CN114394104B

CN114394104B - Driving auxiliary method, system, device and equipment

Info

Publication number: CN114394104B
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: 2024-03-22
Anticipated expiration: 2042-01-28
Also published as: CN114394104A

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 steering straight common lane; acquiring driving route information corresponding to a first vehicle, and judging whether the first vehicle is about to turn according to the driving route information; if yes, determining a second vehicle which is in the same lane with the first vehicle; and sending prompt information to a designated broadcasting device on the second vehicle to prompt that the vehicle to be steered exists in the steering straight common lane.

Description

Driving auxiliary 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 equipment.

Background

Along with the development of economy, the traffic flow of road travel is larger and larger, and traffic jam is easy to occur.

Currently, in road traffic systems, a steering lane may be combined with a straight-traveling vehicle as a steering straight-traveling common lane due to insufficient road width or increased lane utilization. In a steering straight-going common lane, the vehicle can freely select different steering directions for steering or straight-going according to the driving route. However, when vehicles with different driving directions exist in the same lane, the vehicles are easy to generate extra waiting time, and the passing efficiency of the vehicles 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 disclosure provide a driving assistance method, system, device, apparatus, and storage medium, for solving the following technical problems: reasonable driving assistance schemes are needed to assist the vehicle owners in selecting more efficient and reasonable driving schemes.

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

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

determining a first vehicle in a steering straight common lane;

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

if yes, determining a second vehicle which is in the same lane with the first vehicle;

and sending prompt information to a designated broadcasting device on the second vehicle so as to prompt that the vehicle to be turned exists in the turning straight common lane.

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

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

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 about to turn according to the driving route information;

if so, determining a second vehicle which is in the same-direction 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 so as to prompt that the vehicle to be turned exists in the straight-turning common lane, and broadcasting the prompt information by the OBU.

One or more embodiments of the present disclosure provide a driving assistance device, including:

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

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

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

and the prompting module is used for sending prompting information to the appointed broadcasting equipment on the second vehicle so as to prompt that the vehicle to be turned exists in the turning straight common lane.

at least one processor; the method comprises the steps of,

a memory communicatively coupled to the at least one processor; wherein,

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 steering straight common lane;

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

determining a first vehicle in a steering straight common lane;

The above-mentioned at least one technical solution adopted by one or more embodiments of the present disclosure can achieve the following beneficial effects:

according to the driving route information of the first vehicle in the steering straight-going common lane, whether the first vehicle is about to turn or not is determined, so that a second vehicle in the same-direction lane is prompted, the second vehicle is convenient to serve as a reference, subsequent driving actions are made, and driving assistance effect on the second vehicle is achieved. 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 reduced, the second vehicle is assisted to select a reasonable lane for driving, 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 description or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some of the embodiments described in the present description, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

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 illustration of OBU broadcasting in an application scenario provided in one or more embodiments of the present disclosure;

FIG. 3 is a schematic diagram illustrating 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, driving assistance device, driving assistance equipment and a storage medium.

In order to make the technical solutions in the present specification better understood by those skilled in the art, 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 some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.

In one or more embodiments of the present disclosure, according to the driving route information of a first vehicle in a common lane for steering and straight driving, it is determined whether the first vehicle is about to steer, and according to the driving route information, a second vehicle in the same lane is presented, so that the second vehicle can determine whether to perform actions such as lane change according to whether the first vehicle steers, and thus, the driving assistance effect on the second vehicle is achieved. The following will specifically explain the 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 Internet financial business field, the instant messaging business field, the public business field and the like. The process may be performed by computing devices in the respective areas, with some input parameters or intermediate results in the process allowing manual intervention adjustments to help improve accuracy.

The flow in fig. 1 may include the steps of:

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

In a road traffic system, lanes are usually provided with driving identifications of straight running, left turning, right turning and the like, and different driving identifications respectively correspond to the allowed driving directions of the driving identifications so as to prompt a vehicle owner to select the corresponding lanes to drive according to driving routes.

In one or more embodiments of the present description, a steering straight common lane means a lane in which traveling in different directions is permitted. Steering a straight-ahead common lane typically also has a corresponding plurality of identifications based on the plurality of directions in which the vehicle is allowed to travel. Often, in a lane that allows both straight and right turns, the lane will typically have the identity of two arrows turning forward and right; in a u-turn enabled lane, the lane typically has the identification of both left-turn and rear-turn arrows.

In addition, in some cases, the steer-by-straight common lane may not have an explicit identification. For example, a bus lane may not have an explicit identification of a driving direction, and in a specific period, other vehicles may enter the bus lane to drive, and the bus lane may also be used as a steering straight-line common lane; or the variable lane does not have an explicit driving direction mark, and the variable lane can instruct a vehicle owner to drive in different directions according to specific traffic states, so that the variable lane can also be used as a steering straight lane; etc.

S104: and acquiring driving route information corresponding to the first vehicle, and judging whether the first vehicle is about 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 common lane for steering straight. At the bifurcation of the common steering lane, the first vehicle may travel in a certain direction. The driving route information may include current location information of the first vehicle, an expected driving trajectory, a destination, and the like. By acquiring the driving route information of the first vehicle, the driving route information can be used for determining the driving direction of the first vehicle at the bifurcation of the steering straight-going common lane so as to determine whether the first vehicle is about to turn.

Further, the first vehicle may represent any vehicle that travels in the common steering-straight lane and is within a preset distance from the bifurcation of the common steering-straight lane. Therefore, the workload of monitoring vehicles by the cloud can be reduced, and the vehicles which are about to make steering selection at the bifurcation of the steering straight common lane are focused, so that other vehicles can be prompted in a targeted manner later.

The bifurcation of the common steering lane indicates a bifurcation point allowing the vehicle to travel in different directions, and may be an intersection of a road, a u-turn opening near the intersection for the vehicle to turn around, an opening in the middle of the road for communicating with residential areas and business areas on both sides of the road, or the like.

S106: if yes, a second vehicle which is in the same lane with the first vehicle is determined.

The same-direction lane refers to a lane with the same direction as the steering straight-running common lane where the first vehicle is located, and comprises the steering straight-running common lane, and also comprises other lanes adjacent to the steering straight-running common lane, wherein the other lanes can be lanes for unidirectional running or another steering straight-running common lane.

The second vehicle represents any vehicle that travels in the same directional lane as the first vehicle. The second vehicle may travel in the one-way lane or in the steer-by-lane in the vicinity of the intersection of the steer-by-lane, and may or may not travel in the same direction as the first vehicle at the intersection.

S108: and sending prompt information to a designated broadcasting device on the second vehicle so as to prompt that the vehicle to be turned exists in the turning straight common lane.

During traveling, the second vehicle may have lane changing, overtaking, etc. actions. Based on the uncertainty of the running direction of the first vehicle at the intersection of the steering straight-going common lane, the running action of the second vehicle may have a certain danger, so that traffic accidents are easy to cause, or the second vehicle is expected to save the running time through actions such as lane changing, and on the contrary, the running efficiency is reduced because the running action of the second vehicle is contradicted with the running direction of the first vehicle, and the second vehicle cannot smoothly run.

Therefore, when the first vehicle is determined to be about to turn, the indication information is sent through the appointed broadcasting equipment on the second vehicle, and the second vehicle can be indicated to have the vehicle about to turn in the turning straight common lane, so that the second vehicle can make more reasonable driving judgment according to the indication information. For example, the prompt message is "right turn vehicle exists in the fourth lane, please select the lane reasonably".

In one or more embodiments of the present disclosure, according to driving route information of a first vehicle in a lane shared by straight-going driving, it is determined whether the first vehicle is about to turn, so as to prompt a second vehicle in the lane, so that the second vehicle is convenient to serve as a reference, and thus a subsequent driving action is performed, and a driving assistance effect on the second vehicle is achieved. 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 reduced, the traffic efficiency is improved, and traffic jam is avoided as much as possible.

Based on the method of fig. 1, the present specification also provides some specific embodiments and extensions of the method, and the following description will proceed.

In one or more embodiments of the present description, the driving route information of the first vehicle includes real-time navigation information and/or historical driving trajectories. The real-time navigation information represents the navigation information currently used by the first vehicle, has real-time performance and certain accuracy, and can indicate the expected running track of the first vehicle, so that whether the first vehicle turns at the intersection of the current turning straight-going common lane or not is clear. The historical driving track represents a route which the first vehicle has driven on, and the historical driving track can be used as a reference for predicting the possible driving route of the first vehicle so as to judge whether the first vehicle is about to turn in the current steering straight-going common lane or not. 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 determined by the real-time navigation information, and the accuracy of the obtained result is relatively high. If the first vehicle does not start navigation and the acquisition of the real-time navigation information fails, the current position of the first vehicle can be acquired through devices such as an On Board Unit (OBU) and a vehicle global positioning system (Global Positioning System, GPS). 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 accuracy of judging the driving action of the first vehicle can be improved to a certain extent by determining that the priority of the real-time navigation information is higher than that of the historical driving track, so that prompt information is provided for the second vehicle more accurately, and the driving assistance effect on the second vehicle is enhanced.

Further, when predicting whether the first vehicle will turn in the current steering straight-going common lane according to the historical driving tracks, if there are multiple different historical driving tracks, one driving track most likely to be driven by the first vehicle needs to be selected from the multiple historical driving tracks. Specifically, the historical driving tracks can be compared with the current state of the first vehicle from the dimensions of time (such as working hours, other times), date (such as working days and holidays) and the like, and the historical driving track closest to the current state of the first vehicle is determined and used as the driving track most likely to be driven by the first vehicle.

In one or more embodiments of the present description, the second vehicle may specifically refer to a vehicle that is in the same steering straight common lane as the first vehicle. Because the first vehicle is positioned in the same lane, the steering or straight running of the first vehicle can directly influence the traffic situation of the second vehicle, the second vehicle can determine to brake and slow down in advance according to the prompt information, wait for the first vehicle to pass, continue to pass according to the current speed, follow the first vehicle to pass, or change lanes in advance to pass through other lanes.

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

In addition, the second vehicle may specifically also represent a vehicle that is in the same lane as the first vehicle and that does not exceed the first vehicle. The driving action of whether the first vehicle turns or not affects the second vehicle only if the second vehicle does not exceed the first vehicle, i.e. is located 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 information that the first vehicle is about to turn.

Further, after determining that the first vehicle is about to turn, the range of the second vehicle that is being prompted needs to be screened without sending prompt information to all the second vehicles behind the first vehicle. If the distance between the second vehicle and the turning intersection of the straight-going common lane is too close, the second vehicle does not respond even if receiving the prompt message, or does not respond in error and cannot be changed, so that the prompt function is not realized. If the distance between the second vehicle and the turning intersection of the straight-going common lane is too far, the number of vehicles running in front of the second vehicle is too large, so that the number of disturbances is too large, the effect of prompting the second vehicle is small, and the value of prompting information to assist running cannot be exerted.

Therefore, when prompt information is sent to the appointed broadcasting 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 steering intersection corresponding to the steering straight-going common lane is in a set range, such as 50-100 meters, is judged according to the real-time navigation information. If so, the prompt message is sent to the appointed broadcasting equipment on the second vehicle. Therefore, the second vehicle which obtains the prompt information can timely and effectively make driving judgment, 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 an on-board Unit OBU, and Road Side Units (RSUs) are provided on both sides of the Road, and the on-board Unit OBU and the Road Side Unit RSUs can communicate through microwaves. For example, in an automatic road toll ETC system, an ETC card (i.e., OBU) on a vehicle communicates with RSU equipment in a toll booth to achieve automatic billing.

In the driving process of the embodiment, the first vehicle and/or the second vehicle may interact with the road side unit RSU disposed 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 located.

Further, based on interaction between the OBU and the road side unit RSU in the vehicle, when prompt information is sent to the appointed broadcasting equipment on the second vehicle, it can be determined that after the OBU of the second vehicle enters the communication range of the appointed RSU, the prompt information is sent to the OBU through the appointed RSU so as to trigger the OBU to broadcast the prompt information. The specified RSU may be an RSU device disposed near an intersection corresponding to the straight-going common steering lane where the first vehicle is located, and the distance between the second vehicle indicated by the communication range and the intersection may fall within the setting range in the above embodiment.

Through the passive waiting of OBU and triggered the report, make the second vehicle can obtain the prompt message of report through OBU is automatic when getting into appointed RSU communication range, the management to the suggestion of second vehicle is more convenient like this. In addition, the scheme does not need to acquire the position information of the second vehicle in real time so as to determine whether the distance between the second vehicle and the intersection of the steering straight lane belongs to the set range, and the communication range of the OBU and the appointed RSU is equal to the set range, so that the automatic broadcasting prompt of the second vehicle in the set range is realized, the privacy information of the owner of the second vehicle is further effectively protected, and the position information is prevented from being excessively leaked.

For example, as shown in fig. 2, the setting range for prompting the second vehicle is 50-100 meters, the distance between the specified RSU and the intersection corresponding to the steering straight-driving shared lane is 20 meters, and the communication range between the OBU and the specified RSU is 80 meters, so that the distance between the second vehicle indicated by the communication range and the intersection corresponding to the steering straight-driving shared lane meets the requirement of the setting range, that is, after the second vehicle enters the communication range, the OBU is triggered to broadcast prompt information, which also meets the requirement of the setting range.

Still further, location information of the first vehicle may be obtained based on interactions between the OBU and the RSU of the first vehicle, and location information of the second vehicle may be obtained based on interactions 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 determine the direction of the vehicle to be turned 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 acquire and identify images through the vehicle-mounted cameras corresponding to the respective vehicles so as to determine the number of lanes and the lanes where the current vehicle is located. The vehicle-mounted camera can be a vehicle recorder or other equipment such as a user terminal.

Further, in the case where there is a first vehicle to be steered, vehicles in the set range that travel thereafter may all be regarded as the second vehicle. The plurality of second vehicles respectively collect images through the vehicle-mounted cameras, and the road running model corresponding to the current moment can be established by comparing, matching and splicing the images collected by the vehicle-mounted cameras of the plurality of second vehicles. The road driving model may include information such as the first vehicle, lanes in which the plurality of second vehicles are located, positions in each lane, and sequences, etc., from which it may be determined exactly which vehicle the first vehicle is to be steered. The prompt information broadcasted by the second vehicle can clearly indicate the information of the first vehicle to be steered so that the second vehicle can make a sufficient and reasonable response according to the information.

In combination with the foregoing description, one or more embodiments of the present disclosure 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 a vehicle, and a road side unit RSU disposed on a road, where the on-board unit OBU and the road side unit RSU communicate through microwaves.

Specifically, the cloud platform acquires driving route information corresponding to a plurality of vehicles and determines lanes where the plurality of vehicles are located. 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 about to turn according to driving route information. The cloud platform may include a server of navigation software, etc., where a first lane marked with right turn and straight arrow in the figure indicates a lane shared by turning straight, and the driving route information may include real-time navigation information and/or historical driving track.

If so, determining a second vehicle which is in the same lane as the first vehicle according to the lane in which the first vehicle is positioned. And sending a judging result of the steering of the first vehicle to the RSU, sending prompt information to the OBU on the second vehicle through the RSU so as to prompt that the vehicle to be steered exists in the steering straight-going common lane, and broadcasting the prompt information by the OBU.

It should be noted that, in the embodiments, the schemes and beneficial effects not described in detail may refer to the schemes and beneficial effects corresponding to the embodiments of the above methods, and the description is not repeated here.

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

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

a first determination module 402 that determines a first vehicle in a steer-by-straight common lane;

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

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

and the prompting module 408 is used for sending prompting information to the appointed broadcasting equipment on the second vehicle so as to prompt that the vehicle to be turned exists in the turning straight common lane.

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

Optionally, the determining module 404 obtains real-time navigation information of the first vehicle; and if the acquisition of the real-time navigation information fails, acquiring the 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 that is in the common lane of steering with the first vehicle.

Optionally, the second determining module 406 determines that a second vehicle is in a same lane as 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 the steering intersection corresponding to the steering straight-going shared lane is in a set range or not according to the real-time navigation information; if yes, prompt information is sent to the appointed broadcasting equipment on the second vehicle.

Optionally, the first vehicle and the second vehicle are provided with an on-board unit OBU; the lanes in which the first vehicle and/or the second vehicle are located are determined by interaction of the corresponding OBUs with road side units RSUs provided on the road.

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

Optionally, the prompt module 408 sends, after the OBU of the second vehicle enters the communication range of the specified RSU, a prompt message to the OBU through the specified 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 device includes:

at least one processor; the method comprises the steps of,

a memory communicatively coupled to the at least one processor; wherein,

determining a first vehicle in a steering straight common lane;

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

determining a first vehicle in a steering straight common lane;

In the 90 s of the 20 th century, improvements to one technology could clearly be distinguished as improvements in hardware (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) or software (improvements to the process flow). However, with the development of technology, many improvements of the current method flows can be regarded as direct improvements of hardware circuit structures. Designers almost always obtain corresponding hardware circuit structures by programming improved method flows into hardware circuits. Therefore, an improvement of a method flow cannot be said to be realized by a hardware entity module. For example, a programmable logic device (Programmable Logic Device, PLD) (e.g., field programmable gate array (Field Programmable Gate Array, FPGA)) is an integrated circuit whose logic function is determined by the programming of the device by a user. A designer programs to "integrate" a digital system onto a PLD without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Moreover, nowadays, instead of manually manufacturing integrated circuit chips, such programming is mostly implemented by using "logic compiler" software, which is similar to the software compiler used in program development and writing, and the original code before the compiling is also written in a specific programming language, which is called hardware description language (Hardware Description Language, HDL), but not just one of the hdds, but a plurality of kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), lava, lola, myHDL, PALASM, RHDL (Ruby Hardware Description Language), etc., VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog are currently most commonly used. It will also be apparent to those skilled in the art that a hardware circuit implementing the logic method flow can be readily obtained by merely slightly programming the method flow into an integrated circuit using several of 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, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable logic controllers, and embedded microcontrollers, examples of which include, but are not limited to, the following microcontrollers: ARC625D, atmel AT91SAM, microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic of the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller may thus be regarded as a kind of hardware component, and means for performing various functions included therein may also be regarded as structures within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.

The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. One typical implementation is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smart phone, 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 functionally divided into various units, respectively. Of course, the functions of each element may be implemented in one or more software and/or hardware elements when implemented in the present specification.

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

The present description is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the specification. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

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

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 storage media for a computer 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, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

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 one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

The 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.

In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for apparatus, devices, non-volatile computer storage medium embodiments, the description is relatively simple, as it is substantially similar to method embodiments, with reference to the section of the method embodiments being relevant.

The foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can 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 are also possible or may be advantageous.

The foregoing is merely one or more embodiments of the present description and is not intended to limit the present description. Various modifications and alterations to one or more embodiments of this description will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, or the like, which is within the spirit and principles of one or more embodiments of the present description, is intended to be included within the scope of the claims of the present description.

Claims

1. A driving assistance method comprising:

determining a first vehicle in a steering straight common lane;

if yes, determining a second vehicle which is in the same lane with the first vehicle, wherein the method specifically comprises the following steps: determining a second vehicle that is in a co-directional lane with the first vehicle and that does not exceed the first vehicle;

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

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

acquiring real-time navigation information of the first vehicle;

and if the acquisition of the real-time navigation information fails, acquiring the 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, the determining a second vehicle in a co-directional lane with the first vehicle, in particular comprising:

A second vehicle is determined to be in the steer-by-straight common lane with the first vehicle.

5. The method of claim 1, wherein the sending a prompt message to the designated broadcast device on the second vehicle specifically comprises:

acquiring real-time navigation information of the second vehicle;

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

if yes, prompt information is sent to the appointed broadcasting equipment on the second vehicle.

6. The method according to any one of claims 1 to 5, wherein the first vehicle and the second vehicle are provided with an on-board unit OBU;

the lanes in which the first vehicle and/or the second vehicle are located are determined by interaction of the corresponding OBUs with road side units RSUs provided on the road.

7. The method of any one of claims 1 to 5, wherein the lane in which the first vehicle and/or the second vehicle is located is determined by corresponding in-vehicle camera recognition.

8. The method of claim 6, wherein the sending the prompt message to the designated broadcast device on the second vehicle specifically comprises:

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

9. 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;

if so, determining a second vehicle which is in the same lane as the first vehicle according to the lane, wherein the method specifically comprises the following steps: determining a second vehicle that is in a co-directional lane with the first vehicle and that does not exceed the first vehicle;

10. A driving assistance device comprising:

the second determining module determines a second vehicle in the same lane as the first vehicle if the second vehicle is in the same lane, and specifically includes: determining a second vehicle that is in a co-directional lane with the first vehicle and that does not exceed the first vehicle;

11. The apparatus of claim 10, the driving route information comprising real-time navigation information and/or historical driving trajectories.

12. The apparatus of claim 11, the determination module to obtain real-time navigation information of the first vehicle;

13. The apparatus of claim 10, the second determination module to determine a second vehicle that is in the steer-by-lane with the first vehicle.

14. The apparatus of claim 10, the prompt module to obtain real-time navigation information of the second vehicle;

15. The device according to any one of claims 10 to 14, wherein an on-board unit OBU is provided on the first vehicle and the second vehicle;

16. The apparatus of any one of claims 10 to 14, wherein the lane in which the first vehicle and/or the second vehicle is located is determined by corresponding in-vehicle camera recognition.

17. The apparatus of claim 15, wherein the prompt module is configured to send, by the specified RSU, a prompt message to the OBU to trigger the OBU to broadcast the prompt message after the OBU of the second vehicle enters a communication range of the specified RSU.

18. A driving assistance apparatus comprising:

At least one processor; the method comprises the steps of,

a memory communicatively coupled to the at least one processor; wherein,

determining a first vehicle in a steering straight common lane;