustrating a method 1000 for providing driving assistance according to an embodiment of this application is shown. Figure 1 As shown, the method 1000 includes the following steps:

[0050] In step S110, the state of the preceding vehicle is detected, wherein the state of the preceding vehicle includes information related to the preceding vehicle's deceleration and / or the preceding vehicle's swaying;

[0051] In step S120, a bumpy area is determined to exist in front of the current vehicle based on the condition of the preceding vehicle; and

[0052] In step S130, when it is determined that there is a bumpy area in front of the vehicle, the vehicle body posture is trajectory planned in order to comfortably pass through the bumpy area. The trajectory planning is a cross-lane planning driving trajectory.

[0053] In the context of this application, the term "autonomous driving system" refers to a system capable of fully autonomously controlling a vehicle without the active intervention of a human driver. Such a system can handle all driving tasks, including environmental perception, decision-making, and vehicle control, and is highly automated. The term "driver assistance system" refers to a system that assists the driver through various sensors and actuators, aiming to improve driving safety, comfort, and convenience; examples include ADAS systems. ADAS are generally considered to be Level 1 to Level 2 automation, providing assistance functions such as lane keeping, adaptive cruise control, and automatic emergency braking, but requiring the driver to be ready to take over vehicle control at any time.

[0054] In step S110, the state of the vehicle ahead is detected based on sensor information, wherein the sensor information indicates environmental information ahead of the vehicle. In one embodiment, the sensor information includes: first sensor information indicating the detection of a speed bump or similar obstacle; second sensor information indicating the detection of a bump in the vehicle ahead; and third sensor information indicating the detection of a deceleration in the vehicle ahead.

[0055] In one or more embodiments, sensor information may come from various types of sensors (including but not limited to radar sensors, cameras, lidar, etc.). By fusing data or information from different sensors, more accurate and comprehensive information about the vehicle ahead can be obtained. For example, distance and speed information provided by radar can be combined with visual information from a camera to improve detection accuracy.

[0056] In step S120, it is determined at least based on the state of the preceding vehicle that a bumpy area exists in front of the current vehicle. Here, "state of the preceding vehicle" refers to the state of the preceding vehicle in relation to determining that a bumpy area exists in front of the current vehicle. In one embodiment, the state of the preceding vehicle includes both deceleration and bumping. For example, a radar sensor can be used to detect sudden deceleration of the preceding vehicle. Another example is the use of a camera to detect bumping (for instance, a significant difference in the height of the preceding vehicle between two consecutive frames).

[0057] In one embodiment, step S120 includes: determining that a bumpy area exists in front of the vehicle when the sensor information indicates that a speed bump or similar obstacle has been detected, a bump in front of the vehicle has been detected, and a deceleration of the vehicle in front of the vehicle has been detected. In the context of this application, a "bumpy area" refers to an uneven or obstructed area that a vehicle may encounter during driving due to poor road conditions, such as: speed bumps (raised structures on the road to remind the driver to slow down); road surface damage (uneven road surfaces caused by aging, construction, or traffic accidents); potholes (depressions on the road surface, possibly caused by water accumulation, erosion, or long-term pressure from heavy vehicles); construction areas (temporary uneven areas caused by road construction, such as paving steel plates); road surface joints (joints between different road surface materials or structures, which may cause vehicle bumps); and rail crossings (road surfaces intersecting with railway tracks, often with large gaps or unevenness), etc.

[0058] In step S130, when a bumpy area is determined to exist in front of the vehicle, trajectory planning is performed on the vehicle body to comfortably pass through the bumpy area. This trajectory planning is a cross-lane planned driving trajectory. Here, the "cross-lane planned driving trajectory" is not a simple obstacle avoidance trajectory, but rather a trajectory planning with a large curvature considering the vehicle body posture. This ensures that, for example, in cases where the obstacle is wide (occupying multiple lanes), one side of the vehicle's front wheels will pass over the obstacle first, thereby improving the driver's driving experience.

[0059] In one embodiment, step S130 includes: determining the planned trajectory based on the distance Dist between the bumpy area and the vehicle, the lane centerline, and the lane width Width, wherein the lane centerline is represented in the vehicle coordinate system as:

[0060] y = C0 + C1x + C2x 2 +C3x 3 ,

[0061] Where x represents the vertical distance, y represents the horizontal distance, and C0, C1, C2, and C3 are polynomial coefficients.

[0062] like Figure 3 As shown, the distance between the bumpy area 305 and the vehicle is shown as 310, and the lane centerline is shown as 320. It should be noted that the vehicle coordinate system is a coordinate system with the rear axle center point of the vehicle as the origin, where x represents the longitudinal distance and y represents the lateral distance. In one or more embodiments, this environmental information (including the distance Dist between the bumpy area and the vehicle, the lane centerline, and the lane width Width, etc.) can be obtained through a camera sensor.

[0063] In one embodiment, the planned trajectory is:

[0064] y desire =C′1x+C′2x 2 +C′3x 3 ,

[0065] The coefficients C′1, C′2, and C′3 are obtained by solving the following system of equations:

[0066] C′1Dist+C′2Dist 2 +C′3Dist 3 =C0+C1Dist+C2Dist 2 +C3Dist 3 +Width;

[0067] C′1+2C′2Dist+3C′3Dist 2 =C1 + 2C2Dist + 3C3Dist 2 +theta;

[0068] 2C′2+6C′3Dist=2C2+6C3Dist,

[0069] Where Dist is the distance between the bumpy area and the vehicle in the vehicle coordinate system, Width is the lane width, and theta is the heading angle offset of the planned trajectory at the planned target point relative to the lane centerline. This heading angle offset is an adjustable parameter.

[0070] In other words, in the above set of equations, only the coefficients C′1, C′2, and C′3 are unknowns, and a unique solution can be obtained through a set of three linear equations. This set of equations makes (1) the lateral distance of the planned target point is the position of the lane centerline after the lateral coordinate of the lane centerline is offset from the lane width in the bumpy area (e.g., speed bump); the heading angle information of the planned target point is the heading angle of the lane centerline after the heading angle information of the lane centerline in the bumpy area (e.g., speed bump) is offset by a certain angle (this angle is theta, for example, set to 45° to ensure that the front wheel of the vehicle passes first on one side); the curvature information of the planned target point is the curvature information of the lane centerline at the speed bump.

[0071] refer to Figure 4 Vehicle 410 is currently traveling in the first lane 402. After traversing the planned cross-lane trajectory 430, it will move to the second lane 404, at which point the vehicle's posture is as shown in 420. The heading angle information at the planned target point 425 is the heading angle after the lane centerline is offset by a certain angle (as shown in 435) in the bumpy area (e.g., speed bump). It can be seen that the trajectory 430 spans the first lane 402 and the second lane 404, and this trajectory 430 also involves the vehicle's posture. The planned target point 425 is set in the bumpy area, and its horizontal coordinate y in the vehicle coordinate system is the position of the lane centerline after being offset by the lane width in the bumpy area (i.e., C0+C1Dist+C2Dist). 2 +C3Dist 3 +Width), the vertical coordinate x is the longitudinal distance Dist between vehicle 410 (rear axle center point) and the bumpy area.

[0072] Of course, those skilled in the art will understand that the planned trajectory is not limited to the cubic polynomial in the above embodiments, but can be set to a polynomial of more degrees, or other curve forms, which will not be elaborated here.

[0073] Because the cross-lane planning trajectory 430 is a high-curvature trajectory planning, it can ensure that, for example, when the obstacle is wide (occupying multiple lanes), the front wheel of one side of the vehicle passes over the obstacle first, thereby improving the driver's driving experience.

[0074] although Figure 1 As not shown in the diagram, in one embodiment, the above method 1000 may further include: performing longitudinal deceleration control on the vehicle according to the planned trajectory. For example, performing longitudinal deceleration control on the vehicle according to the planned trajectory includes: obtaining the curvature Curv of anchor points on the planned trajectory. anchor ; and based on the curvature, calculate and output the target longitudinal vehicle speed v in real time according to the following formula. desire :

[0075]

[0076] Where Ay is the lateral acceleration of the vehicle (an adjustable parameter), and curv anchor Let be the curvature of the anchor point on the planned trajectory. Here, "anchor point" can be understood as a key reference point in trajectory planning, which plays an "anchoring" role in trajectory planning to ensure that the generated trajectory meets specific requirements and constraints.

[0077] Assume the planned trajectory is determined as follows:

[0078] y desire =C′1x+C′2x 2 +C′3x 3 ,

[0079] The curvature of the anchor points on the planned trajectory is then... anchor =2C′2+6C′3*Dist_anchor, where Dist_anchor=τ*v, where Dist_anchor represents the distance from the vehicle to a reference point (also called an anchor point) on the planned trajectory, τ is an adjustable parameter, and v is the vehicle speed.

[0080] From the real-time target longitudinal vehicle speed v desire As the formula shows, when a vehicle changes lanes at a certain speed (assuming the vehicle's motion is circular), the lateral acceleration increases with the increase of longitudinal velocity and also increases with the decrease of curvature. Lateral acceleration directly affects the driver's feeling when cornering. If the lateral acceleration is too large, the driver may feel uncomfortable or even lose control of the vehicle.

[0081] Therefore, in longitudinal control, when the curvature of the anchor points on the planned trajectory has been calculated (e.g., large curvature) and an appropriate lateral acceleration has been set (e.g., less than a certain set acceleration threshold), the desired longitudinal speed can be calculated.

[0082] In one embodiment, longitudinal deceleration control of the vehicle according to the planned trajectory further includes: providing the target longitudinal vehicle speed to a longitudinal control actuator for longitudinal deceleration control, wherein the longitudinal control actuator includes an engine management system (EMS) and / or an electronic stability program (ESP).

[0083] EMS (Engine Management System) is a highly integrated electronic control system responsible for collecting various data during engine operation. Through precise calculation and analysis, it outputs corresponding control signals to achieve precise control of the engine's combustion process. EMS systems can significantly improve engine performance, reduce fuel consumption and emissions, and are one of the core technologies of modern automotive engines.

[0084] Electronic Stability Program (ESP), also known as Vehicle Stability Program, analyzes vehicle driving status information from various sensors and then issues corrective commands to help the vehicle maintain dynamic balance. ESP can maintain optimal stability in various conditions, with a more pronounced effect in cases of oversteer or understeer. In one or more embodiments, the ESP system includes functions such as Electronic Brakeforce Distribution (EBD), Anti-lock Braking System (ABS), Traction Control System (TCS), and Vehicle Dynamics Control (VDC).

[0085] Furthermore, those skilled in the art will readily understand that the method 1000 for providing driving assistance provided in one or more embodiments of this application can be implemented by a computer program. For example, the computer program is included in a computer program product, and when executed by a processor, it implements the method 1000 for providing driving assistance according to one or more embodiments of this application. As another example, when a computer-readable storage medium (e.g., a USB flash drive) storing the computer program is connected to a computer, running the computer program can execute one or more embodiments of this application and the method 1000 for providing driving assistance.

[0086] Go to Figure 2 It illustrates a schematic diagram of the framework of an autonomous driving system or driver assistance system 2000 (e.g., implemented in a domain controller) according to an embodiment of this application. Figure 2 As shown, the autonomous driving system or assisted driving system 2000 includes a scene analysis module 210 and a trajectory planning module 220. The scene analysis module 210 receives sensor information from multiple environmental sensors 202 / 204 (e.g., camera sensors, radar sensors), the sensor information indicating environmental information ahead of the vehicle; based on the sensor information, it detects the state of the vehicle in front and determines, at least based on the state of the vehicle in front, that there is a bumpy area ahead of the vehicle. The trajectory planning module 220 performs trajectory planning when it determines that there is a bumpy area ahead of the vehicle, wherein the trajectory planning is a cross-lane planning driving trajectory. For example, when the scene analysis module 210 determines that there is a bumpy area ahead of the vehicle, it sends a planning request to the trajectory planning module 220.

[0087] In one embodiment, the trajectory planning module 220 is configured to: determine the planned trajectory based on the distance Dist between the bumpy area and the vehicle, the lane centerline, and the lane width Width, wherein the lane centerline is represented in the vehicle coordinate system as:

[0088] y = C0 + C1x + C2x 2 +C3x 3 ,

[0089] Where x represents the vertical distance, y represents the horizontal distance, and C0, C1, C2, and C3 are polynomial coefficients;

[0090] And the planned trajectory is as follows:

[0091] y desire =C′1x+C′2x 2 +C′3x 3 ,

[0092] The coefficients C′1, C′2, and C′3 are obtained by solving the following system of equations:

[0093] C′1Dist+C′2Dist 2 +C′3Dist 3 =C0+C1Dist+C2Dist 2 +C3Dist 3 +Width;

[0094] C′1+2C′2Dist+3C′3Dist 2 =C1 + 2C2Dist + 3C3Dist 2 +theta;

[0095] 2C′2+6C′3Dist=2C2+6C3Dist,

[0096] Where Dist is the distance between the bumpy area and the vehicle in the vehicle coordinate system, Width is the lane width, and theta is the heading angle offset of the planned trajectory at the planned target point relative to the lane centerline, which is an adjustable parameter. In the context of this application, the planned target point is the intersection of the planned trajectory and the bumpy area.

[0097] Continue to refer to Figure 2 The autonomous driving system or driver assistance system 2000 further includes a longitudinal planning module 240, used to perform longitudinal deceleration control on the vehicle according to the planned trajectory. In one embodiment, the longitudinal planning module 240 is configured to: obtain the curvature of anchor points on the planned trajectory. anchor Based on the curvature, the target longitudinal vehicle speed v is calculated and output in real time according to the following formula. desire : Where Ay is the lateral acceleration of the vehicle (an adjustable parameter), and curv anchor The curvature of the anchor points on the planned trajectory; and the target longitudinal vehicle speed provided to the longitudinal control actuator 260 for longitudinal deceleration control. The longitudinal control actuator 260 includes, for example, an engine management system (EMS) and / or an electronic stability program (ESP).

[0098] In addition, the autonomous driving system or driver assistance system 2000 may also include a motion control module 230, which receives a planned trajectory from the trajectory planning module 220 and generates lateral control commands based on the planned trajectory to provide to the lateral control actuator 250. The lateral control actuator 250 may, for example, include an electric power steering system (EPS).

[0099] For example, in a real-world scenario, the driver engages an autonomous driving system or driver assistance system 2000 (e.g., ADAS) and drives normally within the lane. The vehicle's radar and camera sensors detect that the vehicle ahead is decelerating and experiencing significant bumps (e.g., the camera detects a significant difference in the height of the vehicle ahead in two frames, and the radar detects sudden deceleration in the lane ahead). Furthermore, the vehicle's radar and camera sensors detect no collision risk in the adjacent lane. At this point, the autonomous driving system or driver assistance system 2000 begins planning the aforementioned high-curvature trajectory. The vehicle tracks the planned trajectory, completing the action of driving over the speed bump with a single wheel, while simultaneously performing longitudinal comfort deceleration control. Finally, after passing the speed bump, the vehicle continues to perform the corresponding autonomous driving or driver assistance functions in the new lane, such as lane keeping assist or adaptive cruise control.

[0100] refer to Figure 5 It illustrates a structural schematic diagram of a computing device (including a front-facing camera, domain controller, etc.) 5000 according to an embodiment of this application. Figure 5 As shown, the computing device 5000 includes a memory 510 and a processor 520, on which a computer program is stored. In one embodiment, the processor 520 executes the computer program to perform the following functions or steps: receiving data from one or more sensors; and, based on the received data, performing the method 1000 as described above.

[0101] In summary, the driving assistance solution provided in the embodiments of this application detects bumpy conditions and completes trajectory planning based on the status of the vehicle in front. This trajectory planning is a cross-lane planning driving trajectory (considering vehicle posture), i.e., high-curvature trajectory planning. This can ensure that, for example, when the obstacle is wide (occupying multiple lanes), the front wheels of one side of the vehicle pass over the obstacle first, comfortably navigating the bumpy area, thereby improving the driver's driving experience.

[0102] In addition, the vehicle can also perform longitudinal deceleration for comfort according to the planned trajectory. In one embodiment, longitudinal deceleration control of the vehicle according to the planned trajectory includes: obtaining the curvature of the anchor points on the planned trajectory. anchor ; and based on the curvature, calculate and output the target longitudinal vehicle speed v in real time according to the following formula. desire :

[0103]

[0104] Where Ay is the lateral acceleration of the vehicle (an adjustable parameter), and curv anchor Let Ay be the curvature of the anchor points on the planned trajectory. Since Ay is directly related to centripetal force, it is also related to the driver's cornering experience; therefore, by controlling the vehicle speed v... desire To adapt to different curvatures (corresponding to different planned trajectories), it can maintain lateral acceleration within a suitable range, thus providing a better cornering feel.

[0105] The above examples primarily illustrate the driving assistance solutions provided by embodiments of this application. Although only some implementations of this application have been described, those skilled in the art should understand that this application can be implemented in many other forms without departing from its spirit and scope. Therefore, the examples and implementations shown are considered illustrative rather than restrictive, and various modifications and substitutions may be made without departing from the spirit and scope of this application as defined in the claims.

Claims

1. A method for providing driving assistance, characterized in that, The method includes: Detect the status of the vehicle ahead, wherein the status of the vehicle ahead includes information related to the vehicle ahead deceleration and / or the vehicle ahead bumping; Based on the condition of the vehicle ahead, it is determined that there is a bumpy area in front of this vehicle; and When it is determined that there is a bumpy area in front of the vehicle, the vehicle body posture is used to plan a trajectory in order to comfortably pass through the bumpy area. The trajectory planning is a cross-lane planning driving trajectory.

2. The method as described in claim 1, wherein, The state of the vehicle ahead is determined based on information from one or more sensors, which indicate environmental information ahead of the vehicle.

3. The method as described in claim 2, wherein, Determining the presence of a bumpy area in front of this vehicle based on the condition of the preceding vehicle includes: If the sensor information indicates that there is a speed bump or similar obstacle in front of the vehicle, and the status of the vehicle in front indicates that the vehicle in front is bumpy and is slowing down, then it is determined that there is a bumpy area in front of the vehicle.

4. The method of claim 1, wherein, When a bumpy area is identified in front of the vehicle, trajectory planning for the vehicle body to comfortably traverse the bumpy area includes: The planned trajectory is determined based on the distance Dist between the bumpy area and the vehicle, the lane centerline, and the lane width Width.

5. The method of claim 4, wherein, The planned trajectory is as follows: y desire =C′1x+C′2x 2 +C′3x 3 , Where x represents the vertical distance, y represents the horizontal distance, and the coefficients C′1, C′2, and C′3 are obtained by solving the following system of equations: C′1Dist+C′2Dost 2 +C′3Dist 3 =C0+C1Dist+C2Dist 2 +C3Dist 3 +Width; C′1+2C′2Dist+3C′3Dist 2 =C1+2C2Dist+3C3Dist 2 +theta; 2C′2+6C′3Dist=2C2+6C3Dist, Where C0, C1, C2, and C3 are the coefficients of each term in the cubic polynomial of the lane centerline in the vehicle coordinate system, Dist is the distance between the bumpy area and the vehicle in the vehicle coordinate system, Width is the lane width, and theta is the heading angle offset of the planned trajectory at the planned target point relative to the lane centerline. This heading angle offset is an adjustable parameter.

6. The method of claim 4 or 5, further comprising: Based on the planned trajectory, longitudinal deceleration control is applied to the vehicle.

7. The method of claim 6, wherein, Based on the planned trajectory, longitudinal deceleration control of the vehicle includes: Obtain the curvature of the anchor points on the planned trajectory. anchor ;as well as Based on the curvature, the real-time target longitudinal vehicle speed v is calculated and output according to the following formula. desire : Where Ay is the lateral acceleration of the vehicle, and curv anchor The curvature of the anchor point on the planned trajectory.

8. The method of claim 7, wherein, Based on the planned trajectory, longitudinal deceleration control of the vehicle also includes: The target longitudinal vehicle speed is provided to the longitudinal control actuator for longitudinal deceleration control, wherein the longitudinal control actuator includes the engine management system (EMS) and / or the electronic stability program (ESP).

9. A system for providing driving assistance, characterized in that, The system includes: sensor; Domain controllers; and Lateral / longitudinal control actuator, The domain controller is configured as follows: The state of the vehicle ahead is detected based on the sensor information provided by the sensor, wherein the state of the vehicle ahead includes information related to the vehicle ahead deceleration and / or the vehicle ahead bumping. Based on the condition of the vehicle ahead, it is determined that there is a bumpy area in front of this vehicle; and When it is determined that there is a bumpy area in front of the vehicle, the vehicle body posture is trajectory planned and provided to the lateral / longitudinal control actuator so as to comfortably pass through the bumpy area. The trajectory planning is a cross-lane planned driving trajectory.

10. The system of claim 9, wherein, The domain controller includes: The scene analysis module is used to receive sensor information indicating environmental information ahead of the vehicle; based on the sensor information, detect the state of the vehicle in front, and determine, at least based on the state of the vehicle in front, that there is a bumpy area ahead of the vehicle; and The trajectory planning module is used to perform trajectory planning when it is determined that there is a bumpy area in front of the vehicle, wherein the trajectory planning is a cross-lane planning driving trajectory.

11. The system of claim 10, wherein, The trajectory planning module is configured to determine that there is a bumpy area in front of the vehicle when the sensor information indicates that a speed bump or similar obstacle has been detected, a bump has been detected in the vehicle in front, and the vehicle in front has slowed down.

12. The system of claim 10, wherein, The trajectory planning module is configured to determine the planned trajectory based on the distance Dist between the bumpy area and the vehicle, the lane centerline, and the lane width Width. And the planned trajectory is as follows: y desire =C′1x+C′2x 2 +C′3x 3 , Where x represents the vertical distance, y represents the horizontal distance, and the coefficients C′1, C′2, and C′3 are obtained by solving the following system of equations: C′1Dist+C′2Dist 2 +C′3Dist 3 =C0+C1Dist+C2Dist 2 +C3Dist 3 +Width; C′1+2C′2Dist+3C′3Dist 2 =C1+2C2Dist+3C3Dist 2 +theta; 2C′2+6C′3Dist=2C2+6C3Dist, Where C0, C1, C2, and C3 are the coefficients of the polynomial representation of the lane centerline in the vehicle coordinate system; Dist is the distance between the bumpy area and the vehicle in the vehicle coordinate system; Width is the lane width; and theta is the heading angle offset of the planned trajectory at the planned target point relative to the lane centerline, which is an adjustable parameter.

13. The system of claim 12, wherein, The domain controller also includes: The longitudinal planning module is used to perform longitudinal deceleration control on the vehicle based on the planned trajectory.

14. The system of claim 13, wherein, The vertical planning module is configured as follows: Obtain the curvature of the anchor points on the planned trajectory. anchor ; Based on the curvature, the target longitudinal vehicle speed is calculated and output in real time according to the following formula. v desire : Where Ay is the lateral acceleration of the vehicle, and curv anchor The curvature of the anchor points on the planned trajectory; and The target longitudinal vehicle speed is provided to the longitudinal control actuator for longitudinal deceleration control, wherein the longitudinal control actuator includes the engine management system (EMS) and / or the electronic stability program (ESP).

15. The system of claim 10, wherein, The domain controller also includes: A motion control module is used to receive a planned trajectory from the trajectory planning module and generate lateral control commands based on the planned trajectory to provide to a lateral control actuator, wherein the lateral control actuator includes an electric power steering system (EPS).

16. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 8.

17. A computing device, comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to perform the following steps: Receive data from one or more sensors; and Based on the received data, perform the method as described in any one of claims 1 to 8.

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