DRIVER ASSISTANCE METHOD AND DEVICE FOR A VEHICLE

Abstract

The present disclosure relates to a method for assisting the driving of a vehicle, comprising: storing a journey, wherein the journey route has n traffic lights and is divided into n+1 road segments by the traffic lights, and wherein each intersection at which a traffic light is located has a reference object; the stored journey comprises only the acquisition and storage of position information of the intersection reference object, information on the journey distance of each road segment, and trajectory information of the vehicle at the intersection; the i-th intersection reference object simultaneously serves as the endpoint of the i-th road segment and as the starting point of the i+1-th road segment of the journey and is used to correct accumulated positioning errors;The route information at the intersection includes route guidance information with straight-ahead or turn-by-turn information, and the route guidance information is used to combine road network information from two intersections. The present disclosure further relates to a device, a domain controller, a computer-readable medium, and a computer program product for vehicle driver assistance.

Description

AREA OF INVENTION

[0001] The present application relates to the field of autonomous / assisted driving of vehicles and, in particular, to a method and a device for providing driver assistance to vehicles. The present application further relates to a domain controller for implementing driver assistance and a computer program product comprising a method for implementing driver assistance. STATE OF THE ART

[0002] With advances in science and technology, driver assistance and autonomous driving functions in vehicles are becoming increasingly powerful. If a driver frequently and repeatedly drives a vehicle from one place to another, for example, from home to work, to a supermarket, to a train station, or vice versa, a vehicle equipped with an ADAS system can easily memorize the route.

[0003] Current ADAS systems generate and store the entire route, even a map. This consumes a large amount of computing resources and internal memory and can lead to freezing, delays, etc.

[0004] In light of the problems mentioned above, a more efficient method for storing the entire route is needed. REVELATION OF THE INVENTION

[0005] In view of the problems mentioned above, the present invention aims to provide a method and a device for driver assistance.

[0006] According to one aspect of the present invention, a driver assistance method is provided which comprises at least the following: storing a journey, wherein the journey has n traffic lights on a route from a starting point Ps to an endpoint Pe and the journey through the n traffic lights is divided into n+1 road segments, wherein n is an integer greater than or equal to 1, wherein the intersection where the i-th traffic light is located has at least one i-th intersection reference object and i is any integer between 1 and n;where saving the trip only includes capturing and storing position information of the first to nth intersection reference object at the first to nth intersection, trip route information of each of the n+1 road segments, and route information of the vehicle at the first to nth intersection, wherein the i-th intersection reference object serves as both the endpoint of the i-th road segment and the starting point of the i+1-th road segment of the trip and is used to correct accumulated positioning errors, and the route information at the intersection includes route guidance information with straight-ahead or turn-by-turn information, wherein the route guidance information is used to connect road network information of two intersections.

[0007] According to a further aspect of the present invention, a driver assistance device is provided comprising at least the following: a memory module configured to store a journey, wherein the journey includes n traffic lights on a route from a starting point Ps to an endpoint Pe and the journey through the n traffic lights is divided into n+1 road segments, wherein n is an integer greater than or equal to 1, wherein the intersection where the i-th traffic light is located includes at least one i-th intersection reference object and i is any integer between 1 and n;wherein the stored trip only includes obtaining and storing position information of the first to nth intersection reference objects of the first to nth intersection, information on the route of each of the n+1 road segments, and route information of the vehicle at the first to nth intersection, wherein the i-th intersection reference object serves as both the endpoint of the i-th road segment and the starting point of the i+1-th road segment of the trip and is used to correct accumulated positioning errors, and the route information at the intersection includes route guidance information with straight-ahead or turning directions, and the route guidance information is used to connect road network information of two intersections.

[0008] According to a further aspect of the present invention, a domain controller is provided comprising at least one processor and a memory coupled to the at least one processor, wherein the memory stores a computer program and implements a method according to the first aspect of the present invention when the computer program is executed by the at least one processor.

[0009] The present invention further provides a computer program product comprising a computer program, wherein, when the computer program is executed by a computer, the computer is caused to execute a method according to the first aspect of the present invention. DESCRIPTION OF THE FIGURES

[0010] The exemplary embodiments of this document are described in more detail below with reference to the figures, whereby the following applies: Fig. Figure 1 schematically shows a schematic point-to-point route diagram of a vehicle from a starting point to an endpoint according to an embodiment of the present invention. Fig. Figure 2 schematically shows a schematic route diagram of a vehicle turning right at an intersection, according to an embodiment of the present invention. Fig. Figure 3 schematically shows a schematic route diagram of a vehicle turning left at an intersection, according to an embodiment of the present invention. Fig. Figure 4 schematically shows a schematic route diagram of a vehicle driving straight ahead at an intersection, according to an embodiment of the present invention. Fig. Figure 5 schematically shows a flowchart of a method for carrying out a journey on a new route according to an embodiment of the present invention. Fig. Figure 6 schematically shows a flowchart of a method for carrying out a journey on a previously traveled route according to an embodiment of the present invention.

[0011] Further objectives and features of the exemplary embodiments presented in this document will become clear from the following detailed description in conjunction with the figures. However, it should be understood that the figures serve only for illustrative purposes and not as a limitation of the scope of the invention. DETAILED DESCRIPTION OF THE EXECUTION FORMS

[0012] The vehicle of the present invention has an advanced driver assistance system (ADAS). The vehicle has at least one camera, a radar and / or LiDAR, and a speed sensor, which can be arranged at any suitable location in the vehicle. Although not mentioned in this document, other sensors besides those mentioned above are also possible if required.

[0013] The principle of the driver assistance system of the present invention will be explained below using the following examples: Fig. 1 to Fig. 4 described in detail. Fig. Figure 1 schematically shows a schematic point-to-point route diagram of a vehicle from a starting point to an endpoint according to an embodiment of the present invention. Fig. 2, Fig. 3 and Fig. Figure 4 schematically illustrates the routes of the vehicle turning right at an intersection, turning left, and driving straight ahead, according to an embodiment of the present invention.

[0014] Fig. Figure 1 schematically shows a point-to-point route diagram of a vehicle from a starting point to an endpoint according to an embodiment of the present invention. As in Fig. As shown in Figure 1, vehicle 100 starts from a starting point Ps and travels to an endpoint Pe. Ps can be the driver's home, workplace, etc. Similarly, Pe can be the driver's workplace or home. That is, the route from Ps to Pe is the route that the driver of vehicle 100 frequently travels. During the journey from Ps to Pe, vehicle 100 passes nine traffic lights, L1 to L9.

[0015] Fig. Figure 2 schematically shows a route diagram of a vehicle turning right at an intersection, according to an embodiment of the present invention. At this intersection, there is a traffic light L1. In front of the traffic light L1 is a pedestrian crossing, and in front of the pedestrian crossing is a stop line S1 for vehicles. For example, vehicle 100 approaches the intersection in Fig. The vehicle 100, following the route shown in Figure 1, first arrives at the intersection where traffic light L1 is located. When the vehicle 100 detects traffic light L1, it also detects the stop line S1 in front of traffic light L1, automatically saves the position information of stop line S1, and uses the position of stop line S1 as the endpoint position of the first road segment of its journey and as the starting point position of the second road segment of its journey, and uses this to correct the accumulated positioning error.

[0016] This means that upon arrival at the first intersection, the vehicle's ADAS system calculates the distance of vehicle 100 from starting point Ps to stop line S1. Furthermore, starting from stop line S1, the distance to the next traffic light is calculated and used to correct the accumulated positioning error. In addition, the vehicle's ADAS system stores the distance and time information from starting point Ps to stop line S1, as well as relevant route information about whether vehicle 100 will proceed straight ahead or turn at the intersection. The route information at the intersection includes guidance information for going straight or turning, and the guidance information is used to link the road network information of two intersections.

[0017] Therefore, according to the present invention, only the vehicle's trajectory information at the intersection needs to be stored, and the vehicle's trajectory information on the straight road segment does not need to be stored. On straight road segments, the vehicle can use sensors (such as cameras, radar, and / or LiDAR, etc.) to detect and navigate along the lane markings (or obstacles) on the road. Since the vehicle's trajectory information on the straight road segment does not need to be stored, computing resources of the vehicle's ADAS system can be saved, thus providing users with a better driving experience.

[0018] Of course, other reference objects at the intersection with traffic light L1 can also be used as the endpoint of the first road segment and as the starting point of the second road segment of the journey. For example, when turning, the position of the pedestrian crossing after passing the intersection can serve as a reference; when driving straight ahead, the position of the traffic light can serve as a reference. After arriving at each traffic light, a reference object near the traffic light is used as the starting point for the journey to the next traffic light, thus effectively eliminating errors accumulated in different road segments of the journey.

[0019] Since vehicle 100 will turn right at the intersection with traffic light L1, the ADAS system calculates and stores the route information for vehicle 100 turning right at the intersection with traffic light L1. For example, relative positioning, such as the principle of vehicle motion modeling, can be used to define the center point of vehicle 100's rear axle as it stops before the stop line, as the origin. The route information is then recorded based on the distance traveled and the vehicle's position relative to the traffic light to create a path model of the vehicle and simultaneously establish a connection between the two paths as guidance information for the next journey.According to one embodiment, the recorded information can also include wheel speed pulses, steering wheel angle, Global Navigation Satellite System (GNSS) data, inertial measurement unit (IMU) data, and other information used for path planning. The path model for generating a vehicle turning path is known in the art and is not described in detail here.

[0020] After turning right at the intersection with traffic light L1, vehicle 100 continues along the lane markings until it reaches the intersection with traffic light L2. At the intersection with traffic light L2, vehicle 100 performs the same procedure as at the intersection with traffic light L1: it detects the stop line before traffic light L2 and automatically stores the position information of the stop line. It uses the position of the stop line as the endpoint of the second road segment of its journey and simultaneously as the starting point of the third road segment. It also automatically stores the distance and duration information of the second road segment, as well as relevant route information regarding whether vehicle 100 is proceeding straight ahead or turning. This process continues in this manner until vehicle 100 finally reaches the endpoint Pe.

[0021] Therefore, according to the method of the present invention, a journey is first stored, wherein the journey includes n traffic lights on the route from the starting point Ps to the endpoint Pe, and the journey is divided into n+1 road segments by the n traffic lights, where n is an integer greater than or equal to 1, wherein the intersection at which the i-th traffic light is located has at least one i-th intersection reference object, and i is any integer between 1 and n. The reference object can, for example, be a stop line at an intersection that the vehicle may not cross when the light is red, or a pedestrian crossing after the vehicle has passed the intersection, or a traffic light at the intersection.The stored trip includes capturing and storing the position information of the first to nth intersection reference object at the first to nth intersection, the route information of each of the n+1 road segments, and the route information of vehicle 100 at the first to nth intersection, where the i-th intersection reference object serves as both the endpoint of the i-th road segment and the starting point of the i+1-th road segment of the trip and is used to correct the accumulated positioning error.

[0022] After the vehicle 100 completes its journey, the ADAS system automatically assigns it a name. Of course, the user can also name the journey according to their own preferences, e.g., "Trip to Work," "Trip Home," etc. For the sake of simplicity, the user can also name the journeys with numbers, for example, "Trip 1," "Trip 2," "Trip A," or "Trip B," etc.

[0023] Therefore, during this journey, in addition to the information on the starting points Ps and Pe, the vehicle's ADAS system stores only the position information of the stop lines corresponding to traffic lights L1 to L9 along the route, the distance and time information for each road segment of the journey, and the relevant route information indicating whether the vehicle will proceed straight ahead or turn at the intersection with the traffic light. The relevant route information includes guidance information for proceeding straight ahead or turning, and the guidance information is used to connect the road network information of two intersections.

[0024] After the vehicle has completed its journey, the driver can activate autonomous driving for the next trip based on the name or characteristics of the first trip. Once autonomous driving is activated, the ADAS system automatically loads the position information of the first intersection reference object (e.g., the stop line corresponding to the first traffic light L1), the length information of the first road segment, and the relevant route information recorded by the vehicle during the first trip into its internal memory. From the starting point to the first intersection reference object, the vehicle simply needs to follow the road markings.

[0025] At a preset time Tp, before the vehicle reaches the first intersection reference object, the stored information about the second intersection reference object is automatically loaded into the internal memory, and a route to the second intersection reference object is planned. The preset time Tp can be adjusted in advance by the driver depending on the vehicle speed and road conditions.

[0026] Naturally, depending on the traffic light spacing and the vehicle's speed, relevant information from two or more intersection reference objects can be loaded. Users can preset the system to load information for multiple traffic light intersections simultaneously after starting a journey. For example, at low vehicle speeds (e.g., below 30 km / h), the relevant information from one traffic light can be loaded; at high vehicle speeds (e.g., above 30 km / h), the relevant information from two or more traffic light intersections can be loaded. Furthermore, relevant information from two or more traffic light intersections can be loaded simultaneously, for example, when there are short distances between several connected road segments (i.e., short intervals between traffic lights).This means that the position information of the reference objects at the first to mth intersection the vehicle will reach, the length information of the first to mth road segment, and the vehicle's trajectory information at the first to mth intersection can be loaded simultaneously, where m ≤ n. For example, the value of m can be set according to the different vehicle speeds and the distance of each road segment. In other words, the value of m can be configured by the user or the ADAS system according to the vehicle speed and / or the length of the various road segments to be traversed.

[0027] According to one embodiment of the present invention, the ADAS system can automatically change the amount of traffic signal intersection information loaded simultaneously based on current road traffic conditions. For example, assuming the expected vehicle speed is 50 km / h, the value of m is preset to 3. However, during the journey, the vehicle speed may only reach 20 km / h due to poor road traffic conditions. At this point, the ADAS system can automatically change the m value to 1. According to another embodiment, the ADAS system can automatically change the value of m based on the duration of the journey. For example, if the journey takes place during the morning rush hour (e.g., from 7 to 9 a.m.) or the evening rush hour (e.g., from 1 p.m. to 1 p.m.), the value of m can be automatically changed to 1.If the vehicle is charging between 4 pm and 7 pm from Monday to Friday, the ADAS may automatically change the m-value to a smaller value than at other times, as vehicle speeds are usually lower during these periods.

[0028] According to the method of the present invention, it is only necessary to store the position information of relevant reference objects (such as stop lines) at each traffic light intersection along the entire route, the length information of each road segment, and the relevant route information, such as whether to proceed straight ahead or turn at the intersection, without having to create and store large maps or very long route information. For subsequent journeys along the same route after the first journey, it is only necessary to load the position information of the reference object at one or more traffic light intersections, the route information of one or more road segments, and the relevant route information at the corresponding traffic light intersections, without loading all the information for the entire journey.Once the journey begins, the vehicle follows the lane markings if no traffic lights are present. As soon as traffic lights are present, the vehicle follows the loaded route. According to the method of the present invention, computing resources of the vehicle's ADAS system can be saved, thereby offering users a better driving experience.

[0029] If the vehicle travels the same route again and there are changes to the road or surroundings along the route, or changes to the travel time, the ADAS can automatically record and update the relevant information. Each recording and update helps ensure that the next journey runs more smoothly and provides users with a more pleasant driving experience.

[0030] Depending on the different user requirements, users can also set up and save other information in addition to the information mentioned above, e.g. business information and petrol station information related to the traffic light.

[0031] Fig. Figure 5 schematically shows a flowchart of a method for carrying out a journey on a new route according to an embodiment of the present invention.

[0032] First, a new journey is started in step 100.

[0033] In step 110, a navigation map is activated by entering a starting point Ps and an endpoint Pe. Then, in step 120, the journey continues following the road markings.

[0034] Step 130 assesses whether a traffic light has been detected. If no traffic light is detected, the process returns to step 120. If a traffic light is detected, the process continues to step 140.

[0035] In step 140, the ADAS system of vehicle 100 detects the position of a reference object (e.g., a stop line) at the intersection and stores it as the endpoint position of the previous road segment and the starting point position of the next road segment of the journey, and calculates and stores the information on the route of the previous road segment and the information on the vehicle's path at the intersection.

[0036] Then, in step 150, drive forward following the road markings.

[0037] Step 160 assesses whether the vehicle has reached the destination. If the destination is reached, the process proceeds to step 170 to terminate the journey. If the destination is not reached, the process returns to step 120.

[0038] According to this embodiment, after the vehicle has driven a route for the first time, it can store in memory the position information of relevant reference objects (such as stop lines) at each traffic light intersection along the entire route, the route information of each road segment, and the relevant route information at each traffic light intersection.

[0039] Advantageously, the trip can be named according to its destination, for example, home, work, supermarket A, etc. Alternatively, the trip can be named with a number, for example, Trip A, Trip B, or Trip No. 1, Trip No. 2, etc.

[0040] The following is related to Fig. 6 describes a flowchart of a method for carrying out a journey on a previously traveled route according to an embodiment of the present invention.

[0041] First, in step 200, the journey is started. According to the present invention, a journey can be started by entering the name or code of the journey, for example, home, to work, to supermarket A, or journey A, etc. This is done, for example, by manual entry or voice input.

[0042] After the journey begins, the ADAS automatically loads information about the journey to be undertaken in step 210. According to one example implementation, the loaded information can include position information of relevant reference objects (e.g., stop lines) at every traffic light intersection along the entire route, route information for each road segment, and information about the driving path indicating whether to proceed straight ahead or turn.

[0043] According to another embodiment, the loaded information can include position information and associated path information for one or more traffic light intersections ahead of the vehicle on the current route, as well as path information for one or more road segments ahead. After the vehicle has passed one or more traffic light intersections, the ADAS system automatically loads the position information of the relevant reference objects (e.g., stop lines) and the associated path information for the next traffic light intersections to be passed, as well as the path information for one or more of the next road segments to be traveled. For example, information for one, two, or more traffic light intersections can be loaded initially.After the vehicle has passed the loaded one, two, or more traffic lights, information about the next one, two, or more traffic light intersections is automatically loaded. The purpose of this measure is to effectively conserve computer resources and improve the user experience.

[0044] After step 210, proceed to step 220, driving forward following the road markings.

[0045] Step 230 then assesses whether a traffic light has been detected. If no traffic light is detected, the process returns to step 220. If a traffic light is detected, the process continues with step 240.

[0046] In step 240, the vehicle drives at the traffic light intersection according to the loaded relevant information; for example, it can drive straight ahead or turn. The reference object at the intersection (such as the stop line) is used as the endpoint position of the previous road segment to recalculate the route information of the previous road segment, and the reference object at the intersection is used as the endpoint position of the next road segment to recalculate the route information of the next road segment.

[0047] The vehicle then moves forward at a speed of 250 steps, following the road markings.

[0048] The process then proceeds to step 260, where it is determined whether the vehicle has reached the endpoint. If the endpoint has been reached, the process moves to step 270 to end the journey. If the endpoint has not been reached, the process returns to step 220.

[0049] According to one embodiment, position information of a reference object at an intersection is captured by a visual sensor (e.g. a camera).

[0050] According to one embodiment, the geofence area is determined by GPS / IMU, and the corresponding intersection reached is determined by precise positioning based on visual features or semantic information.

[0051] According to one embodiment, the vehicle can determine whether it has reached the destination by means of distinctive objects detected by sensors near the destination, or it can determine whether it has reached the destination using a global positioning system (GPS), an odometer, etc. Sensors can include cameras, radio direction finding and distance measurement (RADAR), light direction finding and distance measurement (LIDAR), and sound direction finding and distance measurement (sonar).

[0052] According to one embodiment, the ADAS system can alert vehicle occupants at a predetermined time or distance before reaching the endpoint that the endpoint is about to be reached. This alert can take the form of voice messages or text displayed on a screen, etc.

[0053] According to the method of the present invention, it is not necessary to store the route information on the straight road segment. Only the position information of the intersection reference objects, the route information of each road segment, and the route information at the intersection need to be stored, thereby saving computing resources of the vehicle's ADAS system and providing users with a better driving experience.

[0054] The present invention further provides a non-volatile, machine-readable storage medium on which instructions are stored that can be executed by a computer system to perform the steps of the method according to the present invention. A non-volatile, machine-readable storage medium can be a machine-readable storage device, a machine-readable storage substrate, a storage device, a material composition that influences machine-readable transmission signals, or a combination of one or more of these elements.

[0055] The present invention further provides a domain controller comprising at least one processor and a memory coupled to the at least one processor, wherein the memory stores a computer program, and wherein, when the computer program is executed by the at least one processor, the method according to the present invention is implemented.

[0056] The present invention further provides a computer program product comprising a computer program, wherein the method according to the present invention is implemented when the computer program is executed by a computer.

[0057] Although the features of the exemplary embodiments of this document have been described, it is therefore understandable that those skilled in the field may make various omissions, substitutions, and modifications to the execution and details of the methods shown and their operation, that the sequence of steps in the methods described above is merely exemplary, and that adaptations to the steps of the methods of the present invention are possible, while still enabling the implementation of the functions of the present invention. For example, all combinations of method steps that perform essentially the same function in essentially the same way to achieve the same results are equivalent.

Claims

[1] Driver assistance system comprising at least the following: Storing a journey, wherein the journey has n traffic lights on a route from a starting point (Ps) to an endpoint (Pe) and the journey is divided by the n traffic lights into n+1 road segments, where n is an integer greater than or equal to 1, where an intersection having an i-th traffic light has at least one i-th intersection reference object and i is any integer from 1 to n;wherein the stored trip merely comprises the acquisition and storage of the position information of the first to nth intersection reference object at the first to nth intersection, the route information of the n+1 road segments and the route information of the vehicle (100) at the first to nth intersection, wherein the i-th intersection reference object serves as both the endpoint of the i-th road segment and the starting point of the i+1-th road segment of the trip and is used to correct the accumulated positioning error, wherein the route information at the intersection includes route guidance information with straight-ahead or turning direction and the route guidance information is used to connect the road network information of two intersections.; [2] Method according to claim 1, further comprising: Loading a trip, wherein loading the trip only includes loading the position information of the intersection reference object of the stored trip, the length information of the road segment, and the route information of the vehicle (100) at the intersection; and wherein the ADAS system detects in real time during the vehicle's (100) driving process whether the vehicle (100) is approaching an intersection with a traffic light, and when the vehicle (100) is approaching the intersection, the vehicle drives at the intersection according to the loaded route information of the vehicle. [3] Method according to claim 2, wherein the geofence area is determined by GPS / IMU and the corresponding intersection reached is determined by precise positioning based on visual features or semantic information. [4] Method according to claim 2 or 3, wherein the loading of the journey only includes loading the position information of the reference objects of the first to mth intersection that the vehicle will reach, the length information of the first to mth road segments and the route information of the vehicle at the first to mth intersections, where m ≤ n. [5] Method according to claim 4, wherein the value of m is configured by a user or an ADAS system based on the speed of the vehicle and / or the length of some road segments to be traversed, wherein the value of m is greater the higher the speed of the vehicle; and / or the shorter the distances of the road segments to be traversed, the greater the value of m. [6] Method according to any one of claims 1 to 5, wherein the vehicle (100) monitors the position information of the reference objects at the first to nth intersection, the route information of each road segment and the route information of the vehicle (100) at the first to nth intersection during each journey and updates the stored corresponding information based on the monitored information. [7] Method according to any one of claims 1 to 6, wherein the user can specify a name or number for the created trip and load the trip with the name or number. [8] Domain controller, which includes the following: at least one processor and a memory coupled to the at least one processor, wherein the memory stores a computer program and a method according to one of claims 1 to 7 is implemented when the computer program is executed by the at least one processor. [9] Computer program product comprising a computer program stored therein, wherein, when the computer program is executed by a processor, a method according to one of claims 1 to 7 of the present invention is implemented.

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