CN114394104A

CN114394104A - Driving assistance method, system, device and equipment

Info

Publication number: CN114394104A
Application number: CN202210108744.XA
Authority: CN
Inventors: 王赛
Original assignee: Alipay Hangzhou Information Technology Co Ltd
Current assignee: Alipay Hangzhou Information Technology Co Ltd
Priority date: 2022-01-28
Filing date: 2022-01-28
Publication date: 2022-04-26
Anticipated expiration: 2042-01-28
Also published as: CN114394104B

Abstract

The embodiment of the specification discloses a driving assistance method, a driving assistance system, a driving assistance device and driving assistance equipment. The scheme comprises the following steps: determining a first vehicle in a common lane for turning straight; acquiring driving route information corresponding to a first vehicle, and judging whether the first vehicle is to be steered or not according to the driving route information; if so, determining a second vehicle in the same lane as the first vehicle; and sending prompt information to a specified broadcasting device on the second vehicle to prompt that the vehicle to be steered exists in the straight-going shared lane.

Description

Driving assistance method, system, device and equipment

Technical Field

The present disclosure relates to the field of internet technologies, and in particular, to a driving assistance method, system, device, and apparatus.

Background

With the development of economy, the traffic flow of road trip is larger and larger, and the phenomenon of traffic jam is easily caused.

Currently, in a road traffic system, a turning lane may be combined with a straight vehicle as a turning straight common lane due to insufficient road width or increased lane utilization. In the steering straight-going common lane, the vehicle can freely select different driving directions for steering or straight-going according to the driving route of the vehicle. However, when vehicles in different driving directions exist in the same lane, extra waiting time is easily generated for the vehicles, and the vehicle passing efficiency is affected.

Based on this, a reasonable driving assistance scheme is needed to assist the vehicle owner in selecting a more efficient and reasonable driving scheme.

Disclosure of Invention

One or more embodiments of the present specification provide a driving assistance method, system, apparatus, device, and storage medium to solve the following technical problems: a reasonable driving assistance scheme is required to assist the vehicle owner in selecting a more efficient and reasonable driving scheme.

To solve the above technical problem, one or more embodiments of the present specification are implemented as follows:

one or more embodiments of the present specification provide a driving assistance method, including:

determining a first vehicle in a common lane for turning straight;

acquiring driving route information corresponding to the first vehicle, and judging whether the first vehicle is to be steered or not according to the driving route information;

if so, determining a second vehicle in the same-direction lane as the first vehicle;

and sending prompt information to a specified broadcasting device on the second vehicle to prompt that the vehicle to be steered exists in the steering straight-going common lane.

One or more embodiments of the present specification provide a driving assistance system, including a cloud platform, an on-board unit OBU disposed on a vehicle, and a roadside unit RSU disposed on a road;

the cloud platform acquires driving route information corresponding to a plurality of vehicles and determines lanes of the plurality of vehicles;

the cloud platform determines a first vehicle in a steering straight-going shared lane according to the lane, and judges whether the first vehicle is to be steered or not according to the driving route information;

if so, determining a second vehicle in the same lane as the first vehicle according to the lane where the second vehicle is located;

and sending prompt information to the OBU on the second vehicle through the RSU to prompt that a vehicle to be steered exists in the straight-going common lane, and broadcasting the prompt information by the OBU.

One or more embodiments of the present specification provide a driving assistance apparatus, including:

a first determination module that determines a first vehicle in a common lane for turning straight;

the judging module is used for acquiring the driving route information corresponding to the first vehicle and judging whether the first vehicle is to turn or not according to the driving route information;

the second determining module is used for determining a second vehicle in the same lane as the first vehicle if the first vehicle is in the same lane as the first vehicle;

and the prompting module is used for sending prompting information to the specified broadcasting equipment on the second vehicle so as to prompt that the vehicle to be steered exists in the straight-going common lane.

One or more embodiments of the present specification provide a driving assistance apparatus including:

at least one processor; and the number of the first and second groups,

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to:

determining a first vehicle in a common lane for turning straight;

One or more embodiments of the present specification provide a non-transitory computer storage medium storing computer-executable instructions configured to:

determining a first vehicle in a common lane for turning straight;

At least one technical scheme adopted by one or more embodiments of the specification can achieve the following beneficial effects:

and determining whether the first vehicle is to be steered or not according to the driving route information of the first vehicle in the steering straight-going shared lane so as to prompt the second vehicle in the same-direction lane, so that the second vehicle is used as a reference, and then the subsequent driving action is carried out, thereby realizing the driving assistance effect on the second vehicle. Therefore, the second vehicle can make more reasonable driving judgment based on the driving action of the first vehicle, the occurrence probability of traffic accidents is favorably reduced, the second vehicle is assisted to select reasonable lanes to drive, the vehicle passing efficiency is improved, and traffic jam is avoided as much as possible.

Drawings

In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present specification, and for those skilled in the art, other drawings can be obtained according to the drawings without any creative effort.

Fig. 1 is a schematic flow chart of a driving assistance method according to one or more embodiments of the present disclosure;

fig. 2 is a schematic diagram of an OBU broadcast in an application scenario according to one or more embodiments of the present disclosure;

fig. 3 is a schematic structural diagram of a driving assistance system according to one or more embodiments of the present disclosure;

fig. 4 is a schematic structural diagram of a driving assistance device according to one or more embodiments of the present disclosure;

fig. 5 is a schematic structural diagram of a driving assistance device according to one or more embodiments of the present disclosure.

Detailed Description

The embodiment of the specification provides a driving assistance method, a driving assistance system, a driving assistance device, driving assistance equipment and a storage medium.

In order to make those skilled in the art better understand the technical solutions in the present specification, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any inventive step based on the embodiments of the present disclosure, shall fall within the scope of protection of the present application.

In one or more embodiments of the present disclosure, it is determined whether a first vehicle is about to turn based on driving route information of the first vehicle turning to a straight-ahead shared lane, and a second vehicle in a lane in the same direction is presented based on the determination of whether the second vehicle is performing a lane change or other operation based on whether the first vehicle is turning, thereby serving as a driving assistance for the second vehicle. The following is a detailed description based on such a concept.

Fig. 1 is a schematic flow chart of a driving assistance method according to one or more embodiments of the present disclosure. The method can be applied to different business fields, such as the field of internet financial business, the field of instant messaging business, the field of official business and the like. The process may be performed by computing devices in the respective domains, with certain input parameters or intermediate results in the process allowing for manual intervention adjustments to help improve accuracy.

The process in fig. 1 may include the following steps:

s102: a first vehicle in a common lane for turning straight is determined.

In a road traffic system, lanes usually have driving signs such as straight driving, left turning, right turning, etc., and different driving signs respectively correspond to the driving directions allowed by the lanes, so as to prompt a vehicle owner to select the corresponding lane to drive according to a driving route.

In one or more embodiments of the present description, turning to a straight common lane means a lane that allows travel in different directions. Steering a straight common lane also typically has a corresponding plurality of markings based on the plurality of directions in which the vehicle is allowed to travel. Commonly, in a lane that allows both straight and right turns, the lane will typically have the designation of two arrows, forward and right turn; in a lane that allows a u-turn, the lane usually has the designation of two arrows, left turn and back.

In addition, in some cases, steering a straight common lane may also not have an explicit identification. For example, a bus lane may not have a clear sign of a driving direction, and other vehicles may also enter the bus lane to drive in a specific time period, so that the bus lane may also be used as a common lane for turning straight; or the variable lane also has no clear mark of the driving direction, and the variable lane can indicate that the vehicle drives in different directions according to specific traffic states, and can also be used as a straight lane for steering; and so on.

S104: and acquiring the driving route information corresponding to the first vehicle, and judging whether the first vehicle is to turn or not according to the driving route information.

In one or more embodiments of the present description, the first vehicle may represent any vehicle traveling in a steered straight common lane. At a bifurcation corresponding to the common lane for straight-ahead steering, the first vehicle may travel in a certain direction. The driving route information may include current location information of the first vehicle, a predicted driving track, a destination, and the like. By obtaining the driving route information of the first vehicle, it is possible to specify the direction in which the first vehicle is traveling at a bifurcation turning to a straight-going common lane to determine whether the first vehicle is to turn.

Further, the first vehicle may represent any vehicle that travels in the steered straight common lane and is within a preset distance from a bifurcation of the steered straight common lane. Therefore, the workload of monitoring the vehicles by the cloud end can be reduced, the vehicles which are about to turn and select at the bifurcation of the straight-going shared lane are focused, and other vehicles can be pointed and prompted in the following process.

The branch point of the straight-ahead common lane is a branch point allowing the vehicle to travel in different directions, and may be a road intersection, a turning point near the road intersection for turning the vehicle around, an opening in the middle section of the road for communicating residential areas and commercial areas on both sides of the road, or the like.

S106: and if so, determining a second vehicle in the same lane as the first vehicle.

The equidirectional lane represents a lane which has the same direction as the steering straight-running shared lane where the first vehicle is located, and the equidirectional lane comprises the steering straight-running shared lane and other lanes adjacent to the steering straight-running shared lane, wherein the other lanes can be lanes running in a single direction or the other steering straight-running shared lane.

The second vehicle indicates any vehicle that travels in the same-direction lane, except for the first vehicle. In the process of approaching the intersection of the turning straight-ahead shared lane, the second vehicle can run in the one-way lane and also can run in the turning straight-ahead shared lane, and the running direction of the second vehicle at the intersection can be the same as or different from that of the first vehicle.

S108: and sending prompt information to a specified broadcasting device on the second vehicle to prompt that the vehicle to be steered exists in the steering straight-going common lane.

During driving, there may be actions of lane change, overtaking, etc. of the second vehicle. Based on the uncertainty of the driving direction of the first vehicle at the intersection of the turning straight-going shared lane, the driving action of the second vehicle may have a certain danger, which is easy to cause traffic accidents, or the second lane is expected to save the passing time through actions such as lane changing, and on the contrary, the second vehicle is inconsistent with the driving direction of the first vehicle, and cannot pass smoothly, thereby reducing the passing efficiency.

Therefore, when the first vehicle is determined to be about to turn, the second vehicle can be prompted to have a vehicle about to turn in the straight-going shared lane by sending prompting information through the specified broadcasting device on the second vehicle, so that the second vehicle can make more reasonable driving judgment according to the prompting information. For example, the prompt message indicates that "the fourth lane has a right-turn vehicle, please reasonably select the lane".

In one or more embodiments of the present specification, it is determined whether a first vehicle is about to turn according to driving route information of the first vehicle turning to a straight-going shared lane, so as to prompt a second vehicle in a same-direction lane for reference, thereby making a subsequent driving action and realizing a driving assistance effect on the second vehicle. Therefore, the second vehicle can make more reasonable driving judgment based on the driving action of the first vehicle, the occurrence probability of traffic accidents is favorably reduced, the vehicle passing efficiency is improved, and traffic jam is avoided as much as possible.

Based on the process of fig. 1, some specific embodiments and embodiments of the process are also provided in the present specification, and the description is continued below.

In one or more embodiments of the present disclosure, the route information of the first vehicle includes real-time navigation information and/or historical driving trajectories. The real-time navigation information represents navigation information currently used by the first vehicle, has real-time performance and certain accuracy, and can indicate the predicted running track of the first vehicle, so that whether the first vehicle turns at the intersection of the current turning straight-going shared lane or not is determined. The historical driving path represents a path that the first vehicle has traveled, and should include a current position of the first vehicle, and may be used as a reference for predicting a possible traveling path of the first vehicle to determine whether the first vehicle will turn in a currently turning straight-ahead common lane. The real-time navigation information and the historical driving track can be obtained through a navigation system of the vehicle, and can also be obtained through navigation software installed on a vehicle owner terminal.

Generally, whether the first vehicle is about to turn is judged through the real-time navigation information, the accuracy of the obtained result is relatively high, and when the driving route information corresponding to the first vehicle is obtained, the real-time navigation information of the first vehicle is obtained by trying first. If the first vehicle does not start navigation and the real-time navigation information acquisition fails, the current position of the first vehicle may be acquired through a vehicle Global Positioning System (GPS), an On Board Unit (OBU), and other devices. And acquiring the historical driving track of the first vehicle corresponding to the current position according to the current position of the first vehicle. The priority of the real-time navigation information is higher than the historical driving track, so that the accuracy of judging the driving action of the first vehicle can be improved to a certain extent, prompt information is provided for the second vehicle more accurately, and the driving assistance effect on the second vehicle is enhanced.

Further, when it is predicted whether the first vehicle will turn in the currently turning straight-ahead shared lane or not according to the historical driving paths, if a plurality of different historical driving paths exist, one driving path which is most likely to be driven by the first vehicle needs to be selected from the plurality of historical driving paths. Specifically, the plurality of historical driving tracks may be compared with the current state of the first vehicle from dimensions such as time (e.g., commuting time, other time), date (e.g., working day, holiday), and the like, and the historical driving track closest to the current state of the first vehicle may be determined as the driving track most likely to be traveled by the first vehicle.

In one or more embodiments of the present description, the second vehicle may particularly denote a vehicle that is in the same turning straight common lane as the first vehicle. Because the first vehicle and the second vehicle are positioned in the same lane, the turning or straight running of the first vehicle can directly influence the passing condition of the second vehicle, and the second vehicle can determine to brake and decelerate in advance according to the prompt information, wait for the first vehicle to pass, or continue to follow the first vehicle to pass according to the current speed, or change the lane in advance and pass through other lanes.

For example, the current turning straight-going shared lane can go straight and turn right, the current indicator light is a red light for straight going, and the current indicator light is a green light for right turning, when a first vehicle needs to go straight, and a second vehicle behind needs to turn right, the first vehicle cannot pass, and the second vehicle needs to wait for the first vehicle to pass and then pass.

In addition, the second vehicle may particularly also represent a vehicle which is in a co-directional lane with the first vehicle and which does not exceed the first vehicle. The driving action of the first vehicle to steer or not to affect the second vehicle only if the second vehicle does not exceed, i.e. is behind or level with, the first vehicle. The second vehicle can determine whether to perform actions such as lane changing, overtaking and the like according to the prompt message that the first vehicle is about to turn.

Further, after it is determined that the first vehicle is about to turn, it is not necessary to send the prompting information to all the second vehicles behind the first vehicle, but it is necessary to filter the range of the prompting second vehicles. If the distance between the second vehicle and the turning intersection of the straight-going common lane is too short, the second vehicle has no time to respond even if the prompt information is received, or the second vehicle cannot change the second vehicle due to wrong response, so that the prompt function cannot be realized. If the distance between the second vehicle and the turning intersection of the turning straight-going common lane is too long, the number of vehicles running before the second vehicle is too large, and the interference is too large, so that the effect of prompting the second vehicle is small, and the value of prompting information to assist in running cannot be exerted.

Therefore, when the prompt message is sent to the specified broadcast equipment on the second vehicle, the real-time navigation information of the second vehicle is obtained, and whether the distance between the second vehicle and the turning intersection corresponding to the turning straight-going shared lane is within a set range, such as 50-100 meters, is judged according to the real-time navigation information. And if so, sending prompt information to a specified broadcasting device on the second vehicle. Therefore, the second vehicle with the prompt information can make driving judgment timely and effectively, and the vehicle passing efficiency of the road is improved.

In one or more embodiments of the present disclosure, the first vehicle and the second vehicle are provided with on-board units (OBUs), Road Side Units (RSUs) are provided on both sides of the Road, and the OBUs and the RSUs can communicate with each other through microwaves. For example, in an automatic road toll ETC system, an ETC card (i.e., OBU) on a vehicle communicates with RSU devices in a toll station to implement automatic billing.

In the driving process of the embodiment, the first vehicle and/or the second vehicle can respectively interact with the road side unit RSU arranged on the road through the on-board unit OBU in the vehicle, so as to accurately determine the lanes where the first vehicle and the second vehicle are respectively located.

Further, based on interaction between the OBU in the vehicle and the RSU, when the prompt information is sent to the specified broadcasting equipment on the second vehicle, after the OBU of the second vehicle enters the communication range of the specified RSU, the prompt information is sent to the OBU through the specified RSU, so that the OBU is triggered to broadcast the prompt information. The designated RSU may be an RSU device disposed near an intersection corresponding to the turning straight common lane where the first vehicle is located, and the distance between the second vehicle and the intersection indicated by the communication range may fall within the setting range in the above embodiment.

Through the passive waiting and triggered broadcasting of the OBU, the second vehicle can automatically obtain the broadcasted prompt information through the OBU when entering the communication range of the specified RSU, and the prompt of the second vehicle is more convenient to manage. In addition, the scheme does not need to acquire the position information of the second vehicle in real time to determine whether the distance between the second vehicle and the intersection turning to the straight lane belongs to the set range, and the automatic reporting prompt of the second vehicle in the set range can be realized through the communication range of the OBU and the specified RSU being equal to the set range, so that the privacy information of the owner of the second vehicle is effectively protected, and the position information of the owner of the second vehicle is prevented from being excessively revealed.

For example, as shown in fig. 2, the set range for prompting the second vehicle is 50 to 100 meters, the distance between the designated RSU and the intersection corresponding to the turning straight-going shared lane is 20 meters, and the communication range between the OBU and the designated RSU is 80 meters, then the distance between the second vehicle indicated by the communication range and the intersection corresponding to the turning straight-going shared lane meets the requirement of the set range, that is, after the second vehicle enters the communication range, the OBU is triggered to broadcast the prompt message, which also meets the requirement of the set range.

Still further, location information of the first vehicle may be obtained based on an interaction between the OBU and the RSU of the first vehicle, and location information of the second vehicle may be obtained based on an interaction between the OBU and the RSU of the second vehicle. When the second vehicle is prompted, the distance between the first vehicle and the second vehicle can be prompted to the second vehicle according to the position information of the first vehicle and the position information of the second vehicle, so that the second vehicle can more clearly show the direction of the vehicle to be steered and the distance between the second vehicle and the second vehicle, and the second vehicle can be assisted to make more reasonable driving judgment.

In addition, the first vehicle and/or the second vehicle can also perform image acquisition and recognition through the vehicle-mounted cameras corresponding to the respective vehicles so as to determine the number of lanes and the lane where the current vehicle is located. The vehicle-mounted camera can be a vehicle data recorder or other equipment such as a user terminal.

Further, in the case where there is a first vehicle to be steered, a vehicle in the set range that runs thereafter may be regarded as the second vehicle. The plurality of second vehicles respectively carry out image acquisition through the vehicle-mounted cameras thereof, and the road driving model corresponding to the current moment can be established by comparing, matching and splicing the images acquired by the vehicle-mounted cameras of the plurality of second vehicles. The road driving model can contain information such as the lane where the first vehicle and the plurality of second vehicles are located, the position in each lane, the sequence and the like, so that the first vehicle to be steered can be accurately determined. The information of the first vehicle to be steered can be clearly indicated in the prompt information broadcasted by the second vehicle, so that the second vehicle can take sufficient and reasonable measures.

In combination with the foregoing description, one or more embodiments of the present specification provide a schematic structural diagram of a driving assistance system.

As shown in fig. 3, the driving assistance system includes a cloud platform, an On Board Unit (OBU) disposed on the vehicle, and a Road Side Unit (RSU) disposed on the road, wherein the OBU and the RSU are in microwave communication.

Specifically, the cloud platform acquires driving route information corresponding to the plurality of vehicles and determines lanes where the plurality of vehicles are located. The cloud platform determines a first vehicle in a turning straight-going shared lane according to the lane where the first vehicle is located, and judges whether the first vehicle is to turn or not according to the driving route information. The cloud platform can comprise a server of navigation software and the like, a lane marked with right-turn and straight-going arrows in the figure represents a common lane for turning to straight-going, and the driving route information can comprise real-time navigation information and/or historical driving tracks.

And if so, determining a second vehicle in the same lane as the first vehicle according to the lane where the first vehicle is located. And sending a judgment result that the first vehicle is about to turn to the RSU, sending prompt information to the OBU on the second vehicle through the RSU so as to prompt that the vehicle about to turn exists in the straight-going shared lane, and broadcasting the prompt information by the OBU.

It should be noted that, for the solutions and advantages not described in detail in this embodiment, reference may be specifically made to the solutions and advantages corresponding to the foregoing method embodiments, and details are not described herein again.

Based on the same idea, one or more embodiments of the present specification further provide apparatuses and devices corresponding to the above-described method, as shown in fig. 4 and 5.

Fig. 4 is a schematic structural diagram of a driving assistance device provided in one or more embodiments of the present disclosure, where the driving assistance device includes:

a first determination module 402 that determines a first vehicle in a common lane for turning straight;

the judging module 404 is configured to obtain driving route information corresponding to the first vehicle, and judge whether the first vehicle is to turn according to the driving route information;

a second determining module 406, configured to determine, if yes, a second vehicle in a lane in the same direction as the first vehicle;

and the prompting module 408 is configured to send prompting information to a specified broadcasting device on the second vehicle to prompt that a vehicle to be steered exists in the steering straight-going common lane.

Optionally, the driving route information includes real-time navigation information and/or historical driving tracks.

Optionally, the determining module 404 obtains real-time navigation information of the first vehicle; and if the real-time navigation information fails to be acquired, acquiring a historical driving track of the first vehicle corresponding to the current position according to the current position of the first vehicle.

Optionally, the second determining module 406 determines a second vehicle in the steered straight common lane with the first vehicle.

Optionally, the second determining module 406 determines a second vehicle that is in a co-directional lane with the first vehicle and does not exceed the first vehicle.

Optionally, the prompt module 408 obtains real-time navigation information of the second vehicle; judging whether the distance between the second vehicle and a steering intersection corresponding to the steering straight-going shared lane is within a set range or not according to the real-time navigation information; and if so, sending prompt information to the specified broadcasting equipment on the second vehicle.

Optionally, an on-board unit OBU is provided on the first vehicle and the second vehicle; and the lane where the first vehicle and/or the second vehicle are/is determined by the interaction between the corresponding OBU and a Road Side Unit (RSU) arranged on a road.

Optionally, the lane in which the first vehicle and/or the second vehicle is located is determined by corresponding vehicle-mounted camera recognition.

Optionally, the prompt module 408 sends a prompt message to the OBU through the designated RSU after the OBU of the second vehicle enters the communication range of the designated RSU, so as to trigger the OBU to broadcast the prompt message.

Fig. 5 is a schematic structural diagram of a driving assistance device according to one or more embodiments of the present disclosure, where the driving assistance device includes:

at least one processor; and the number of the first and second groups,

determining a first vehicle in a common lane for turning straight;

Based on the same idea, one or more embodiments of the present specification further provide a non-volatile computer storage medium corresponding to the above method, and storing computer-executable instructions configured to:

determining a first vehicle in a common lane for turning straight;

In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Hardware Description Language), traffic, pl (core universal Programming Language), HDCal (jhdware Description Language), lang, Lola, HDL, laspam, hardward Description Language (vhr Description Language), vhal (Hardware Description Language), and vhigh-Language, which are currently used in most common. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.

The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: the ARC625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.

The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.

As will be appreciated by one skilled in the art, the present specification embodiments may be provided as a method, system, or computer program product. Accordingly, embodiments of the present description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.

The description has been presented with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the description. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the embodiments of the apparatus, the device, and the nonvolatile computer storage medium, since they are substantially similar to the embodiments of the method, the description is simple, and for the relevant points, reference may be made to the partial description of the embodiments of the method.

The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

The above description is merely one or more embodiments of the present disclosure and is not intended to limit the present disclosure. Various modifications and alterations to one or more embodiments of the present description will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of one or more embodiments of the present specification should be included in the scope of the claims of the present specification.

Claims

1. A driving assistance method comprising:

determining a first vehicle in a common lane for turning straight;

2. The method of claim 1, the driving route information comprising real-time navigation information and/or historical driving trajectories.

3. The method according to claim 2, wherein the acquiring of the driving route information corresponding to the first vehicle specifically includes:

acquiring real-time navigation information of the first vehicle;

and if the real-time navigation information fails to be acquired, acquiring a historical driving track of the first vehicle corresponding to the current position according to the current position of the first vehicle.

4. The method of claim 1, wherein determining a second vehicle in a co-directional lane with the first vehicle comprises:

determining a second vehicle that is in the steered straight common lane with the first vehicle.

5. The method of claim 1, wherein determining a second vehicle in a co-directional lane with the first vehicle comprises:

determining a second vehicle that is in a co-directional lane with the first vehicle and that does not exceed the first vehicle.

6. The method according to claim 1, wherein the sending of the prompt message to the specified announcement device on the second vehicle specifically includes:

acquiring real-time navigation information of the second vehicle;

judging whether the distance between the second vehicle and a steering intersection corresponding to the steering straight-going shared lane is within a set range or not according to the real-time navigation information;

and if so, sending prompt information to the specified broadcasting equipment on the second vehicle.

7. The method according to any one of claims 1 to 6, wherein an On Board Unit (OBU) is arranged on each of the first vehicle and the second vehicle;

and the lane where the first vehicle and/or the second vehicle are/is determined by the interaction between the corresponding OBU and a Road Side Unit (RSU) arranged on a road.

8. A method according to any one of claims 1 to 6, wherein the lane in which the first vehicle and/or the second vehicle is located is determined by corresponding on-board camera recognition.

9. The method according to claim 7, wherein the sending of the prompt message to the specified announcement device on the second vehicle specifically includes:

and after the OBU of the second vehicle enters the communication range of the appointed RSU, the OBU sends prompt information to the OBU through the appointed RSU so as to trigger the OBU to broadcast the prompt information.

10. A driving auxiliary system comprises a cloud platform, an on-board unit (OBU) arranged on a vehicle and a Road Side Unit (RSU) arranged on a road;

11. A driving assistance device comprising:

12. The apparatus of claim 11, the driving route information comprising real-time navigation information and/or historical driving trajectories.

13. The apparatus of claim 12, the determining module to obtain real-time navigation information of the first vehicle;

14. The apparatus of claim 11, the second determination module to determine a second vehicle that is in the steered straight common lane with the first vehicle.

15. The apparatus of claim 11, the second determination module to determine a second vehicle that is in a co-directional lane with the first vehicle and does not exceed the first vehicle.

16. The apparatus of claim 11, the prompt module to obtain real-time navigation information for the second vehicle;

17. The device of any one of claims 11 to 16, wherein an On Board Unit (OBU) is arranged on each of the first vehicle and the second vehicle;

18. An apparatus as claimed in any one of claims 11 to 16, wherein the lane in which the first vehicle and/or the second vehicle is located is determined by corresponding on-board camera recognition.

19. The apparatus of claim 17, wherein the prompt module is configured to send a prompt to the OBU via a designated RSU after the OBU of the second vehicle enters a communication range of the RSU, so as to trigger the OBU to broadcast the prompt.

20. A driving assistance apparatus comprising:

at least one processor; and the number of the first and second groups,

determining a first vehicle in a common lane for turning straight;