CN113200042A - Vehicle driving assistance system and method, and corresponding computer-readable storage medium - Google Patents
Vehicle driving assistance system and method, and corresponding computer-readable storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The present disclosure provides a vehicle driving assistance system and method and a corresponding computer readable storage medium. The vehicle driving assist system includes: an information acquisition unit configured to acquire information of an obstacle in front of a current vehicle, information of a traffic participant traveling on an oncoming lane, and information of a traffic participant traveling out from behind the obstacle; a congestion prediction unit configured to predict congestion information of one or more traffic participants behind an obstacle based on at least information of the obstacle and information of the traffic participants traveling on the oncoming lane; and a decision unit configured to provide driving assistance for a current vehicle based on at least the predicted congestion information and the information of the traffic participants who are driving out behind the obstacle.
Description
Technical Field
The present disclosure relates to vehicle driving assistance systems and methods and corresponding computer readable storage media, and belongs to the field of vehicle technology. More particularly, the present disclosure relates to vehicle driving assistance systems and methods for collision-blocked traffic participants at barrier removal.
Background
When a large obstacle occupies the oncoming traffic lane, a vehicle traveling on the oncoming traffic lane needs to borrow the current traffic lane beyond the large obstacle. In this case, since a large obstacle blocks the view, the oncoming vehicle traveling by way easily collides with the vehicle traveling on the current lane. In order to warn vehicles traveling in an oncoming lane by lane, a whistle method is generally used when a vehicle traveling in a current lane passes an obstacle, which causes some annoyance to both the current vehicle and the surrounding environment.
On relatively narrow roads, large vehicles (e.g., buses or large transportation vehicles) may occupy almost the entire road when turning around on the road. For example, when the u-turn is at a lateral angle, the vehicle body is less than 0.5 meters away from both sides of the road, in which case the road is temporarily blocked by traffic. At this time, the traffic participants who normally travel on the lanes in both directions on the road need to stop traveling, waiting for the obstructing vehicle to move away. As road blocking time accumulates, more traffic participants may be blocked in both directional lanes. When the vehicle is blocked from moving and a part of lanes are left open, the traffic participants with the traffic jam can alternately drive through the lanes in a single way. The traffic participants who are blocked on the opposite lane need to borrow the current lane to exceed the blocking vehicle, the blocking vehicle blocks the sight line of the vehicle running on the current lane, and the traffic participants who are blocked and running on the current lane easily collide with the vehicle running on the current lane in the forward direction, even cause collision accidents.
If a large non-vehicular obstacle (e.g., a trash can that falls off the road) blocks the road on the road, it is similar to a large vehicle turning around before it is cleared.
Therefore, there is a need for a vehicle assisted driving system and method that prevents collisions with congested traffic participants at the point where an obstacle is removed.
Disclosure of Invention
In an aspect of the present disclosure, there is provided a vehicle driving assistance system including:
an information acquisition unit configured to acquire information of an obstacle in front of a current vehicle, information of a traffic participant traveling on an oncoming lane, and information of a traffic participant traveling out from behind the obstacle;
a congestion prediction unit configured to predict congestion information of one or more traffic participants behind the obstacle based on at least the information of the obstacle and the information of the traffic participants traveling on the oncoming lane; and
a decision unit configured to provide driving assistance for a current vehicle based on at least the predicted congestion information and the information of the traffic participants driving out behind the obstacle.
Preferably, the congestion information and the information of the traffic participants who are driving out from behind the obstacle are selected from the following (i) to (iii):
(i) the method comprises the following steps Detecting that there are still traffic participants driving out from behind the obstacle, or that the time of the previous traffic participant driving out from behind the obstacle is within a first set time (e.g., 3 seconds);
(ii) the method comprises the following steps Detecting that the number of one or more traffic participants driving out behind the obstacle is less than the number of traffic participants of the corresponding type predicted by the congestion prediction unit; and
(iii) the method comprises the following steps The time for the previous traffic participant to exit behind the obstacle exceeds a second set time (e.g., 5 seconds), which is greater than or equal to the first set time.
Preferably, the driving assistance includes: (iii) in (i) and/or (ii), displaying a notification message on the current vehicle, or stopping the current vehicle before the obstacle.
Preferably, the driving assistance includes: (iv) in (iii), driving the current vehicle past the obstacle at a low speed.
Preferably, the information of the traffic participants traveling in the opposite lane includes an average traffic flow of one or more traffic participants traveling in the opposite lane.
Preferably, the vehicle driving assist system further includes a road information collection unit configured to collect information of a road from a map, and the congestion prediction unit is configured to predict congestion information of one or more traffic participants behind an obstacle, further based on the information of the road.
Preferably, the obstacle in front of the current vehicle comprises a vehicle obstructing the road or a non-vehicle obstruction, such as a trash bin.
Preferably, the information acquisition unit comprises any one or a combination of any plurality of the following devices installed in the current vehicle: camera device, laser radar, millimeter wave radar and ultrasonic sensor.
Preferably, the information acquisition unit comprises a communication device configured to receive information of an obstacle in front of the current vehicle, information of a traffic participant driving on an oncoming lane, and/or information of a traffic participant driving out from behind the obstacle, which are transmitted by nearby vehicles, road facilities, and/or an online server.
Preferably, the nearby vehicle and/or the nearby asset comprise any one or a combination of any plurality of devices selected from the group consisting of: camera device, laser radar, millimeter wave radar and ultrasonic sensor.
Preferably, the information of the traffic participants traveling on the opposite lane includes the type and number of the traffic participants traveling on the opposite lane past the current vehicle; for example, the average traffic flow for each traffic participant is calculated based on the number of one or more traffic participants over a period of time.
Preferably, the information of the obstacle comprises any one or a combination of any plurality selected from the following: location of obstacles, duration of blocked road, shape, yaw angle and speed.
Preferably, the information about the obstacle includes a passable width on the obstacle side, for example, whether the width of the obstacle moving away is greater than a preset threshold, for example, a passable width of a bicycle, for example, 1 meter.
Preferably, the information of the traffic participants driving out behind the obstacle includes the type and number of the traffic participants.
Preferably, the map comprises a navigation map and/or a highly automated driving map.
Preferably, the information of the road includes a type and/or a shape of the road.
Preferably, the predicted congestion information of the traffic participants comprises the type and number of the predicted traffic participants.
Preferably, the decision unit comprises any one or a combination of any plurality of the following devices: the mobile device comprises an on-vehicle display device, a mobile equipment display device, an augmented reality display device and a loudspeaker.
Preferably, the notification information comprises any one or a combination of any plurality of the following forms: images, symbols, text, sounds, flashing lights, whistling.
Preferably, the current vehicle is an autonomous vehicle.
Preferably, stopping the current vehicle to the obstacle is done by a driving assistance system or an automatic driving system.
In another aspect of the present disclosure, a vehicle is provided that includes the vehicle driving assistance system according to the present disclosure.
In still another aspect of the present disclosure, there is provided a driving assistance method for a vehicle, the method including:
(1) obtaining information of traffic participants traveling on an opposite lane and information of an obstacle in front of a current vehicle;
(2) predicting congestion information of one or more traffic participants behind the obstacle based on at least the information of the obstacle and the information of the traffic participants driving on the opposite lane;
(3) detecting information of traffic participants driving out from behind the obstacle; and
(4) providing driving assistance for the current vehicle based on at least the predicted congestion information of one or more traffic participants and the information of the traffic participants driving out behind the obstacle.
Preferably, in (4), the congestion information and the information of the traffic participant who is driving out from behind the obstacle are selected from the following (i) to (iii):
(i) the method comprises the following steps Detecting that there are still traffic participants driving out from behind the obstacle, or that the time of the previous traffic participant driving out from behind the obstacle is within a first set time (e.g., 3 seconds);
(ii) the method comprises the following steps Detecting that a number of one or more traffic participants driving out behind the obstacle is less than the predicted number of traffic participants of the corresponding type;
(iii) the method comprises the following steps The time for the previous traffic participant to exit behind the obstacle exceeds a second set time (e.g., 5 seconds), which is greater than or equal to the first set time.
Preferably, under (i) and/or (ii), the driving assistance includes: displaying a notification message on the current vehicle, or stopping the current vehicle before the obstacle.
Preferably, the driving assistance includes: (iv) in (iii), driving the current vehicle past the obstacle at a low speed.
Preferably, in (1), the information on the traffic participants traveling in the opposite lane includes an average traffic flow of one or more traffic participants traveling in the opposite lane.
Preferably, in (1), the obstacle in front of the current vehicle includes a vehicle obstructing the road or a non-vehicle obstruction, such as a trash bin.
Preferably, the method comprises: in (1) and (3), by installing in the current vehicle any one or a combination of any plurality of the following devices: the vehicle-mounted information processing system includes an image pickup device, a laser radar, a millimeter wave radar, and an ultrasonic sensor that detect information on traffic participants traveling on an oncoming lane, information on an obstacle in front of a current vehicle, and information on traffic participants traveling out from behind the obstacle.
Preferably, the method comprises: in (2) and/or (3), information of an obstacle in front of the current vehicle, information of a traffic participant driving on an opposite lane, and/or information of a traffic participant driving out from behind the obstacle, which are transmitted from a nearby vehicle, a road facility, and/or an online server, are received.
Preferably, the nearby vehicle and/or the nearby asset comprise any one or a combination of any plurality of devices selected from the group consisting of: camera device, laser radar, millimeter wave radar and ultrasonic sensor.
Preferably, in (1), the information of the traffic participants traveling in the opposite lane includes the type and number of the traffic participants traveling through the current vehicle in the opposite lane; for example, the method includes calculating an average traffic flow for each of the traffic participants for a number of one or more traffic participants over a period of time.
Preferably, in (1), the information of the obstacle includes any one or a combination of any plurality selected from the following: location of obstacles, duration of blocked road, shape, yaw angle, speed.
Preferably, in (1), the information about the obstacle includes a passable width on the obstacle side, for example, whether the width of the obstacle moving away is greater than a preset threshold. The threshold value is, for example, the width over which the bicycle can pass, for example 1 meter.
Preferably, in (3), the information of the traffic participants who exit behind the obstacle includes the type and number of the traffic participants.
Preferably, the method further comprises, prior to (2), collecting information of a road from a map, the congestion information of one or more traffic participants after the predicted obstacle further being based on the information of the road.
Preferably, the map comprises a navigation map and/or a highly automated driving map.
Preferably, the information of the road includes a type and/or a shape of the road.
Preferably, in (2), the predicted congestion information of the traffic participants includes the type and number of the predicted traffic participants.
Preferably, the method comprises: in (4), the notification information is displayed on the current vehicle by a combination selected from any one or any plural of: the mobile device comprises an on-vehicle display device, a mobile equipment display device, an augmented reality display device and a loudspeaker.
Preferably, the notification information comprises any one or a combination of any plurality of the following forms: images, symbols, text, sounds, flashing lights, whistling.
Preferably, in (1), the current vehicle is an autonomous vehicle.
Preferably, stopping the current vehicle to the obstacle is done by a driving assistance system or an automatic driving system.
According to yet another aspect of the disclosure, a computer-readable storage medium is provided, having stored thereon a computer program, which when executed by a processor, implements the method of any of the above.
When the obstacle of the blocking road moves away to enable the traffic participants to pass through, the traffic participants blocking the traffic on the opposite lane need to borrow the current lane to cross the obstacle, and the method and the system can avoid the forward collision between the vehicle driving on the current lane and the traffic participants passing through the obstacle by the current lane in the situation, so that the collision accident at the position where the obstacle moves away can be effectively reduced.
Drawings
Non-limiting and non-exhaustive embodiments of the present disclosure are described, by way of example, with reference to the following drawings, in which:
FIG. 1 shows a schematic diagram of a vehicle driving assistance system according to an embodiment of the present disclosure;
FIG. 2 shows a schematic diagram of a vehicle driving assistance system according to yet another embodiment of the present disclosure;
FIG. 3 illustrates a schematic view of an application scenario of the driving assistance system and method for vehicle according to an embodiment of the present disclosure; and
fig. 4 shows a flowchart of a driving assistance method for a vehicle according to an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present disclosure.
In the present disclosure, a traffic participant refers to a person, an animal, or a vehicle that travels (walks) on a road, and may be a vehicle, a pedestrian, an animal vehicle, a bicycle, a motorcycle, or the like.
Referring to fig. 1, a driving assistance system 1 for vehicle according to an embodiment of the present disclosure is shown. The vehicle driving assist system 1 includes: an information acquisition unit 100, a congestion prediction unit 200 and a decision unit 300.
In this embodiment, the information acquisition unit 100 is configured to obtain information of an obstacle in front of the current vehicle, information of a traffic participant traveling in an oncoming lane, and information of a traffic participant traveling out from behind the obstacle. The information acquisition can be acquired by the current vehicle, and also can be acquired from nearby vehicles, road facilities and/or online servers; or may be simultaneously acquired by the current vehicle, from a nearby vehicle, asset, and/or online server. Information on obstacles in front of the current vehicle, on traffic participants driving in the opposite lane and on traffic participants driving out behind said obstacles on the online server may be uploaded by nearby vehicles and/or road infrastructure. The present disclosure does not limit the source of information acquisition. Thus, in a particular embodiment, the information collecting unit may comprise any one or a combination of any plurality of the following devices installed in the current vehicle: camera device, laser radar, millimeter wave radar and ultrasonic sensor. Nearby vehicles and/or assets may be fitted with any one or a combination of any number of devices selected from the following: camera device, laser radar, millimeter wave radar and ultrasonic sensor. In another embodiment, the information collecting unit may include a communication device configured to receive information of an obstacle in front of the current vehicle, information of a traffic participant driving on an oncoming lane, and/or information of a traffic participant driving out from behind the obstacle, which are transmitted from nearby vehicles, road facilities, and/or an online server. The communication device may be installed on the current vehicle, a nearby vehicle, an online server, a road infrastructure, and/or a mobile terminal, and exchange information via a mobile network, Wi-Fi, and/or bluetooth. The present disclosure also includes combinations of any two or more of the embodiments described above. The cost of installing the detection equipment on the current vehicle can be reduced by utilizing the online server to realize information sharing, and meanwhile, the online server can integrate data from a plurality of sources, so that the data is more accurate. But the information transmission is limited by network transmission, and the real-time performance is poor; and there are road segments that may not have information uploaded on the online server.
In order to reflect the situation more accurately in real time, it is preferable to collect information on an obstacle in front of the current vehicle, information on a traffic participant driving on an oncoming lane, and/or information on a traffic participant driving out from behind the obstacle on the current vehicle. To correct the data accuracy, other sources of information are supplemented. For example, after receiving the information of the traffic participants on the opposite lane sent by the nearby vehicle, the online server and/or the road facility, the information of the traffic participants who travel through the current vehicle on the opposite lane recorded on the current vehicle can be updated by comparing and supplementing the information of the traffic participants who travel through the current vehicle on the opposite lane recorded on the current vehicle, so that the information is closer to the actual situation.
The traffic participants traveling on the opposite lane do not include the traffic participants passing through the opposite lane on the current lane. In one example, the information of the traffic participants traveling in the oncoming lane includes the type and number of traffic participants traveling past the current vehicle in the oncoming lane. The information acquisition unit 100 may detect and record the types and times of the participants who travel through the current vehicle on the oncoming lane, thereby counting the types and numbers of the participants who travel through the current vehicle on the oncoming lane for a certain period of time. For example, by counting each traffic participant over a period of time, an average traffic flow of one or more traffic participants on the opposing lane may be calculated. The average traffic flow of the one or more traffic participants is preferably the latest average traffic flow. The closer to the time the obstacle blocks the road, the better the predicted effect of the congestion information of the traffic participant behind the obstacle, for example, the average traffic flow of each of a plurality of traffic participants 10 minutes, 5 minutes, or 3 minutes before the obstacle blocks the road.
Obstacles in front of the current vehicle may include vehicles obstructing the road or non-vehicle obstructions, such as a trash bin. The information of the obstacle includes any one or a combination of any plurality selected from the following: the position of the obstacle, the duration of the blocked road, the shape, the yaw angle, the speed, which parameters allow the prediction of the time for the obstacle to clear, and thus can be used to predict the situation of the traffic participants behind the obstacle. The information of the obstacle includes the passable width of the obstacle side, for example, whether the width of the obstacle moving away is larger than a preset threshold value. The threshold value is, for example, the width over which a bicycle can pass, for example 1 metre, below which a bicycle cannot pass from the obstacle side. Above this threshold value, although traffic participants such as bicycles can pass through, traffic participants behind the obstacle cannot be seen at the current vehicle, nor can traffic participants behind the obstacle be detected, due to the obstruction by the obstacle. The width of the barrier removed may be the distance from the edge of the road to the edge of the barrier; generally, the obstacle has a width on both sides, and it is detected whether the width on either side is greater than a preset threshold. The information of the traffic participants driving out from behind the obstacle includes the type and number of the traffic participants.
The congestion prediction unit 200 is configured to predict congestion information of one or more traffic participants behind an obstacle, based on at least information of the obstacle and information of the traffic participants traveling on the oncoming lane. The predicted congestion information of the traffic participants includes the type and number of predicted traffic participants. Congestion information for one or more traffic participants behind an obstacle may be predicted based on information of the obstacle (e.g., the duration of the obstacle blocking the road) and the traffic flow of the traffic participants on the oncoming lane. The information of the obstacle may be a duration of the obstacle blocking the road, and the longer the duration, the more traffic participants are predicted to be congested. For a traffic participant, the larger the traffic flow of the traffic participant on the opposite lane, the more traffic congestion of the traffic participant is predicted.
The decision unit 300 is configured to provide assisted driving for the current vehicle based on at least the predicted congestion information and the information of the traffic participants driving out behind the obstacle. In one embodiment, the driving assistance includes: for the vehicle with a driver, displaying notification information on the current vehicle so as to prompt the driver, and judging how to operate the current vehicle by the driver; for an autonomous vehicle, stopping the current vehicle to the obstacle is accomplished by a driving assistance system or an autonomous driving system. In another embodiment, the driving assistance includes: causing the current vehicle to travel past the obstacle at a low speed.
The congestion information and the information of the traffic participants who are driving out from behind the obstacle are selected from the following (i) to (iii):
(i) the method comprises the following steps Detecting that there are still traffic participants driving out from behind the obstacle, or that the time of the previous traffic participant driving out from behind the obstacle is within a first set time (e.g., 3 seconds);
(ii) the method comprises the following steps Detecting that the number of one or more traffic participants driving out from behind the obstacle is less than the number of traffic participants of the corresponding type predicted by the congestion prediction unit 200; and
(iii) the method comprises the following steps The time for the previous traffic participant to exit behind the obstacle exceeds a second set time (e.g., 5 seconds).
Preferably, the second set time is greater than or equal to the first set time. A second set time long enough to ensure that there are no congested traffic participants behind the obstacle 2.
(iii) in (i) and/or (ii), displaying a notification message on the current vehicle, or stopping the current vehicle before the obstacle.
(iv) at (iii), the current vehicle is carefully driven past the obstacle at a low speed. (iv) if a condition in accordance with (iii) is detected, causing the current vehicle to travel past the obstacle at a low speed even though the condition of (ii) above is still satisfied. That is, if the coincidence (iii) is detected, the current vehicle is caused to carefully travel through the obstacle at a low speed regardless of whether the number of one or more traffic participants who are driven out from behind the obstacle is smaller than the number of traffic participants of the corresponding type predicted by the congestion prediction unit 200.
In a particular embodiment, the decision unit 300 comprises any one or a combination of any plurality of the following means selected from: the mobile device comprises an on-vehicle display device, a mobile equipment display device, an augmented reality display device and a loudspeaker. The notification information comprises any one or any combination of a plurality of forms selected from the following forms: images, symbols, text, sounds, flashing lights, whistling.
Referring to fig. 2, there is shown a vehicle driving assistance system 1A according to another embodiment of the present disclosure. The vehicular drive assist system 1A includes a road information collection unit 400A in addition to the same information acquisition unit 100A, congestion prediction unit 200A, and decision unit 300A as in the vehicular drive assist system 1. The road information collection unit 400A is configured to collect information of roads from a map. The congestion prediction unit 200A is configured to predict congestion information of one or more traffic participants behind an obstacle, based on at least the information of the obstacle, the information of the traffic participants traveling on the oncoming lane, and the information of the road. The information of the roads comprises the type and/or shape of the roads, which may be obtained from a navigation map and/or a highly automated driving map, for example. The type and/or shape of the road can affect the time for a congested traffic participant to pass the obstacle. In one embodiment, the information about the road may be a type of the road, such as whether the lane line is a solid line or a broken line, whether there is an intersection, and in the case where the lane line is a solid line, the motor vehicle on the opposite lane cannot travel by the lane, and it is predicted that the number of traffic participants who travel behind the obstacle is small. The shape of the road also has an effect on traffic participant predictions, and large turns, uphill slopes, and downhill slopes all affect the time for traffic participants to pass the obstacle.
Fig. 3 illustrates an application scenario of the vehicle driving assistance system and method according to an embodiment of the present disclosure. There is an obstacle 2 in front of the current vehicle 1, blocking the traveling route of the current vehicle 1, and blocking the line of sight of the current vehicle 1. Some of the traffic participants 3 are blocked behind the obstacle 2 (fig. 3A). The time at which the obstacle 2 blocks the road and the average traffic flow of the traffic participants travelling on the oncoming road influence the number of traffic participants 3 that are blocked behind the obstacle 2. Based on this, the type of one or more traffic participants 3 behind the obstacle 2 and the number of each type can be predicted (fig. 3B). After detecting that the width 4 of the obstacle 2 removed is greater than a preset threshold value, for example the width over which a bicycle can pass, for example 1 meter, the type and number of traffic participants 3 exiting behind the obstacle 2 are detected. Before the traffic participant 3 does not completely exit from behind the obstacle 2, a notification message is displayed on the current vehicle 1 to prompt the driver; or the current vehicle 1 is stopped before the obstacle 2. After detecting that the width 4 of the obstacle 2 removed is accessible, the current vehicle 1 travels past the obstacle 2 at a low speed.
In one specific embodiment, the determination of whether a road user 3 is completely driving out behind an obstacle 2 is based on the following (i) to (iii):
(i) the method comprises the following steps Detecting that the traffic participant 3 still exits from the rear of the obstacle 2 or the previous traffic participant 3 exits from the rear of the obstacle 2 within a first set time (for example, 3 seconds);
(ii) the method comprises the following steps Detecting that the number of one or more traffic participants 3 exiting behind the obstacle 2 is less than the number of traffic participants of the corresponding type predicted by the congestion prediction unit; and (iii): after a second predetermined time (for example 5 seconds) after the preceding road user 3 has exited behind the obstacle 2.
Preferably, the second set time is greater than or equal to the first set time. A second set time long enough to ensure that there are no congested traffic participants behind the obstacle 2. (iv) if a condition (iii) is detected, indicating that the current vehicle is passable and is being driven carefully past the obstacle at a low speed, even though the condition (ii) is still satisfied. That is, if a coincidence (iii) is detected, the current vehicle is caused to carefully travel past the obstacle at a low speed, irrespective of whether the number of one or more types of traffic participants 3 exiting behind the obstacle 2 is less than the predicted number of corresponding types of traffic participants.
It will be understood by those skilled in the art that the functional division and association of the various elements of the vehicle driving assistance system of the present disclosure are illustrative only and not limiting, and that various omissions, additions, substitutions, modifications and changes may be made by those skilled in the art without departing from the spirit and scope of the present disclosure as set forth in the appended claims and their equivalents.
It is to be understood that the vehicle driving assist system of the present disclosure may be mounted on a vehicle, such as an autonomous vehicle. Accordingly, the present disclosure encompasses a vehicle, such as an autonomous vehicle, that includes the vehicle driving assistance system of the present disclosure.
Fig. 4 shows a flowchart of a driving assistance method for a vehicle according to an embodiment of the present disclosure. The method comprises the following steps: obtaining information of a traffic participant traveling on an oncoming lane and information of an obstacle ahead of a current vehicle (s 10); predicting congestion information (s20) of one or more traffic participants behind the obstacle based on at least the information of the obstacle and the information of the traffic participants traveling on the oncoming lane; detecting information of traffic participants driving out behind the obstacle (s 30); providing assisted driving for the current vehicle based at least on the predicted congestion information for one or more traffic participants and the information for traffic participants driving behind the obstacle (s 40).
In (s10), in an embodiment of the present disclosure, the current vehicle is driven by any one or a combination of any plurality of the following sensing devices installed on the current vehicle: the vehicle-mounted information processing system includes an image pickup device, a laser radar, a millimeter wave radar, and an ultrasonic sensor that detect information on traffic participants traveling on an oncoming lane, information on an obstacle in front of a current vehicle, and information on traffic participants traveling out from behind the obstacle. Alternatively, the current vehicle receives information of an obstacle in front of the current vehicle, information of a traffic participant driving on an oncoming lane, and/or information of a traffic participant driving out from behind the obstacle, which is transmitted by a nearby vehicle, a road facility, and/or an online server. An average traffic flow for each of the traffic participants is calculated by counting one or more of the traffic participants over a period of time.
In (s20), the type and number of one or more traffic participants following the obstacle are predicted based on the duration of the obstacle-blocking road and the average traffic flow of the traffic participants on the oncoming lane. The duration of the obstruction blocking the road, the longer the duration, the more traffic participants are predicted to be congested. For a traffic participant, the larger the traffic flow of the traffic participant on the opposite lane, the more traffic congestion of the traffic participant is predicted.
In one example, the method further includes collecting information of a road from a map, and predicting congestion information of one or more traffic participants behind the obstacle based on at least the information of the obstacle, the information of the traffic participants traveling on the opposite lane, and the information of the road.
At (s30), after detecting that the width of the obstacle removed is greater than a preset threshold value, whether the width of the obstacle removed is greater than the preset threshold value, the preset threshold value being a width that a bicycle can pass through, for example, 1 meter, under which the bicycle cannot pass through the obstacle side. The width of the barrier removed may be the distance from the edge of the road to the edge of the barrier; generally, the obstacle has a width on both sides, and it is detected whether the width on either side is greater than a preset threshold. Detecting the type and number of traffic participants driving out behind the obstacle.
In (s40), displaying notification information on the current vehicle or stopping the current vehicle before the obstacle, under (i) and/or (ii) as follows: (i) detecting that there are still traffic participants exiting behind the obstacle, or that a time of a previous traffic participant exiting behind the obstacle is within a first set time (e.g., 3 seconds), and (ii) detecting that a number of one or more traffic participants exiting behind the obstacle is less than the predicted number of traffic participants of the corresponding type. (iv) the current vehicle is traveling past the obstacle at a low speed as follows (iii): (iii) the time for the previous traffic participant to exit behind the obstacle exceeds a second set time (e.g., 5 seconds), which is greater than/equal to the first set time.
For a current vehicle with a driver, displaying notification information on the current vehicle by any one or a combination of any plurality of devices selected from: the mobile device comprises an on-vehicle display device, a mobile equipment display device, an augmented reality display device and a loudspeaker. The notification information comprises any one or any combination of a plurality of forms selected from the following forms: images, symbols, text, sounds, flashing lights, whistling. For an autonomous current vehicle, stopping the current vehicle to the obstacle is accomplished by a driving assistance system or an autonomous driving system.
It will be understood by those skilled in the art that the division and order of the steps in the vehicle driving assistance method of the present disclosure are merely illustrative and not restrictive, and that various omissions, additions, substitutions, modifications and changes may be made by those skilled in the art without departing from the spirit and scope of the present disclosure as set forth in the appended claims and their equivalents.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
While the present disclosure has been described in connection with embodiments, it is to be understood by those skilled in the art that the foregoing description and drawings are merely illustrative and not restrictive of the disclosed embodiments. Various modifications and variations are possible without departing from the spirit of the disclosure.
Claims (14)
1. A vehicle driving assist system characterized by comprising:
an information acquisition unit configured to acquire information of an obstacle in front of a current vehicle, information of a traffic participant traveling on an oncoming lane, and information of a traffic participant traveling out from behind the obstacle;
a congestion prediction unit configured to predict congestion information of one or more traffic participants behind the obstacle based on at least the information of the obstacle and the information of the traffic participants traveling on the oncoming lane; and
a decision unit configured to provide driving assistance for the current vehicle based on at least the predicted congestion information and the information of the traffic participants driving out behind the obstacle.
2. The vehicular drive assist system according to claim 1, characterized in that the congestion information and the information of the traffic participant who is driving out from behind the obstacle are selected from the following (i) to (iii):
(i) the method comprises the following steps Detecting that there are still traffic participants driving out from behind the obstacle, or that the time of the previous traffic participant driving out from behind the obstacle is within a first set time (e.g., 3 seconds);
(ii) the method comprises the following steps Detecting that the number of one or more traffic participants driving out behind the obstacle is less than the number of traffic participants of the corresponding type predicted by the congestion prediction unit; and
(iii) the method comprises the following steps After the time that the previous traffic participant drives out from behind the obstacle exceeds a second set time (for example, 5 seconds), the second set time is greater than or equal to the first set time.
3. The vehicular drive assist system according to claim 2, characterized in that the driving assist includes: (iii) in (i) and/or (ii), displaying a notification message on the current vehicle, or stopping the current vehicle before the obstacle.
4. The vehicular drive assist system according to claim 2, characterized in that the driving assist includes: (iv) in (iii), driving the current vehicle past the obstacle at a low speed.
5. The vehicular drive assist system according to any one of claims 1 to 4, characterized in that the information on the traffic participants who travel in the oncoming lane includes an average traffic flow of one or more traffic participants who travel in the oncoming lane.
6. The vehicular drive assist system according to any one of claims 1 to 4, characterized in that the vehicular drive assist system further comprises a road information collection unit configured to collect information of a road from a map, and the congestion prediction unit is configured to predict congestion information of one or more traffic participants behind an obstacle, further based on the information of the road.
7. A vehicle characterized by comprising the vehicular drive assist system according to any one of claims 1 to 6.
8. A vehicle driving assist method characterized by comprising:
(1) obtaining information of traffic participants traveling on an opposite lane and information of an obstacle in front of a current vehicle;
(2) predicting congestion information of one or more traffic participants behind the obstacle based on at least the information of the obstacle and the information of the traffic participants driving on the opposite lane;
(3) detecting information of traffic participants driving out from behind the obstacle; and
(4) providing driving assistance for the current vehicle based on at least the predicted congestion information of one or more traffic participants and the information of the traffic participants driving out behind the obstacle.
9. The vehicular drive assist method according to claim 8, characterized in that, in (4), the congestion information and the information of the traffic participant who is driving out from behind the obstacle are selected from the following (i) to (iii):
(i) the method comprises the following steps Detecting that there are still traffic participants driving out from behind the obstacle, or that the time of the previous traffic participant driving out from behind the obstacle is within a first set time (e.g., 3 seconds);
(ii) the method comprises the following steps Detecting that a number of one or more traffic participants driving out behind the obstacle is less than the predicted number of traffic participants of the corresponding type;
(iii) the method comprises the following steps After the time that the previous traffic participant drives out from behind the obstacle exceeds a second set time (for example, 5 seconds), the second set time is greater than or equal to the first set time.
10. The vehicular drive assist method according to claim 9, characterized in that the driving assist includes: (iii) in (i) and/or (ii), displaying a notification message on the current vehicle, or stopping the current vehicle before the obstacle.
11. The vehicular drive assist method according to claim 9, characterized in that the driving assist includes: (iv) in (iii), driving the current vehicle past the obstacle at a low speed.
12. The vehicular drive assist method according to any one of claims 8 to 11, characterized in that, in (1), the information of the traffic participants who travel on the oncoming lane includes an average traffic flow of one or more traffic participants who travel on the oncoming lane.
13. The vehicular drive assist method according to any one of claims 8 to 11, characterized in that, prior to (2), the method further comprises acquiring information of a road from a map, the congestion information of one or more traffic participants after the prediction of the obstacle further being based on the information of the road.
14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of any one of claims 8-13.
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| CN202010079103.7A CN113200042A (en) | 2020-02-03 | 2020-02-03 | Vehicle driving assistance system and method, and corresponding computer-readable storage medium |
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| CN202010079103.7A CN113200042A (en) | 2020-02-03 | 2020-02-03 | Vehicle driving assistance system and method, and corresponding computer-readable storage medium |
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