Vehicle, driving assistance method and apparatus therefor, and computer-readable storage medium

Abstract

A vehicle, a driving assistance method and apparatus therefor, and a computer-readable storage medium. The method comprises: acquiring first status information of a first traffic light in a lane where a current target vehicle is located, wherein the first traffic light is a traffic light ahead of the target vehicle and closest to the target vehicle, and the first status information comprises a first target ON duration and a first already-ON duration during which the first traffic light is on according to a first color (S1); acquiring the difference between the first target ON duration and the first already-ON duration, so as to obtain a first remaining ON duration (S2); and, on the basis of the first color and the first remaining ON duration, generating first driving assistance information for the target vehicle to pass the first traffic light (S3).

Description

Vehicle, auxiliary driving method and device thereof, and computer-readable storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application number 202311049891.5, filed on August 18, 2023, entitled “Vehicle and its assisted driving method and device, computer-readable storage medium,” the entire contents of which are incorporated by reference into this disclosure. Technical Field

[0003] The present disclosure relates to the field of vehicle technology, and in particular to a vehicle assisted driving method, a vehicle assisted driving device, a computer-readable storage medium, and a vehicle. Background Art

[0004] As people's living standards continue to improve, the number of vehicles on the road continues to increase, and road traffic conditions are becoming increasingly congested and complex. Complex traffic conditions make it extremely easy for drivers to lose focus while driving, especially at traffic lights. When the driver is about to reach the zebra crossing and the traffic light starts flashing, they cannot be sure how much time the traffic light has left to switch to red. When the driver is a certain distance away from the zebra crossing and the traffic light starts to switch to green, they cannot be sure whether the current speed can safely pass the traffic light. If the user suddenly steps on the accelerator to pass the intersection, a traffic accident may occur in serious cases.

[0005] Public content

[0006] The present disclosure aims to solve, at least to a certain extent, one of the technical problems in the related art. To this end, the first purpose of the present disclosure is to propose a vehicle assisted driving method, which obtains first status information of a first traffic light in the lane where a target vehicle is currently located, and then obtains the difference between the first target lighting duration and the first lighting duration to obtain a first remaining lighting duration. Based on the first color and the first remaining lighting duration, first assisted driving information of the target vehicle passing through the first traffic light is generated, thereby converting the flashing of the traffic light into a countdown, facilitating the driver's judgment, and thus improving traffic efficiency and driving safety.

[0007] The second objective of the present disclosure is to provide a vehicle driving assistance device.

[0008] A third object of the present disclosure is to provide a computer-readable storage medium.

[0009] A fourth object of the present disclosure is to provide a vehicle.

[0010] To achieve the above-mentioned objectives, an embodiment of the first aspect of the present disclosure proposes a vehicle assisted driving method, which includes: obtaining first status information of a first traffic light in a lane where a current target vehicle is located, wherein the first traffic light is the traffic light in front of the target vehicle and closest to the target vehicle, and the first status information includes a first lighting duration and a first target lighting duration of the first traffic light lit in a first color; obtaining the difference between the first target lighting duration and the first lighting duration to obtain a first remaining lighting duration; and generating first assisted driving information of the target vehicle passing the first traffic light based on the first color and the first remaining lighting duration.

[0011] According to the vehicle assisted driving method of the embodiment of the present disclosure, the first state information of the first traffic light in the lane where the current target vehicle is located is first obtained, wherein the first traffic light is the traffic light in front of the target vehicle and closest to the target vehicle. The first state information includes the first lighting duration and the first target lighting duration of the first traffic light illuminated in a first color. The difference between the first target lighting duration and the first lighting duration is then obtained to obtain the first remaining lighting duration. Finally, based on the first color and the first remaining lighting duration, the first assisted driving information of the target vehicle passing the first traffic light is generated. In this way, the method can convert the flashing of traffic lights into countdowns, facilitating the driver's judgment, thereby improving traffic efficiency and driving safety.

[0012] In addition, the vehicle assisted driving method according to the above embodiment of the present disclosure may also have the following additional technical features:

[0013] According to one embodiment of the present disclosure, obtaining the first status information of the first traffic light in the lane where the current target vehicle is located includes: when the target vehicle is in an online state, obtaining the first lighting duration through a camera, and obtaining the first target lighting duration through the camera and / or the vehicle network; when the target vehicle is not in an online state, obtaining the first lighting duration through the camera, and obtaining the first target lighting duration from the historical driving data of the target vehicle.

[0014] According to one embodiment of the present disclosure, the method further includes: obtaining one or more of a first distance between the target vehicle and the first traffic light, a speed of the target vehicle, and first traffic status information from the target vehicle to the first traffic light; and generating first assisted driving information of the target vehicle passing the first traffic light based on the first distance, the speed, and one or more of the first traffic status information, as well as the first color and the first remaining lighting time.

[0015] According to one embodiment of the present disclosure, the method further includes: obtaining second status information of a second traffic light in the lane where the current target vehicle is located, wherein the second traffic light is the traffic light in front of the target vehicle and is second closest to the target vehicle, and the second status information includes the second lighting time and the second target lighting time of the second traffic light lit in a second color; obtaining the difference between the second target lighting time and the second lighting time to obtain a second remaining lighting time; and generating second auxiliary driving information of the target vehicle passing the second traffic light based on the second color, the second remaining lighting time, the first color and the first remaining lighting time.

[0016] According to one embodiment of the present disclosure, the method of obtaining the difference between the second target lighting duration and the second illuminated duration to obtain the second remaining lighting duration includes: when the target vehicle is in an online state, obtaining the second illuminated duration through a camera, and obtaining the second target lighting duration through the camera and / or the vehicle network; when the target vehicle is not in an online state, obtaining the second illuminated duration and the second target lighting duration through the camera.

[0017] According to one embodiment of the present disclosure, the method also includes: obtaining one or more of a second distance between the target vehicle and the second traffic light, the speed of the target vehicle, and second traffic status information from the target vehicle to the second traffic light; based on the second distance, the speed, one or more of the second traffic status information, the second color, the second remaining lighting time, the first color, and the first remaining lighting time, generating second auxiliary driving information of the target vehicle passing the second traffic light.

[0018] According to one embodiment of the present disclosure, the first assisted driving information and the second assisted driving information include one or more of remaining lighting time reminder information, reminder information on whether the corresponding traffic light can be passed, and vehicle speed adjustment information on whether the vehicle can pass the corresponding traffic light.

[0019] To achieve the above-mentioned purpose, the second aspect embodiment of the present disclosure proposes a vehicle assisted driving device, which includes: an acquisition module, used to obtain first status information of a first traffic light in the lane where the current target vehicle is located, wherein the first traffic light is the traffic light in front of the target vehicle and closest to the target vehicle, and the first status information includes the first lighting time and the first target lighting time of the first traffic light lit in a first color; the acquisition module is also used to obtain the difference between the first target lighting time and the first lighting time to obtain a first remaining lighting time; a generation module is used to generate first assisted driving information of the target vehicle passing the first traffic light based on the first color and the first remaining lighting time.

[0020] According to the vehicle assisted driving device of the embodiment of the present disclosure, the acquisition module is used to obtain the first status information of the first traffic light in the lane where the current target vehicle is located, wherein the first traffic light is the traffic light in front of the target vehicle and closest to the target vehicle, and the first status information includes the first lighting duration and the first target lighting duration of the first traffic light when it is lit in a first color. The acquisition module is also used to obtain the difference between the first target lighting duration and the first lighting duration to obtain the first remaining lighting duration. The generation module is used to generate the first assisted driving information of the target vehicle passing the first traffic light based on the first color and the first remaining lighting duration. In this way, the device can convert the flashing of traffic lights into countdowns, which facilitates the driver's judgment, thereby improving traffic efficiency and driving safety.

[0021] To achieve the above-mentioned objectives, the third embodiment of the present disclosure proposes a computer-readable storage medium on which a program is stored, and when the program is executed by a processor, the above-mentioned vehicle assisted driving method is implemented.

[0022] According to the computer-readable storage medium of the embodiment of the present disclosure, by implementing the above-mentioned vehicle assisted driving method during execution, the flashing of traffic lights can be converted into countdowns, which is convenient for the driver to make judgments, thereby improving traffic efficiency and driving safety.

[0023] To achieve the above-mentioned objectives, a vehicle is proposed in an embodiment of the fourth aspect of the present disclosure, comprising a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the above-mentioned vehicle assisted driving method is implemented.

[0024] According to the vehicle of the embodiment of the present disclosure, by executing the above-mentioned vehicle assisted driving method, the flashing traffic lights can be converted into countdowns, which is convenient for the driver to make judgments, thereby improving traffic efficiency and driving safety.

[0025] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and / or additional aspects and advantages of the present disclosure will become apparent and readily understood from the description of the embodiments with reference to the following drawings, in which:

[0027] FIG1 is a flow chart of a vehicle assisted driving method according to an embodiment of the present disclosure;

[0028] FIG2 is a schematic diagram of a vehicle driving process according to a specific example of the present disclosure;

[0029] FIG3 is a block diagram of a vehicle driving assistance device according to an embodiment of the present disclosure;

[0030] FIG4 is a block diagram of a vehicle according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0031] The following describes in detail embodiments of the present disclosure, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.

[0032] The following describes the vehicle assisted driving method, vehicle assisted driving device, computer-readable storage medium and vehicle proposed in the embodiments of the present disclosure with reference to the accompanying drawings.

[0033] FIG1 is a flow chart of a vehicle assisted driving method according to an embodiment of the present disclosure.

[0034] As shown in FIG1 , the vehicle assisted driving method according to an embodiment of the present disclosure may include the following steps:

[0035] S1. Obtain first status information of a first traffic light in a lane where the current target vehicle is located, wherein the first traffic light is the traffic light in front of the target vehicle and closest to the target vehicle, and the first status information includes a first lighting duration and a first target lighting duration of the first traffic light when the first traffic light is lit in a first color.

[0036] Specifically, when the driver of a target vehicle is about to arrive at an intersection with a traffic light, the driver can obtain the first state information of the first traffic light in the lane where the target vehicle is currently located. For example, a lane indication on the ground or a lane indication on a traffic sign corresponding to the lane indication can be obtained through a camera, such as whether the lane is a through lane, a left turn lane, or a right turn lane. Then, the first state information of the first traffic light corresponding to the lane is obtained.

[0037] For example, if there are three lanes, namely a left-turn lane, a through lane, and a right-turn lane, and the target vehicle is in the through lane, the first illuminated duration and the first target illuminated duration of the traffic light closest to the target vehicle, which is illuminated in a first color, are obtained. For example, if the traffic light includes a left-turn light, a through light, and a right-turn light, and the vehicle is in the through lane, the first illuminated duration and the first target illuminated duration of the through light, which is illuminated in the first color, can be obtained. For example, if the through light is currently green, when the target vehicle arrives at the intersection from a long distance, the camera can be used to capture the illuminated duration of the current green light in advance. For example, the illuminated duration of the green light (the first illuminated duration) can be measured starting from the moment the last red light turned green. When obtaining the total illuminated duration of the green light, the total illuminated duration of the green light (the first target illuminated duration) can be obtained by combining the vehicle's location with traffic information queried from the cloud network.

[0038] For another example, when the target vehicle is in a left-turn lane, the first lighting duration and the first target lighting duration of the first color of the left-turn light can be obtained. For example, if the current left-turn light is red, when the target vehicle drives to the intersection from a long distance, the current red light lighting duration can be captured in advance by a camera. For example, the red light lighting duration (first lighting duration) can be started from the moment when the last green light turns red. When obtaining the total red light lighting duration of the traffic light, the total red light lighting duration (first target lighting duration) can be obtained by combining the vehicle's location and querying traffic information in the cloud network.

[0039] S2: Obtain a difference between the first target lighting duration and the first actual lighting duration to obtain a first remaining lighting duration.

[0040] Specifically, after obtaining the first lit-up time and the first target lit-up time, the difference between the first target lit-up time and the first lit-up time can be obtained. It can be understood that the first target lit-up time is greater than or equal to the first lit-up time. When calculating the difference, the first target lit-up time is subtracted from the first lit-up time to obtain the difference, and the difference is used as the first remaining lit-up time. Therefore, by obtaining the difference between the first target lit-up time and the first lit-up time, the first remaining lit-up time is obtained, which enables the user to accurately know the remaining lit-up time of the current traffic light.

[0041] For example, the traffic light currently closest to the target vehicle is green, and the first target lighting duration of the current green light obtained through the cloud is 30 seconds. If the first actual lighting duration of the green light currently obtained through the camera is 10 seconds, that is, the difference between the first target lighting duration and the first actual lighting duration is 20 seconds, the first remaining lighting duration is obtained as 20 seconds. Based on this duration, the user can accurately judge that the current green light will change in 20 seconds, so that the driver can control the vehicle speed according to this duration, thereby achieving the purpose of safely passing the intersection.

[0042] For another example, the traffic light currently closest to the target vehicle is a red light, and the first target lighting duration of the current red light obtained through the cloud is 60 seconds. If the first actual lighting duration of the red light currently obtained through the camera is 50 seconds, that is, the difference between the first target lighting duration and the first actual lighting duration is 10 seconds, the first remaining lighting duration is obtained as 10 seconds. Based on this duration, the user can accurately judge that the current red light will change in 10 seconds, so that the driver can control the vehicle speed according to this duration, thereby achieving the purpose of safely passing the intersection.

[0043] S3: Generate first auxiliary driving information of the target vehicle passing through the first traffic light based on the first color and the first remaining lighting duration.

[0044] Specifically, after obtaining the first color of the traffic light and the first remaining lighting time corresponding to the first color, the first assisted driving information of the target vehicle passing the first traffic light can be generated based on the first color and the first remaining lighting time. For example, when the traffic light closest to the target vehicle is green, if the current green light has 5 seconds to switch to red, that is, the first remaining lighting time is 5 seconds, the first assisted driving information can be generated, such as a voice prompt that the current green light is about to turn red, please slow down or speed up, etc., and the first remaining lighting time can be displayed or a voice reminder can be given to the user, so that the user can accurately know the remaining lighting time of the traffic light at the intersection where the traffic light does not display the time. In this way, the flashing of the traffic light can be converted into a countdown, which is convenient for the driver to make judgments, thereby improving traffic efficiency and driving safety.

[0045] According to one embodiment of the present disclosure, obtaining the first status information of the first traffic light in the lane where the current target vehicle is located includes: when the target vehicle is in an online state, obtaining the first lighting duration through a camera, and obtaining the first target lighting duration through the camera and / or the vehicle network; when the target vehicle is not in an online state, obtaining the first lighting duration through the camera, and obtaining the first target lighting duration from the historical driving data of the target vehicle.

[0046] Specifically, when obtaining the first status information of the first traffic light in the lane where the target vehicle is currently located, the information can be obtained in two ways, namely, when the target vehicle is currently in an online state or when the target vehicle is not in an online state. For example, when the target vehicle is in an online state, the first lighting duration can be obtained through the camera. For example, when the traffic light changes from green to red within a period of time before the target vehicle reaches the traffic light intersection, the lighting duration of the red light can be obtained from the moment the light changes to red. When the traffic light changes from red to green, the lighting duration of the green light can be obtained from the moment the light changes to green. When obtaining the first target lighting duration, it can also be obtained through the camera. For example, when the traffic light changes from red to green, the camera starts to obtain the lighting duration. When the next red light is on, the total duration of the green light can be determined, which is the first target lighting duration. For another example, when the traffic light changes from green to red, the camera starts to obtain the lighting duration. When the next green light is on, the total duration of the red light can be determined, which is the first target lighting duration.

[0047] When obtaining the first target lighting duration, it can also be obtained through the Internet of Vehicles. For example, the current location information of the vehicle is first obtained through the GPS (Global Positioning System). After obtaining the location information of the vehicle, the Internet of Vehicles can obtain the traffic information of the current traffic light intersection based on the location, thereby obtaining the duration of the red light and the duration of the green light. In addition, it can also include the duration of the yellow light.

[0048] In one embodiment of the present disclosure, a first target on-time duration can be obtained simultaneously through a camera and the Internet of Vehicles. For example, when a traffic light changes from red to green, the camera begins to obtain the on-time duration. When the next red light is on, the total on-time duration of the green light can be determined, i.e., the first target on-time duration. For another example, when a traffic light changes from green to red, the camera begins to obtain the on-time duration. When the next green light is on, the total on-time duration of the red light can be determined, i.e., the first target on-time duration. Furthermore, the vehicle's current location information can be obtained through a GPS (Global Positioning System). After obtaining the vehicle's location information, the Internet of Vehicles can obtain traffic information at the current traffic light intersection based on the location, thereby obtaining the on-time duration of the red and green lights, and possibly the on-time duration of the yellow light, i.e., the first target on-time duration.

[0049] If the first target lighting duration obtained by two acquisition methods is the same, any one of the obtained results can be used as the first target lighting duration. However, if the lighting duration of traffic lights at certain intersections changes and traffic information is not updated in time, the first target lighting duration obtained through the Internet of Vehicles may be inaccurate. That is, if the first target lighting duration obtained through the Internet of Vehicles is different from the first target lighting duration obtained by the camera, the first target lighting duration obtained by the camera shall prevail.

[0050] Even when the target vehicle is not connected to the internet, the first target lighting duration can still be obtained through the camera. The first target lighting duration can be obtained from historical driving data. That is, the historical driving data may include the lighting durations of traffic lights at multiple traffic light intersections that the vehicle has traveled through. Therefore, the first target lighting duration can be obtained from the historical driving data of the target vehicle. In this way, the first target lighting duration can still be obtained even when the target vehicle is not connected to the internet.

[0051] According to one embodiment of the present disclosure, the vehicle assisted driving method further includes: obtaining one or more of a first distance between the target vehicle and a first traffic light, a speed of the target vehicle, and first traffic status information from the target vehicle to the first traffic light; and generating first assisted driving information indicating that the target vehicle has passed the first traffic light based on one or more of the first distance, speed, and first traffic status information, as well as the first color and the first remaining lighting duration. The first assisted driving information may include one or more of a remaining lighting duration reminder, a reminder indicating whether the target vehicle can pass the corresponding traffic light, and speed adjustment information indicating whether the target vehicle can pass the corresponding traffic light.

[0052] Specifically, when obtaining the first distance between the target vehicle and the first traffic light, the relative distance between the stop line at the traffic light intersection closest to the target vehicle and the target vehicle coordinates, that is, the first distance to the first traffic light, can be identified through the front camera of the target vehicle. When obtaining the speed of the target vehicle, the speed of the target vehicle can be obtained in real time through the vehicle's VCU (Vehicle Control Unit), or the speed of the target vehicle can be obtained in real time through the EMS (Engine Management System). When obtaining the first traffic status information from the target vehicle to the first traffic light, the first traffic status information may include whether there are other traffic participants around the target vehicle, such as other vehicles or pedestrians, and may also include the maximum speed limit information of the current driving section. For example, the vehicle's front camera and front millimeter radar can be used to determine whether there are other traffic participants in front of the lane where the target vehicle is located, the traffic sign can be identified through the camera to obtain the maximum speed limit information of the current section, or the current vehicle's location can be obtained through GPS, and traffic information can be queried based on the cloud network to determine the speed limit information of the current section. It should be noted that it is possible to obtain only the first distance between the target vehicle and the first traffic light, or only the speed of the target vehicle, or only the first traffic status information from the target vehicle to the first traffic light. It is also possible to obtain multiple information at the same time, such as the first distance between the target vehicle and the first traffic light, the speed of the target vehicle, and the first traffic status information from the target vehicle to the first traffic light. It is also possible to obtain the first distance between the target vehicle and the first traffic light and the speed of the target vehicle, or the speed of the target vehicle and the first traffic status information from the target vehicle to the first traffic light, or the first distance between the target vehicle and the first traffic light and the first traffic status information from the target vehicle to the first traffic light.

[0053] After obtaining one or more of the first distance between the target vehicle and the first traffic light, the speed of the target vehicle, and the first traffic status information from the target vehicle to the first traffic light, first assisted driving information of the target vehicle passing the first traffic light can be generated based on the first distance, the speed, and the first traffic status information, and in combination with the first color and the first remaining lighting time.

[0054] For example, when generating first assisted driving information regarding a target vehicle passing through a first traffic light based on a first distance, vehicle speed, first traffic state information, first color, and first remaining illumination duration, if the currently acquired first distance is Δs and the vehicle speed is v, the time t1 = Δs / v for the target vehicle to reach the stop line of the nearest traffic light intersection can be calculated based on the first distance and vehicle speed. The first assisted driving information regarding the target vehicle passing through the first traffic light can then be generated by comparing t1 with the first remaining illumination duration t and combining it with the first color.

[0055] For example, when the current first color is green, if the driving time t1 required for the target vehicle to reach the stop line of the traffic light intersection nearest to the target vehicle at the current driving speed v is within the first remaining lighting time t, that is, t>t1, it can be determined that the target vehicle can pass through this intersection at the current speed, and the target vehicle can maintain the current driving speed so that the target vehicle passes the stop line of the traffic light intersection ahead within the first remaining lighting time t. In addition, at this time, the first auxiliary driving information of the target vehicle passing the first traffic light can also be generated, such as the remaining lighting time reminder information can be displayed through the central control or instrument panel, or the remaining lighting time reminder information can be broadcast through voice prompts.

[0056] If the time t1 required for the target vehicle to reach the nearest stop line at the traffic light at its current speed v exceeds the first remaining on-time duration t (i.e., t ≤ t1), the target vehicle's current speed must be adjusted to a predetermined safe speed (which is higher than the current speed and within the maximum speed limit for the current section) based on the maximum speed limit information for the current section acquired by the vehicle's forward-facing camera. The target vehicle is then directed to pass the stop line at the preceding traffic light at the predetermined safe speed within the first remaining on-time duration t of the current green light. At this point, a first assisted driving message can be sent to the central control or instrument cluster to display "Traffic light is about to change, please accelerate to pass." If, after calculating the maximum speed limit for the road, the target vehicle still cannot pass the traffic light even after accelerating to the maximum speed limit, meaning that the target vehicle still cannot pass the traffic light even when the predetermined safe speed reaches the maximum speed limit, a first assisted driving message can be output to control vehicle deceleration, such as "Traffic light is about to change, unavailable, please brake." In addition, at this time, the remaining lighting time reminder information can be displayed through the central control or instrument panel, or the remaining lighting time reminder information can be broadcast through voice prompts.

[0057] In addition, if there are other traffic participants around the target vehicle, such as other vehicles in front of the target vehicle, the speed of the vehicle in front can be obtained and the speed of the target vehicle can be appropriately adjusted according to the speed of the vehicle in front. The camera can also be used to obtain information about pedestrians at the intersection, and determine whether there are pedestrians crossing the road, cyclists and other traffic participants in the surrounding environment. It can comprehensively determine whether the target vehicle can pass the current intersection and remind the driver.

[0058] According to one embodiment of the present disclosure, the vehicle assisted driving method further includes: obtaining second status information of a second traffic light in the lane where the current target vehicle is located, wherein the second traffic light is the traffic light in front of the target vehicle and is the second closest to the target vehicle, and the second status information includes a second illuminated duration and a second target illuminated duration when the second traffic light is illuminated in a second color; obtaining the difference between the second target illuminated duration and the second illuminated duration to obtain a second remaining illuminated duration; and generating second assisted driving information of the target vehicle passing the second traffic light based on the second color, the second remaining illuminated duration, the first color, and the first remaining illuminated duration. The second assisted driving information may include one or more of remaining illuminated duration reminder information, reminder information on whether the vehicle can pass the corresponding traffic light, and speed adjustment information on whether the vehicle can pass the corresponding traffic light.

[0059] Specifically, when the driver of the target vehicle is about to arrive at an intersection with a traffic light, the second state information of the second traffic light in the lane where the target vehicle is currently located (the traffic light in front of the target vehicle and next closest to the target vehicle) can be obtained. For example, the lane indication on the ground or the lane indication on the traffic sign corresponding to the lane indication can be obtained through a camera, such as whether the lane is a through lane, a left turn lane, or a right turn lane, and then the second state information of the second traffic light corresponding to the lane can be obtained. In addition, if the current vehicle is using the navigation function, the second state information of the second traffic light in the lane where the target vehicle is currently located can also be determined based on the route planned by the vehicle navigation information. For example, there are currently three lanes, namely a left-turn lane, a through lane, and a right-turn lane. If the target vehicle is in the through lane and drives to the traffic light intersection closest to the target vehicle, if it does not change lanes, the second lighting time and the second target lighting time of the traffic light closest to the target vehicle lit in the second color can be obtained. If the traffic light includes a left-turn light, a through light, and a right-turn light, since the vehicle is in the through lane, the second lighting time and the second target lighting time of the through light lit in the second color can be obtained. For example, the straight-ahead light of the second traffic light is currently green and on. When the target vehicle travels to the intersection from a longer distance (the traffic light intersection closest to the target vehicle), the camera can be used to capture in advance the current green light on time of the traffic light next closest to the target vehicle. For example, the green light on time (the second on time) can be started from the moment when the last red light turns green. When obtaining the total green light on time of the traffic light, the total green light on time (the second target on time) can be obtained by combining the vehicle's location and querying traffic information in the cloud network.

[0060] After obtaining the second lit time and the second target lit time, the difference between the second target lit time and the second lit time can be obtained. It can be understood that the second target lit time is greater than or equal to the second lit time. When calculating the difference, the second target lit time is subtracted from the second lit time to obtain the difference, and the difference is used as the second remaining lit time. Therefore, by obtaining the difference between the second target lit time and the second lit time, the second remaining lit time is obtained, which enables the user to accurately know the remaining lighting time of the traffic light that is second closest to the target vehicle.

[0061] After obtaining the second remaining lighting time, second assisted driving information of the target vehicle passing the second traffic light can be generated based on the second color, the second remaining lighting time, the first color and the first remaining lighting time.

[0062] For example, if the traffic light closest to the target vehicle is currently green and the next closest traffic light is currently green, the first remaining illumination duration is obtained to be 20 seconds, and the second remaining illumination duration is obtained to be 40 seconds. Thus, the remaining illumination duration information can be displayed to remind the user that the current light will change to green in 20 seconds and the next intersection will change to green in 40 seconds. This allows the driver to control the vehicle speed based on these two durations, thereby achieving the goal of safely passing the current and next intersections. If the current vehicle speed determines that the nearest intersection can be passed within 5 seconds and the next closest intersection can be passed within 20 seconds, a reminder message indicating that the target vehicle can pass the corresponding traffic light can be generated, such as a display on the instrument panel or central control console that "Vehicle can pass normally." Alternatively, if the remaining illumination duration is short, speed adjustment information for the corresponding traffic light can be generated to change the target vehicle's current speed, allowing the target vehicle to accelerate through the intersection.

[0063] According to one embodiment of the present disclosure, the difference between the second target lighting duration and the second illuminated duration is obtained to obtain the second remaining lighting duration, including: when the target vehicle is in an online state, obtaining the second illuminated duration through a camera, and obtaining the second target lighting duration through a camera and / or a vehicle network; when the target vehicle is not in an online state, obtaining the second illuminated duration and the second target lighting duration through a camera.

[0064] Specifically, when obtaining the second target lighting duration and the second illuminated duration of the traffic light in front of the target vehicle and the second closest to the target vehicle, the acquisition can be performed in two ways, namely, when the target vehicle is currently in an online state and the acquisition is performed, or when the target vehicle is not in an online state and the acquisition is performed. For example, when the target vehicle is in an online state, the second illuminated duration can be obtained through the camera. For example, when the target vehicle is driving to the traffic light closest to the target vehicle, or when it passes the traffic light closest to the target vehicle and drives towards the traffic light second closest to the target vehicle, when the second traffic light changes from green to red, the illuminated duration of the red light can be obtained; when the second traffic light changes from red to green, the illuminated duration of the green light can be obtained. When obtaining the second target lighting duration, it can also be obtained through the camera. For example, when the second traffic light changes from red to green, the camera starts to obtain the lighting duration. When the next red light is on, the total duration of the green light can be determined, which is the second target lighting duration. For another example, when the second traffic light changes from green to red, the camera starts to obtain the lighting duration. When the next green light is on, the total duration of the red light can be determined, which is the second target lighting duration.

[0065] When obtaining the second target lighting duration, it can also be obtained through the Internet of Vehicles. For example, when a vehicle passes the traffic light closest to the target vehicle and drives to the traffic light position next closest to the target vehicle, the current position information of the vehicle can be obtained through GPS (Global Positioning System). The Internet of Vehicles can obtain the traffic information of the current traffic light intersection based on the position, thereby obtaining the duration of the red light and the green light, and also the duration of the yellow light.

[0066] In one embodiment of the present disclosure, a second target on-time duration can also be obtained simultaneously through a camera and the Internet of Vehicles. For example, when the second traffic light changes from red to green, the camera starts to obtain the on-time duration. When the light changes to the next red light, the total on-time duration of the green light can be determined, i.e., the second target on-time duration. For another example, when the second traffic light changes from green to red, the camera starts to obtain the on-time duration. When the light changes to the next green light, the total on-time duration of the red light can be determined, i.e., the second target on-time duration. When a vehicle passes the traffic light closest to the target vehicle and drives to the traffic light position next closest to the target vehicle, the vehicle's current position information can be obtained through the GPS (Global Positioning System). The Internet of Vehicles can obtain traffic information at the current traffic light intersection based on the position, thereby obtaining the on-time duration of the red light and the green light, which may also include the on-time duration of the yellow light, i.e., the second target on-time duration.

[0067] If the second target lighting duration obtained by two acquisition methods is the same, any one of the obtained results can be used as the second target lighting duration. However, if the lighting duration of traffic lights at certain intersections changes and traffic information is not updated in time, the second target lighting duration obtained through the Internet of Vehicles may be inaccurate. That is, if the second target lighting duration obtained through the Internet of Vehicles is different from the second target lighting duration obtained by the camera, the second target lighting duration obtained by the camera shall prevail.

[0068] When the target vehicle is not connected to the Internet, the second lighting duration and the second target lighting duration can also be obtained through the camera. For example, for the second target lighting duration, when the target vehicle is currently parked and waiting at the traffic light closest to the target vehicle, or when the traffic light next to the target vehicle is far away (the camera can capture the complete red and green light switching process of the next closest traffic light), the camera can be used to obtain the complete lighting duration of the traffic light next to the target vehicle, that is, the total time the red light of the traffic light next to the target vehicle is on and the total time the green light is on can be recorded, that is, the second target lighting duration can be determined. In this way, the second target lighting duration can still be obtained when the target vehicle is not connected to the Internet.

[0069] According to one embodiment of the present disclosure, the vehicle assisted driving method further includes: obtaining one or more of a second distance between the target vehicle and the second traffic light, the target vehicle's speed, and second traffic status information from the target vehicle to the second traffic light; and generating second assisted driving information indicating that the target vehicle has passed the second traffic light based on one or more of the second distance, speed, and second traffic status information, the second color, the second remaining lighting duration, the first color, and the first remaining lighting duration. The second assisted driving information includes one or more of a remaining lighting duration reminder, a reminder indicating whether the vehicle can pass the corresponding traffic light, and speed adjustment information indicating whether the vehicle can pass the corresponding traffic light.

[0070] Specifically, when obtaining the second distance between the target vehicle and the second traffic light, the relative distance between the stop line at the traffic light intersection closest to the target vehicle and the target vehicle coordinates, that is, the second distance to the second traffic light, can be identified by the front camera of the target vehicle. When obtaining the speed of the target vehicle, the speed of the target vehicle can be obtained in real time by the vehicle's VCU (Vehicle Control Unit), or the speed of the target vehicle can be obtained in real time by the EMS (Engine Management System). When obtaining the second traffic status information from the target vehicle to the second traffic light, the second traffic status information may include whether there are other traffic participants around the target vehicle, such as other vehicles or pedestrians, and may also include the maximum speed limit information of the current driving section. For example, the vehicle's front camera and front millimeter radar can be used to determine whether there are other traffic participants in front of the lane where the target vehicle is located, the traffic sign can be identified by the camera to obtain the maximum speed limit information of the current section, or the current vehicle's location can be obtained by GPS, and traffic information can be queried based on the cloud network to determine the speed limit information of the current section. It should be noted that it is possible to obtain only the second distance between the target vehicle and the second traffic light, or only the speed of the target vehicle, or only the second traffic status information from the target vehicle to the second traffic light. It is also possible to obtain multiple information at the same time, such as simultaneously obtaining the second distance between the target vehicle and the second traffic light, the speed of the target vehicle, and the second traffic status information from the target vehicle to the second traffic light. It is also possible to obtain the second distance between the target vehicle and the second traffic light and the speed of the target vehicle, or obtain the speed of the target vehicle and the second traffic status information from the target vehicle to the second traffic light, or obtain the second distance between the target vehicle and the second traffic light and the second traffic status information from the target vehicle to the second traffic light.

[0071] After obtaining one or more of the second distance between the target vehicle and the second traffic light, the speed of the target vehicle, and the second traffic status information from the target vehicle to the second traffic light, second assisted driving information of the target vehicle passing the second traffic light can be generated based on one or more of the second distance, speed, and second traffic status information, and in combination with the second color, the second remaining lighting time, the first color, and the first remaining lighting time.

[0072] For example, when generating second assisted driving information indicating that the target vehicle passes through a second traffic light based on the second distance, vehicle speed, second traffic state information, second color, and second remaining illumination duration, and the first color and first remaining illumination duration, if the currently acquired second distance is Δs1 and the vehicle speed is v1, the time t2 = Δs1 / v1 for the target vehicle to reach the stop line of the next closest traffic light intersection can be calculated based on the second distance and vehicle speed. The second assisted driving information indicating that the target vehicle passes through the second traffic light can then be generated by comparing t2 with the second remaining illumination duration T2 and combining the first color, the first remaining illumination duration, and the second color.

[0073] For example, when the current first color is green, if the driving time t1 required for the target vehicle to reach the stop line of the traffic light intersection nearest to the target vehicle at the current driving speed v1 is within the first remaining lighting time t, that is, t>t1, it can be determined that the target vehicle can pass through this intersection at the current speed, and the target vehicle can maintain the current driving speed so that the target vehicle can pass the stop line of the traffic light intersection ahead within the first remaining lighting time t.

[0074] When the target vehicle passes the current intersection, the remaining time t3 after subtracting t1 from the time t2 when the target vehicle reaches the stop line of the next traffic light intersection to the target vehicle is compared with the second remaining lighting time T2. If the current second color is green and the remaining time t3 is within the second remaining lighting time T2, that is, T2>t3, it can be determined that the next intersection can be passed at the current speed, and the target vehicle can maintain the current driving speed so that the target vehicle passes the stop line of the next traffic light intersection to the target vehicle within the second remaining lighting time T2. In addition, at this time, the second auxiliary driving information of the target vehicle passing the second traffic light can also be generated, such as the remaining lighting time reminder information can be displayed through the central control or instrument panel, or the remaining lighting time reminder information can be broadcast through voice prompts. And it can generate a reminder message that the target vehicle can pass the corresponding traffic light, such as the instrument panel or central control displaying "the vehicle can pass normally"; if the remaining time t3 required for the target vehicle to reach the stop line of the traffic light intersection closest to the target vehicle at the current driving speed v1 exceeds the second remaining lighting time T2 range, that is, when T2≤t3, it is necessary to adjust the current driving speed to the predetermined safe speed (the predetermined safe speed is higher than the current speed and is within the maximum speed limit range of the current driving section) in combination with the maximum speed limit information of the current driving section obtained by the vehicle's front-view camera, and allow the target vehicle to pass the stop line of the traffic light intersection ahead at the predetermined safe speed within the second remaining lighting time T2 of the current green light. At this time, the second auxiliary driving information can be sent to the central control or instrument to display "the traffic light is about to change, please speed up to pass." If the target vehicle still cannot pass the traffic light even after accelerating to the road's speed limit, meaning the target vehicle still cannot pass the traffic light even when the predetermined safe speed is the maximum speed limit, a secondary driver-assistance message can be output to control vehicle deceleration, such as "Traffic light is about to change, unable to pass, please brake." Furthermore, a reminder of the remaining light duration can be displayed on the central control panel or instrument panel, or announced via voice prompts.

[0075] In addition, if there are other traffic participants around the target vehicle, such as other vehicles in front of the target vehicle, the speed of the vehicle in front can be obtained and the speed of the target vehicle can be appropriately adjusted according to the speed of the vehicle in front. The camera can also be used to obtain information about pedestrians at the intersection, and determine whether there are pedestrians crossing the road, cyclists and other traffic participants in the surrounding environment. It can comprehensively determine whether the target vehicle can pass the current intersection and remind the driver.

[0076] In addition, when the first color indicates that the green light is on, if the driving time t1 required for the target vehicle to reach the stop line of the nearest traffic light intersection at the current driving speed v1 is not within the first remaining lighting duration t, that is, when t < t1, it can be determined that the vehicle cannot pass through this intersection at the current speed. In this case, it is necessary to adjust the current driving speed to a predetermined safe speed (the predetermined safe speed is higher than the current speed and within the maximum speed limit range of the current driving section) by combining the maximum speed limit information of the current driving section obtained by the vehicle's front view camera. Then, the target vehicle is made to pass through the stop line of the front traffic light intersection within the first remaining lighting duration t of the current green light at the predetermined safe speed. After the speed is increased, for example, when the speed is increased to v2, the time for the target vehicle to reach the second nearest traffic light intersection is determined based on the new speed. Specifically, as described in the above method, it will not be elaborated here.

[0077] In addition, when the first color indicates that the red light is on, in the same way, based on the second distance, vehicle speed, second traffic status information, second color, second remaining lighting duration, and first remaining lighting duration, the second assisted driving information for the target vehicle to pass through the second traffic light can be generated.

[0078] As a specific example, as shown in Figure 2, there is a target vehicle 1, other vehicles 2 on the road, the nearest traffic light 3 in front of the target vehicle 1, the second nearest traffic light 4 to the target vehicle, a camera 5, and a vehicle-mounted system 6. For example, in Figure 2, from top to bottom, there may be a left-turn lane, a straight-through lane, and a right-turn lane respectively, and the current target vehicle 1 is driving in the straight-through lane. First, the first lit duration and the first target lit duration of the current color of the traffic light 3 can be obtained through the camera 5. For example, when the current traffic light 3 is green and the first lit duration is 5 seconds, the first target lit duration can be determined by the vehicle-mounted system 6 based on the cloud network interconnection information when the vehicle is connected to the network. For example, the first target lit duration is 30 seconds. Thus, the vehicle-mounted system 6 can calculate the first remaining lighting duration of 25 seconds based on the first lit duration of 5 seconds and the first target lit duration of 30 seconds. Therefore, when the target vehicle 1 is about to drive to the intersection where the traffic light 3 is located, the remaining time of the green light can be accurately obtained, and a remaining lighting duration reminder message can be generated. Especially when the traffic light is flashing, it is more convenient for the driver to judge how much time is left before the green light turns red.

[0079] The vehicle system 6 can calculate the time it takes for the target vehicle to pass through the intersection at its current speed based on the distance between the target vehicle 1 and the traffic light 3. If it takes 10 seconds to pass through, and this time is within the first remaining lighting time of 25 seconds, it means that the current target vehicle 1 can pass through the intersection normally. If the time it takes to pass through the intersection at its current speed is 27 seconds, and this time is not within the remaining lighting time of 25 seconds, it means that the current target vehicle 1 will not be able to pass through the intersection if it does not increase its speed. Therefore, the vehicle system 6 can determine the speed at which it can pass through the intersection by calculation, so as to increase the speed of the vehicle, and can generate auxiliary driving information, such as a prompt message that the vehicle speed should be increased to the calculated speed and that it should pass through the intersection as soon as possible, thereby accelerating through the intersection. When the target vehicle 1 accelerates, combined with the speed limit information of the current intersection, if it exceeds the speed limit of the current intersection, it can be determined that the target vehicle 1 cannot pass through the intersection, and auxiliary driving information can be generated, such as a prompt message such as the vehicle cannot pass, please brake, etc. In addition, the camera 1 can also be used to comprehensively judge whether the current vehicle can pass through the intersection by combining whether there are pedestrians or vehicles crossing the road on the left and right sides of the intersection.

[0080] When the vehicle has not yet reached the intersection where the traffic light 3 is located, the camera 4 can also obtain the second lit time and the second target lit time of the current color of the traffic light 4 that is next closest to the target vehicle. For example, the current traffic light 4 is green, and the camera 4 can capture in advance the time it takes for the traffic light 4 to change from green to red and then from red to green. For example, the second target lit time (green light) is 40 seconds, and the second lit time is obtained as 2 seconds, so it can be determined that the second remaining lit time is 38 seconds. The vehicle system 6 can calculate the time it takes for the target vehicle to pass through the intersection at the current speed based on the distance between the target vehicle 1 and the traffic light 4, such as 10 seconds, and combine the current lighting information of the traffic light 3 and the first remaining lighting time, that is, if the current traffic light 3 is green, the first remaining time is 10 seconds, and the target vehicle takes 5 seconds to pass through the intersection where the traffic light 3 is located, which is less than the first remaining time. Therefore, it can be determined that the target vehicle can also pass through the intersection where the traffic light 3 is located at the current speed, and auxiliary driving information can be generated, such as remaining lighting time reminder information and reminders that it can pass through traffic lights 3 and traffic lights 4. Therefore, the lighting information of the next traffic light can be accurately calculated for the user, so as to appropriately adjust the speed, make judgments in advance, and reduce the waiting time for the next traffic light. In addition, information is collected through the vehicle's on-board camera, which is faster and more accurate than network navigation information, and information about vehicles around the road is detected to provide safety-compliant recommendations.

[0081] In summary, according to the vehicle assisted driving method of the embodiment of the present disclosure, the first state information of the first traffic light in the lane where the current target vehicle is located is first obtained, wherein the first traffic light is the traffic light in front of the target vehicle and closest to the target vehicle, and the first state information includes the first lighting duration and the first target lighting duration of the first traffic light when it is lit in the first color, and then the difference between the first target lighting duration and the first lighting duration is obtained to obtain the first remaining lighting duration, and finally, based on the first color and the first remaining lighting duration, the first assisted driving information of the target vehicle passing the first traffic light is generated. In this way, the method can convert the flashing of traffic lights into countdowns, which is convenient for the driver to make judgments, thereby improving traffic efficiency and driving safety.

[0082] Corresponding to the above embodiments, the present disclosure also proposes a vehicle assisted driving device.

[0083] As shown in FIG3 , the vehicle assisted driving device 100 according to an embodiment of the present disclosure includes: an acquisition module 110 and a generation module 120 .

[0084] The acquisition module 110 is configured to acquire first status information of a first traffic light in the lane currently occupied by the target vehicle, wherein the first traffic light is the traffic light in front of and closest to the target vehicle, and the first status information includes a first illuminated duration and a first target illuminated duration of the first traffic light illuminated in a first color. The acquisition module 110 is further configured to acquire the difference between the first target illuminated duration and the first illuminated duration to obtain a first remaining illuminated duration. The generation module 120 is configured to generate first assisted driving information indicating that the target vehicle has passed through the first traffic light based on the first color and the first remaining illuminated duration.

[0085] According to one embodiment of the present disclosure, the acquisition module 110 acquires the first status information of the first traffic light in the lane where the current target vehicle is located, and is specifically used to: when the target vehicle is in an online state, obtain the first lighting duration through the camera, and obtain the first target lighting duration through the camera and / or the vehicle network; when the target vehicle is not in an online state, obtain the first lighting duration through the camera, and obtain the first target lighting duration from the historical driving data of the target vehicle.

[0086] According to one embodiment of the present disclosure, the generation module 120 is also used to: obtain one or more of the first distance between the target vehicle and the first traffic light, the speed of the target vehicle, and the first traffic status information from the target vehicle to the first traffic light; based on the first distance, the speed, and one or more of the first traffic status information, as well as the first color and the first remaining lighting time, generate first assisted driving information of the target vehicle passing the first traffic light.

[0087] According to one embodiment of the present disclosure, the generation module 120 is also used to: obtain the second status information of the second traffic light in the lane where the current target vehicle is located, wherein the second traffic light is the traffic light in front of the target vehicle and is second closest to the target vehicle, and the second status information includes the second lighting time and the second target lighting time of the second traffic light lit in the second color; obtain the difference between the second target lighting time and the second lighting time to obtain the second remaining lighting time; based on the second color, the second remaining lighting time, the first color and the first remaining lighting time, generate second auxiliary driving information of the target vehicle passing the second traffic light.

[0088] According to one embodiment of the present disclosure, the acquisition module 110 acquires the difference between the second target lighting duration and the second illuminated duration to obtain the second remaining lighting duration, which is specifically used for: when the target vehicle is in an online state, acquiring the second illuminated duration through a camera, and acquiring the second target lighting duration through a camera and / or a vehicle network; when the target vehicle is not in an online state, acquiring the second illuminated duration and the second target lighting duration through a camera.

[0089] According to one embodiment of the present disclosure, the generation module 120 is also used to: obtain one or more of the second distance between the target vehicle and the second traffic light, the speed of the target vehicle, and the second traffic status information of the target vehicle to the second traffic light; based on the second distance, the speed, and one or more of the second traffic status information, the second color, the second remaining lighting time, the first color, and the first remaining lighting time, generate second assisted driving information of the target vehicle passing the second traffic light.

[0090] According to one embodiment of the present disclosure, the first assisted driving information and the second assisted driving information include one or more of remaining lighting time reminder information, reminder information on whether the corresponding traffic light can be passed, and speed adjustment information on whether the vehicle can pass the corresponding traffic light.

[0091] It should be noted that for details not disclosed in the vehicle assisted driving device of the embodiment of the present disclosure, please refer to the details disclosed in the vehicle assisted driving method of the embodiment of the present disclosure, and the details will not be repeated here.

[0092] According to the vehicle assisted driving device of the embodiment of the present disclosure, the acquisition module is used to obtain the first status information of the first traffic light in the lane where the current target vehicle is located, wherein the first traffic light is the traffic light in front of the target vehicle and closest to the target vehicle, and the first status information includes the first lighting duration and the first target lighting duration of the first traffic light when it is lit in a first color. The acquisition module is also used to obtain the difference between the first target lighting duration and the first lighting duration to obtain the first remaining lighting duration. The generation module is used to generate the first assisted driving information of the target vehicle passing the first traffic light based on the first color and the first remaining lighting duration. In this way, the device can convert the flashing of traffic lights into countdowns, which facilitates the driver's judgment, thereby improving traffic efficiency and driving safety.

[0093] Corresponding to the above embodiments, the present disclosure also proposes a computer-readable storage medium.

[0094] The computer-readable storage medium of the embodiment of the present disclosure stores a program, which implements the above-mentioned vehicle assisted driving method when executed by a processor.

[0095] According to the computer-readable storage medium of the embodiment of the present disclosure, by executing the above-mentioned vehicle assisted driving method, the flashing of traffic lights can be converted into countdowns, which is convenient for the driver to make judgments, thereby improving traffic efficiency and driving safety.

[0096] Corresponding to the above embodiments, the present disclosure also proposes a vehicle.

[0097] As shown in FIG4 , the vehicle 200 of the embodiment of the present disclosure may include: a memory 210 , a processor 220 , and a program stored in the memory 210 and executable on the processor 220 . When the processor 220 executes the program, the above-mentioned vehicle assisted driving method is implemented.

[0098] According to the vehicle of the embodiment of the present disclosure, by executing the above-mentioned vehicle assisted driving method, the flashing traffic lights can be converted into countdowns, which is convenient for the driver to make judgments, thereby improving traffic efficiency and driving safety.

[0099] It should be noted that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0100] It should be understood that various parts of the present disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0101] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0102] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0103] In this disclosure, unless otherwise expressly specified or limited, terms such as "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components, unless otherwise expressly limited. Those skilled in the art will understand the specific meanings of the above terms in this disclosure based on specific circumstances.

[0104] Although the embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are illustrative and are not to be construed as limitations on the present disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure.

Claims

1. A vehicle assisted driving method, the method comprising: Acquire first state information of a first traffic light in a lane where the current target vehicle is located, wherein the first traffic light is a traffic light in front of the target vehicle and closest to the target vehicle, and the first state information includes a first lighting duration and a first target lighting duration of the first traffic light being lit in a first color; Obtaining a difference between the first target lighting duration and the first already lit duration to obtain a first remaining lighting duration; Based on the first color and the first remaining lighting time, first auxiliary driving information of the target vehicle passing through the first traffic light is generated.

2. The method according to claim 1, wherein: The obtaining of first status information of a first traffic light in a lane where the target vehicle is currently located includes: When the target vehicle is in a networked state, obtaining the first lighting duration through a camera, and obtaining the first target lighting duration through the camera and / or the vehicle network; When the target vehicle is not in a networked state, the first lighting duration is obtained through the camera, and the first target lighting duration is obtained from historical driving data of the target vehicle.

3. The method according to claim 1 or 2, wherein: The method further comprises: Acquire one or more of a first distance between the target vehicle and the first traffic light, a speed of the target vehicle, and first traffic state information from the target vehicle to the first traffic light; Based on one or more of the first distance, the vehicle speed, and the first traffic status information, as well as the first color and the first remaining lighting time, first auxiliary driving information of the target vehicle passing through the first traffic light is generated.

4. The method according to any one of claims 1 to 3, wherein: The method further comprises: Acquire second state information of a second traffic light in the lane where the current target vehicle is located, wherein the second traffic light is a traffic light in front of the target vehicle and next closest to the target vehicle, and the second state information includes a second lighting duration and a second target lighting duration of the second traffic light being lit in a second color; Obtaining a difference between the second target lighting duration and the second already lit duration to obtain a second remaining lighting duration; Based on the second color, the second remaining lighting time, the first color, and the first remaining lighting time, second auxiliary driving information of the target vehicle passing through the second traffic light is generated.

5. The method according to claim 4, wherein: The obtaining the difference between the second target lighting duration and the second already lit duration to obtain the second remaining lighting duration includes: When the target vehicle is in a networked state, obtaining the second lighting duration through a camera, and obtaining the second target lighting duration through the camera and / or the vehicle network; When the target vehicle is not in a networked state, the second lighting time and the second target lighting time are acquired through the camera.

6. The method according to claim 4, wherein: The method further comprises: Acquire one or more of a second distance between the target vehicle and the second traffic light, a speed of the target vehicle, and second traffic status information from the target vehicle to the second traffic light; Based on the second distance, one or more of the vehicle speed and the second traffic status information, the second color, the second remaining lighting time, the first color and the first remaining lighting time, second auxiliary driving information of the target vehicle passing the second traffic light is generated.

7. The method according to claim 4, wherein: The first assisted driving information and the second assisted driving information include one or more of remaining lighting time reminder information, reminder information on whether or not a corresponding traffic light can be passed, and speed adjustment information on whether a vehicle can pass a corresponding traffic light.

8. A vehicle driving assistance device, comprising: an acquisition module, configured to acquire first state information of a first traffic light in a lane where the current target vehicle is located, wherein the first traffic light is a traffic light in front of the target vehicle and closest to the target vehicle, and the first state information includes a first lighting duration and a first target lighting duration of the first traffic light being lit in a first color; The acquisition module is further configured to acquire a difference between the first target lighting duration and the first already lit duration to obtain a first remaining lighting duration; A generating module is used to generate first auxiliary driving information of the target vehicle passing through the first traffic light based on the first color and the first remaining lighting time.

9. A computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the vehicle assisted driving method according to any one of claims 1 to 7.

10. A vehicle, comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the vehicle assisted driving method according to any one of claims 1 to 7 is implemented.

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