WO2019148819A1 - 辅助车辆行驶的方法及装置 - Google Patents

辅助车辆行驶的方法及装置 Download PDF

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Publication number
WO2019148819A1
WO2019148819A1 PCT/CN2018/102184 CN2018102184W WO2019148819A1 WO 2019148819 A1 WO2019148819 A1 WO 2019148819A1 CN 2018102184 W CN2018102184 W CN 2018102184W WO 2019148819 A1 WO2019148819 A1 WO 2019148819A1
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WIPO (PCT)
Prior art keywords
vehicle
image
travel
information
curve
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PCT/CN2018/102184
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English (en)
French (fr)
Inventor
赵振功
冯丹丹
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京东方科技集团股份有限公司
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Priority to US16/330,932 priority Critical patent/US20210323544A1/en
Publication of WO2019148819A1 publication Critical patent/WO2019148819A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/072—Curvature of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/06—Direction of travel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles

Definitions

  • the present disclosure relates to the field of vehicle safety technology, and in particular, to a method and apparatus for assisting vehicle travel and a corresponding method and apparatus for use in a vehicle.
  • Embodiments described herein provide a method and apparatus for assisting vehicle travel and corresponding methods and apparatus for use in a vehicle that can help avoid collisions with vehicles entering the same curve or ramp.
  • a method for assisting a vehicle to travel is provided.
  • an assist travel request is received from the first vehicle.
  • the first vehicle information of the first vehicle is acquired.
  • the first vehicle information includes at least a current location of the first vehicle.
  • the second vehicle information is acquired based on the current location of the first vehicle.
  • the second vehicle information is associated with at least one vehicle that enters the same curve or ramp as the first vehicle.
  • a driving advice is provided to the first vehicle based on the first vehicle information and the second vehicle information.
  • the first vehicle information further includes a traveling direction, a current speed, and a size of the first vehicle.
  • the second vehicle information includes a traveling direction, a current position, a current speed, and a size of the at least one vehicle.
  • the distance of the at least one vehicle from the first vehicle is less than a predetermined distance.
  • the step of providing a driving advice to the first vehicle based on the first vehicle information and the second vehicle information determining based on a traveling direction, a current speed, and a current position of the first vehicle and the at least one vehicle The recommended speed of the first vehicle. Then, based on the traveling direction, size, and current position of the first vehicle and the at least one vehicle, the recommended lane of the first vehicle is determined. Next, the recommended speed and recommended lane are provided to the first vehicle.
  • the second vehicle information further includes an ahead road image of the at least one vehicle.
  • the method further transmits an image of the road ahead from the at least one vehicle to the first vehicle.
  • the first vehicle information further includes a first forward road image of the first vehicle.
  • the second vehicle information also includes a second forward road image of the at least one vehicle.
  • the method further performs image registration on the first forward road image and the second forward road image having the same time stamp to generate a stitched image and transmit the stitched image to the first vehicle.
  • the driving advice is provided to the selected vehicle based on the information related to the selected one of the at least one vehicle in the first vehicle information and the second vehicle information.
  • the first vehicle information further includes a first forward road image of the first vehicle.
  • the method further transmits the first forward road image to the selected vehicle.
  • a voice communication between the first vehicle and the at least one vehicle is established.
  • a message to disable assisted travel is received from the first vehicle.
  • a method of use in a vehicle is provided.
  • an image of the road ahead of the vehicle is acquired, and based on the image of the road ahead, it is determined whether the vehicle is about to enter a curve or a ramp.
  • An auxiliary travel request is sent in response to determining that the vehicle is about to enter a curve or ramp.
  • a travel advice provided in response to the assist travel request is received.
  • the driving advice is displayed.
  • the second forward road image is received, and the first forward road image and the second forward road image are simultaneously displayed.
  • a message to disable assisted travel is transmitted.
  • an apparatus for assisting a vehicle to travel includes at least one processor and at least one memory storing a computer program. The method of causing the apparatus to perform the assisted vehicle travel according to the first aspect of the present disclosure as described above when the computer program is executed by the at least one processor.
  • an apparatus for use in a vehicle includes at least one processor and at least one memory storing a computer program.
  • the computer program is executed by the at least one processor, causing the device to: acquire an image of the road ahead of the vehicle; determine whether the vehicle is about to enter a curve or a ramp based on the image of the road ahead; in response to determining that the vehicle is about to enter a curve or ramp, send assistance a travel request; receiving a travel advice provided in response to the assist travel request; and displaying the travel advice.
  • a system for assisting a vehicle to travel includes the apparatus for assisting vehicle travel according to the third aspect of the present disclosure as described above and the apparatus for use in the vehicle according to the fourth aspect of the present disclosure as described above.
  • FIG. 1 is a schematic view showing a situation in which a vehicle travels on a curve
  • FIG. 2 is an exemplary flow diagram of a method for assisting vehicle travel, in accordance with an embodiment of the present disclosure
  • FIG. 3 is an exemplary diagram for explaining generation of a stitched image based on image registration
  • FIG. 4 is a schematic view showing another situation in which a vehicle travels on a curve
  • FIG. 5 is an exemplary flow chart of a method for use in a vehicle, in accordance with an embodiment of the present disclosure
  • FIG. 6 is a schematic block diagram of an apparatus for assisting vehicle travel, in accordance with an embodiment of the present disclosure
  • FIG. 7 is a schematic block diagram of an apparatus for use in a vehicle, in accordance with an embodiment of the present disclosure.
  • FIG. 8 is a schematic diagram of a system for assisting vehicle travel, in accordance with an embodiment of the present disclosure.
  • first and second are used only to distinguish one component (or a portion of the component) from another component (or another portion of the component).
  • a method and apparatus for assisting vehicle travel provided in accordance with an embodiment of the present disclosure may be used to assist vehicle travel on the road described above. The following is an example of assisting the vehicle on a curve.
  • FIG. 1 is a schematic view showing a situation in which a vehicle travels on a curve.
  • the traveling directions of the first vehicle 110, the second vehicle 120, and the third vehicle 130 are indicated by arrows.
  • the driver on the first vehicle 110 may not be able to see the second vehicle 120 and the third vehicle 130.
  • the first vehicle 110 may not be visible to the driver on the second vehicle 120 and the third vehicle 130. Therefore, there is a possibility that the first vehicle 110 collides with the second vehicle 120 and the third vehicle 130.
  • Ultrasonic or inter-vehicle communication techniques can be used to sense vehicles near corners.
  • the mechanism for triggering the vehicle near the perceived curve is not intelligent enough, it is necessary to manually trigger the curve perception or always turn on the mode of detecting the surrounding vehicle, which may cause interference to daily driving.
  • the information shared by the vehicle and the vehicle may only have a location, so it is necessary to rely on the driver's own judgment to select the lane and the speed of the vehicle.
  • FIG. 2 shows a schematic flow diagram of a method 200 for assisting vehicle travel, in accordance with an embodiment of the present disclosure.
  • a method for assisting vehicle travel may be performed by a computing device such as a cloud server located outside of the vehicle.
  • a vehicle desiring to obtain driving assistance may register with the computing device in advance and allow the computing device to obtain information related to the vehicle.
  • description will be made taking the case where the first vehicle 110 desires to obtain the driving assistance as an example.
  • the computing device may receive an assist travel request from the first vehicle 110 in step S202.
  • the auxiliary travel request is for requesting the computing device to assist the first vehicle 110 in traveling, such as on a curve or ramp.
  • the computing device may acquire first vehicle information of the first vehicle 110, the first vehicle information including at least a current location of the first vehicle 110.
  • the first vehicle information may also include a direction of travel, a current speed, and a size of the first vehicle.
  • the computing device may acquire second vehicle information based on the current location of the first vehicle 110.
  • the second vehicle information is associated with at least one vehicle that enters the same curve as the first vehicle 110.
  • the computing device may search for other vehicles that have registered within a search range that is less than a predetermined distance from the current location of the first vehicle 110. If no other vehicles are found within the search range, the computing device can expand the search range to continue the search.
  • the following describes an example in which the computing device searches for the second vehicle 120 and the third vehicle 130 as an example.
  • the computing device acquires second vehicle information related to the second vehicle 120 and the third vehicle 130.
  • the second vehicle information may include, for example, the traveling direction, current position, current speed, and size of the second vehicle 120 and the third vehicle 130.
  • the computing device may provide driving advice to the first vehicle 110 based on the first vehicle information and the second vehicle information. For example, the computing device may determine the recommended speed of the first vehicle 110 based on the direction of travel, the current speed, and the current position of the first vehicle 110, the second vehicle 120, and the third vehicle 130. The computing device may determine a recommended lane of the first vehicle 110 based on the direction of travel, size, and current location of the first vehicle 110, the second vehicle 120, and the third vehicle 130 to avoid the first vehicle 110 and the second vehicle 120 and the third The vehicle 130 travels on the same lane. The computing device then provides the determined recommended speed and recommended lane to the first vehicle 110.
  • the second vehicle information may further include, for example, a road image of the front of the second vehicle 120 and the third vehicle 130.
  • the computing device may receive a forward road image (hereinafter also referred to as "second forward road image") from the second vehicle 120 and the third vehicle 130, respectively.
  • the second vehicle 120 and the third vehicle 130 may capture a road condition ahead by an in-vehicle camera to obtain a second forward road image.
  • the computing device may further transmit the second forward road image to the first vehicle 110. In this way, the driver of the first vehicle 110 can see the road condition after the turn in advance.
  • the first vehicle information may further include, for example, a road image of the front of the first vehicle 110.
  • the computing device may receive a forward road image (hereinafter also referred to as "first forward road image") from the first vehicle 110.
  • the first vehicle 110 can capture a road condition ahead by an in-vehicle camera to obtain a first forward road image.
  • the computing device has synchronized clock signals with the vehicles (the first vehicle 110, the second vehicle 120, and the third vehicle 130).
  • the vehicle may take a road image ahead at a predetermined time interval (for example, 1 second), and record the time (ie, time stamp) at which the image was captured in the metadata of the corresponding forward road image.
  • the vehicle can then transmit the captured road ahead image and its metadata to the computing device.
  • the computing device may generate a stitched image by performing image registration on the first forward road image and the second forward road image having the same time stamp, and the stitching is performed
  • the image is sent to the first vehicle 110.
  • Performing image registration on the first forward road image and the second forward road image having the same time stamp to generate a stitched image can avoid the movement of the object between the first vehicle 110 and the second vehicle 120 and the third vehicle 130 The problem of splicing is not allowed.
  • Image registration is a process of matching and superimposing two or more images acquired by different sensors (imaging devices) or acquired under different conditions (for example, shooting position, shooting angle, etc.).
  • FIG. 3 exemplarily shows a schematic diagram for explaining generation of a stitched image based on image registration.
  • an image taken from the first vehicle 110 and the second vehicle 120 will be described as an example.
  • the image taken by the first vehicle 110 is exemplarily shown in the upper left corner in FIG.
  • the image taken by the second vehicle 120 is exemplarily shown in the upper right corner in FIG.
  • feature extraction is performed on the image captured by the first vehicle 110 and the image captured by the second vehicle 120 to determine feature points in the two images. Then, based on the similarity measure, the matched feature point pairs are determined.
  • the spatial coordinate transformation parameters of the image can be obtained.
  • image registration can be performed on the two images to generate a mosaic image, such as the image shown below in FIG.
  • image registration can be implemented using the Scale Invariant Feature Transform (SIFT) algorithm in the OpenCV tool.
  • SIFT Scale Invariant Feature Transform
  • images from the first vehicle 110, the second vehicle 120, and the third vehicle 130 may also be stitched. By stitching the images, the driver of the vehicle can get a clearer picture of the road ahead.
  • the computing device may also transmit an indication as to whether the image is a stitched image when transmitting an image to the first vehicle 110 to enable the first vehicle 110 to know that the received image is a stitched image Still the second front road image from other vehicles.
  • the computing device may also provide driving advice to the second vehicle 120 and the third vehicle 130.
  • the computing device may determine the recommended speed of the second vehicle 120 based on the direction of travel, the current speed, and the current location of the first vehicle 110, the second vehicle 120, and the third vehicle 130.
  • the computing device may determine the recommended speed of the third vehicle 130 based on the direction of travel, the current speed, and the current position of the first vehicle 110, the second vehicle 120, and the third vehicle 130.
  • the computing device may determine a recommended lane of the second vehicle 120 based on the traveling direction, size, and current location of the first vehicle 110, the second vehicle 120, and the third vehicle 130 to prevent the second vehicle 120 from traveling in the same lane as the first vehicle 110 on.
  • the computing device may determine a recommended lane of the third vehicle 130 based on the traveling direction, size, and current location of the first vehicle 110, the second vehicle 120, and the third vehicle 130 to prevent the third vehicle 130 from traveling in the same lane as the first vehicle 110 on.
  • the computing device can then provide the determined recommended speed and recommended lane to the second vehicle 120 and the third vehicle 130, respectively.
  • the computing device may also provide the first forward road image to the second vehicle 120 and the third vehicle 130. In this way, the second vehicle 120 and the third vehicle 130 can see the road after the turn, and make the driving judgment in advance.
  • the computing device may also establish a voice communication between the first vehicle 110 and the second vehicle 120 and the third vehicle 130.
  • the driver of the first vehicle 110 can perform voice communication with the drivers of the second vehicle 120 and the third vehicle 130 to coordinate lanes and speeds with each other.
  • the computing device may also stop transmitting the travel advice to the first vehicle 110 after receiving the message to disable the assisted travel from the first vehicle 110.
  • FIG. 4 illustrates another exemplary scenario in which the vehicle is traveling on a curve, and in this exemplary scenario, a method of assisting vehicle travel in accordance with an embodiment of the present disclosure may also be implemented.
  • the fourth vehicle 410, the fifth vehicle 420, the sixth vehicle 430, and the seventh vehicle 440 travel in the same direction as indicated by the arrows.
  • the fourth vehicle 410 sends an assisted travel request to the computing device.
  • the computing device searches for the fifth vehicle 420, the sixth vehicle 430, and the seventh vehicle 440.
  • the computing device may determine a recommended speed of the fourth vehicle 410 based on the traveling direction, the current speed, and the current position of the fourth vehicle 410, the fifth vehicle 420, the sixth vehicle 430, and the seventh vehicle 440. Further, the computing device may determine the recommended lane of the fourth vehicle 410 based on the direction of travel, size, and current location of the fourth vehicle 410, the fifth vehicle 420, the sixth vehicle 430, and the seventh vehicle 440. Then, the computing device provides the determined recommended speed and the recommended lane as the driving advice to the fourth vehicle 410 to prevent the fourth vehicle 410 from colliding with the fifth vehicle 420, the sixth vehicle 430, and the seventh vehicle 440. Further, the computing device may also provide recommended speeds and recommended lanes to the fifth vehicle 420, the sixth vehicle 430, and the seventh vehicle 440, respectively.
  • FIG. 5 illustrates an exemplary flow chart of a method 500 for use in a vehicle, in accordance with an embodiment of the present disclosure.
  • a method 500 for use in a vehicle will now be described with the first vehicle 110 of FIG. 1 as an example.
  • step S502 an image of the road ahead is acquired.
  • the first vehicle 110 can acquire the first forward road image through a camera mounted in front of it.
  • step S506 based on the first forward road image, it is determined whether the road ahead is a curve, thereby determining whether the first vehicle 110 is about to enter the curve.
  • image recognition techniques may be used to identify whether a road in the first forward road image is a curve.
  • a curve recognition model may be pre-established. The curve recognition model can be established by training a neural network using a large number of curve images that have been marked as curves. After the first forward road image is obtained, the curve recognition model is used to identify whether the road in the first forward road image is a curve.
  • the curve can also be identified, for example, using the SIFT algorithm integrated by the OpenCV tool.
  • step S506 If it is determined that the road ahead is not a curve (NO in step S506), indicating that the vehicle does not enter the curve, the process returns to step S502 to continue acquiring the first forward road image. If it is determined that the road ahead is a curve (YES in step S506) indicating that the vehicle is about to enter the curve, then in step S508, an assist travel request is transmitted.
  • the assist travel request may also be manually transmitted by the driver of the first vehicle 110 via a button provided on the first vehicle 110.
  • the button may be a button disposed on a console of the vehicle, or a touch button or a virtual button disposed on the in-vehicle touch screen.
  • step S510 the first vehicle 110 receives the travel advice provided in response to the assist travel request.
  • the first vehicle 110 may display the received travel advice on the on-board display. In this way, the driver of the first vehicle 110 can drive the first vehicle 110 according to the driving advice.
  • the first vehicle 110 may receive an image from an external device (eg, a computing device as described above). In one embodiment, the first vehicle 110 can simultaneously display the received image and the first forward road image on the onboard display. In another embodiment, the first vehicle 110 receives an indication of whether the image is a stitched image while receiving an image from an external device. The first vehicle may determine whether the received image is a stitched image based on the received indication. If the received image is a stitched image, the first vehicle 110 can directly display the stitched image on the in-vehicle display. If the received image is not a stitched image, the first vehicle 110 may simultaneously display the first forward road image and the received image on the in-vehicle display.
  • an external device eg, a computing device as described above.
  • the first vehicle 110 can simultaneously display the received image and the first forward road image on the onboard display.
  • the first vehicle 110 receives an indication of whether the image is a stitched image while receiving an image from an external device. The first vehicle may determine
  • the first vehicle 110 may also splice the received image with the first forward road image using an image registration technique to generate a stitched image, and display the stitched image on the in-vehicle display to drive the first vehicle 110 Provide an expanded field of vision.
  • the first vehicle 110 may also determine whether it is about to leave the curve based on the first forward road image. If it is determined that it is about to leave the curve, the first vehicle 110 sends a message to disable the assisted travel. Alternatively, the driver of the first vehicle 110 may manually transmit a message for disabling the assisted travel through a button provided on the first vehicle 110.
  • the first vehicle 110 may also receive driving suggestions provided in response to an auxiliary driving request from other vehicles. For example, where the second vehicle 120 transmits an assisted travel request to the computing device, the computing device may provide the second vehicle 120 with a travel recommendation for the second vehicle 120. To avoid a collision between the first vehicle 110 and the second vehicle 120, the computing device may also provide the first vehicle 110 with a drive recommendation for the first vehicle 110. Thus, in this case, even if the first vehicle 110 does not send an assisted travel request to the computing device, the first vehicle 110 can receive the travel advice provided by the computing device.
  • FIG. 6 shows a schematic block diagram of an apparatus 600 for assisting vehicle travel, in accordance with an embodiment of the present disclosure.
  • the device 600 that assists the vehicle to travel may be, for example, a cloud server or implemented in a cloud server.
  • the apparatus 600 for assisting vehicle travel may include a processor 610 and a memory 620 storing a computer program.
  • the apparatus 600 is caused to perform the steps of the method 200 for assisting vehicle travel as shown in FIG. That is, the device 600 can receive an assist travel request from the first vehicle 110.
  • the device 600 can then acquire the first vehicle information of the first vehicle 110.
  • the first vehicle information includes at least a current location of the first vehicle 110.
  • the device 600 may acquire second vehicle information based on the current location of the first vehicle 110.
  • the second vehicle information is associated with at least one vehicle that enters the same curve or ramp as the first vehicle 110.
  • the device 600 may provide a driving advice to the first vehicle 110 based on the first vehicle information and the second vehicle information.
  • the device 600 may determine a recommended speed of the first vehicle 110 based on the traveling direction, the current speed, and the current position of the first vehicle 110 and the at least one vehicle, and based on the first vehicle 110 and the at least one vehicle
  • the recommended direction of the first vehicle 110 is determined by the direction of travel, the size, and the current location.
  • the device 600 then provides the recommended speed and recommended lane to the first vehicle 110.
  • the second vehicle information further includes an ahead road image of the at least one vehicle.
  • the device 600 may transmit an image of the road ahead from the at least one vehicle to the first vehicle 110.
  • the first vehicle information further includes a first forward road image of the first vehicle 110
  • the second vehicle information further includes a second forward road image of the at least one vehicle.
  • the device 600 may perform image registration on the first forward road image and the second forward road image having the same time stamp to generate a stitched image, and transmit the stitched image to the first vehicle 110.
  • the apparatus 600 may further provide driving advice to the selected vehicle based on information related to the selected one of the at least one vehicle in the first vehicle information and the second vehicle information. Further, device 600 can also transmit the first forward road image to the selected vehicle.
  • device 600 may also establish a voice communication between the first vehicle and the at least one vehicle.
  • device 600 may also receive a message from the first vehicle that disables assisted travel.
  • the device 600 may also include a transmitting device 630 for transmitting driving advice, stitching images, and the like.
  • the device 600 may further include a receiving device 640 for receiving an auxiliary driving request and a message for disabling the assisted driving, and the like.
  • device 600 can also include communication device 650 for communicating with other communication devices.
  • FIG. 7 shows a schematic block diagram of an apparatus 700 for use in a vehicle, in accordance with an embodiment of the present disclosure.
  • the device 700 used in the vehicle can be installed, for example, in a control system of the vehicle.
  • Apparatus 700 for use in a vehicle can include a processor 710 and a memory 720 that stores a computer program.
  • apparatus 700 is enabled to perform the steps of method 500 for use in a vehicle as shown in FIG. That is, the device 700 can acquire an image of the road ahead of the vehicle and determine whether the vehicle is about to enter a curve or a ramp based on the image of the road ahead.
  • device 700 can send an assisted travel request. The device 700 can then receive a travel offer provided in response to the assisted travel request. Next, device 700 can display driving recommendations.
  • the device 700 may also include an input device 730, such as a button, a touch screen, and a camera, for acquiring a road image in front and inputting an assist travel request, and the like. Additionally, device 700 may also include an output device 740, such as a display and a loudspeaker, for outputting travel suggestions, stitching images, and voice, and the like. Further, apparatus 700 can also include communication device 750 for communicating with other communication devices.
  • an input device 730 such as a button, a touch screen, and a camera
  • an output device 740 such as a display and a loudspeaker, for outputting travel suggestions, stitching images, and voice, and the like.
  • apparatus 700 can also include communication device 750 for communicating with other communication devices.
  • processors 610 and 710 may be, for example, a central processing unit CPU, a microprocessor, a digital signal processor (DSP), a multi-core based processor architecture processor, or the like.
  • Memory 620 and 720 can be any type of memory implemented using data storage techniques including, but not limited to, random access memory, read only memory, semiconductor based memory, flash memory, disk storage, and the like.
  • a computer readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the assisted vehicle travel method 200 as shown in FIG. step.
  • a computer readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the method for use in a vehicle as shown in FIG. 500 steps.
  • FIG. 8 shows a schematic diagram of a system 800 for assisting vehicle travel, in accordance with an embodiment of the present disclosure.
  • the system 800 for assisting vehicle travel includes, for example, a device 600 for assisting vehicle travel as shown in FIG. 6 located in the cloud server and as shown in FIG. 7 in the first vehicle 110, the second vehicle 120, and the third vehicle 130, respectively.
  • the device 600 that assists vehicle travel may communicate with the device 700 used in the vehicle via, for example, a wireless communication network (such as a 3G communication network, a 4G communication network, or a 5G communication network, etc.) to assist the vehicle in traveling.
  • a wireless communication network such as a 3G communication network, a 4G communication network, or a 5G communication network, etc.
  • device 600 that assists vehicle travel works in conjunction with device 700 used in the vehicle.
  • the first vehicle 110 may simultaneously display the first forward road image and the second forward road image on the in-vehicle display, or The second forward road image may be stitched with the first forward road image using image registration techniques to generate a stitched image.
  • the apparatus 600 for assisting vehicle travel provides a stitched image to the apparatus 700 in the first vehicle 110
  • the first vehicle 110 may directly display the stitched image.

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Abstract

一种用于辅助车辆行驶的方法、装置、***，以及相应的在车辆中使用的方法和装置。其中，用于辅助车辆行驶的方法包括：从第一车辆（110）接收辅助行驶请求，并获取第一车辆（110）的第一车辆信息。第一车辆信息至少包括第一车辆（110）的当前位置；基于第一车辆（110）的当前位置，获取第二车辆信息；第二车辆信息与同第一车辆（110）进入同一弯道或坡道的至少一个车辆有关；基于第一车辆信息和第二车辆信息，向第一车辆（110）提供行驶建议。这种方法和装置有助于避免进入同一弯道或者坡道的车辆发生碰撞。

Description

辅助车辆行驶的方法及装置
相关申请的交叉引用
本申请要求于2018年1月31日递交的中国专利申请第201810092689.3号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。
技术领域
本公开涉及车辆安全技术领域，具体地，涉及用于辅助车辆行驶的方法及装置和相应的在车辆中使用的方法及装置。
背景技术
随着车辆数量的增加，交通事故的数量也呈上升趋势。其中一些交通事故的发生是由于行车路段的路况因素而导致的。例如，在弯道或坡道上发生相向行驶的车辆碰撞的交通事故。在这种交通事故中，由于驾驶员无法提前获知前方路段的状况，进而不能及时采取相应措施，比如减速、变更车道等，因此可能与相向行驶的车辆发生碰撞，从而导致交通事故的发生。
发明内容
本文中描述的实施例提供了一种用于辅助车辆行驶的方法及装置和相应的在车辆中使用的方法及装置，其能够有助于避免进入同一弯道或者坡道的车辆发生碰撞。
根据本公开的第一方面，提供了一种用于辅助车辆行驶的方法。在该方法中，从第一车辆接收辅助行驶请求。然后，获取第一车辆的第一车辆信息。第一车辆信息至少包括第一车辆的当前位置。接着，基于第一车辆的当前位置，获取第二车辆信息。第二车辆信息与同第一车辆进入同一弯道或坡道的至少一个车辆有关。接着，基于第一车辆信息和第二车辆信息， 向第一车辆提供行驶建议。
在本公开的实施例中，第一车辆信息还包括第一车辆的行驶方向、当前速度和尺寸。
在本公开的实施例中，第二车辆信息包括至少一个车辆的行驶方向、当前位置、当前速度和尺寸。
在本公开的实施例中，至少一个车辆与第一车辆的距离小于预定距离。
在本公开的实施例中，在基于第一车辆信息和第二车辆信息，向第一车辆提供行驶建议的步骤中，基于第一车辆和至少一个车辆的行驶方向、当前速度和当前位置，确定第一车辆的推荐速度。然后，基于第一车辆和至少一个车辆的行驶方向、尺寸和当前位置，确定第一车辆的推荐车道。接着，向第一车辆提供推荐速度和推荐车道。
在本公开的实施例中，第二车辆信息还包括至少一个车辆的前方道路图像。该方法进一步将来自至少一个车辆的前方道路图像发送给第一车辆。
在本公开的实施例中，第一车辆信息还包括第一车辆的第一前方道路图像。第二车辆信息还包括至少一个车辆的第二前方道路图像。该方法进一步对具有相同时间戳的第一前方道路图像和第二前方道路图像执行图像配准，以生成拼接图像，并将拼接图像发送给第一车辆。
在本公开的实施例中，进一步地，基于第一车辆信息和第二车辆信息中与至少一个车辆中的选定车辆有关的信息，向选定车辆提供行驶建议。
在本公开的实施例中，第一车辆信息还包括第一车辆的第一前方道路图像。该方法进一步将第一前方道路图像发送给选定车辆。
在本公开的实施例中，进一步地，建立第一车辆与至少一个车辆之间的语音通信。
在本公开的实施例中，进一步地，从第一车辆接收禁用辅助行驶的消息。
根据本公开的第二方面，提供了一种在车辆中使用的方法。在该方法中，获取车辆的前方道路图像，并基于前方道路图像，确定车辆是否即将进入弯道或坡道。响应于确定车辆即将进入弯道或坡道，发送辅助行驶请 求。然后，接收响应于辅助行驶请求而提供的行驶建议。接着，显示该行驶建议。
在本公开的实施例中，进一步地，接收第二前方道路图像，并同时显示第一前方道路图像和第二前方道路图像。
在本公开的实施例中，进一步地，接收第二前方道路图像，对具有相同时间戳的所述前方道路图像和第二前方道路图像执行图像配准，以生成拼接图像，并显示该拼接图像。
在本公开的实施例中，进一步地，发送禁用辅助行驶的消息。
根据本公开的第三方面，提供了一种辅助车辆行驶的装置。该装置包括至少一个处理器，以及存储有计算机程序的至少一个存储器。当计算机程序由至少一个处理器执行时使得装置执行如上所述的根据本公开的第一方面的辅助车辆行驶的方法。
根据本公开的第四方面，提供了一种在车辆中使用的装置。该装置包括至少一个处理器，以及存储有计算机程序的至少一个存储器。当计算机程序由至少一个处理器执行时使得装置：获取车辆的前方道路图像；基于前方道路图像，确定车辆是否即将进入弯道或坡道；响应于确定车辆即将进入弯道或坡道，发送辅助行驶请求；接收响应于辅助行驶请求而提供的行驶建议；以及显示该行驶建议。
根据本公开的第五方面，提供了一种辅助车辆行驶的***。该***包括如上所述的根据本公开的第三方面的辅助车辆行驶的装置和如上所述的根据本公开的第四方面的在车辆中使用的装置。
附图说明
为了更清楚地说明本公开的实施例的技术方案，下面将对实施例的附图进行简要说明，应当知道，以下描述的附图仅仅涉及本公开的一些实施例，而非对本公开的限制，其中：
图1是示出车辆在弯道上行驶的情形的示意图；
图2是根据本公开的实施例的用于辅助车辆行驶的方法的示例性流程 图；
图3是用于说明基于图像配准来生成拼接图像的示例性示意图；
图4是示出车辆在弯道上行驶的另一种情形的示意图；
图5是根据本公开的实施例的在车辆中使用的方法的示例性流程图；
图6是根据本公开的实施例的辅助车辆行驶的装置的示意性框图；
图7是根据本公开的实施例的在车辆中使用的装置的示意性框图；
图8是根据本公开的实施例的辅助车辆行驶的***的示意图。
具体实施方式
为了使本公开的实施例的目的、技术方案和优点更加清楚，下面将结合附图，对本公开的实施例的技术方案进行清楚、完整的描述。显然，所描述的实施例是本公开的一部分实施例，而不是全部的实施例。基于所描述的本公开的实施例，本领域技术人员在无需创造性劳动的前提下所获得的所有其它实施例，也都属于本公开保护的范围。
除非另外定义，否则在此使用的所有术语(包括技术和科学术语)具有与本公开主题所属领域的技术人员所通常理解的相同含义。进一步将理解的是，诸如在通常使用的词典中定义的那些的术语应解释为具有与说明书上下文和相关技术中它们的含义一致的含义，并且将不以理想化或过于正式的形式来解释，除非在此另外明确定义。如在此所使用的，将两个或更多部分“连接”或“耦接”到一起的陈述应指这些部分直接结合到一起或通过一个或多个中间部件结合。
在本公开的所有实施例中，诸如“第一”和“第二”的术语仅用于将一个部件(或部件的一部分)与另一个部件(或部件的另一部分)区分开。
在弯道或坡道等无法看见前方车辆的道路上，车辆容易与前方车辆发生碰撞。根据本公开的实施例提供的用于辅助车辆行驶的方法及装置可用于辅助在上述道路上的车辆行驶。下面以在弯道上辅助车辆行驶为例进行说明。
图1是示出车辆在弯道上行驶的情形的示意图。如图1所示，第一车 辆110，第二车辆120和第三车辆130的行驶方向如箭头所示。第一车辆110上的驾驶员可能无法看到第二车辆120和第三车辆130。同样地，第二车辆120和第三车辆130上的驾驶员也可能无法看到第一车辆110。因此，第一车辆110与第二车辆120和第三车辆130有可能发生碰撞。可使用超声波或者车辆间的通信技术来感知弯道附近的车辆。但是如果触发感知弯道附近车辆的机制不够智能，需要人工触发弯道感知或者一直开启检测周围车辆的模式，则这会造成对日常驾驶的干扰。此外，车辆与车辆共享的信息可能只有位置，因此需要靠司机自己判断来选择车道和车速。
图2示出根据本公开的实施例的用于辅助车辆行驶的方法200的示意性流程图。在本公开的实施例中，用于辅助车辆行驶的方法可以由位于车辆之外的诸如云服务器的计算设备来执行。期望获得行驶辅助的车辆可预先向计算设备注册，并允许计算设备获取与该车辆相关的信息。在本公开的实施例中，假定所涉及的所有车辆均已向计算设备进行了注册。下文中，以第一车辆110期望获得行驶辅助为例来进行说明。
如图2所示，在步骤S202，计算设备可从第一车辆110接收辅助行驶请求。该辅助行驶请求用于请求计算设备辅助第一车辆110在例如弯道或坡道上的行驶。
在步骤S204，计算设备可获取第一车辆110的第一车辆信息，该第一车辆信息至少包括第一车辆110的当前位置。第一车辆信息还可以包括第一车辆的行驶方向、当前速度和尺寸。
在步骤S206，计算设备可基于第一车辆110的当前位置，获取第二车辆信息。该第二车辆信息与同第一车辆110进入同一弯道的至少一个车辆有关。在本公开的实施例中，计算设备可在与第一车辆110的当前位置之间的距离小于预定距离的搜索范围内搜索已注册的其它车辆。如果在该搜索范围内没有搜索到其它车辆，则计算设备可扩大搜索范围以继续搜索。在下文中以计算设备搜索到第二车辆120和第三车辆130为例进行说明。计算设备获取与第二车辆120和第三车辆130有关的第二车辆信息。第二车辆信息例如可以包括第二车辆120和第三车辆130的行驶方向、当前位 置、当前速度和尺寸。
在步骤S208，计算设备可基于第一车辆信息和第二车辆信息，向第一车辆110提供行驶建议。例如，计算设备可基于第一车辆110、第二车辆120和第三车辆130的行驶方向、当前速度和当前位置，确定第一车辆110的推荐速度。计算设备可基于第一车辆110、第二车辆120和第三车辆130的行驶方向、尺寸和当前位置，确定第一车辆110的推荐车道，以避免第一车辆110与第二车辆120和第三车辆130行驶在同一车道上。然后，计算设备向第一车辆110提供所确定的推荐速度和推荐车道。
进一步地，在本公开的实施例中，第二车辆信息还可以包括例如第二车辆120和第三车辆130的前方道路图像。在这种情况下，计算设备可分别从第二车辆120和第三车辆130接收前方道路图像(以下也称为“第二前方道路图像”)。第二车辆120和第三车辆130可通过车载摄像头来拍摄前方的道路情况，以获得第二前方道路图像。在图2所示的方法200中，计算设备还可以进一步将第二前方道路图像发送给第一车辆110。这样，第一车辆110的驾驶者可以提前看到转弯之后的道路情况。
在本公开的进一步的实施例中，第一车辆信息还可以包括例如第一车辆110的前方道路图像。在这种情况下，计算设备可从第一车辆110接收前方道路图像(以下也称为“第一前方道路图像”)。第一车辆110可通过车载摄像头来拍摄前方的道路情况，以获得第一前方道路图像。在这里，计算设备与车辆(第一车辆110、第二车辆120和第三车辆130)具有同步的时钟信号。车辆可以预定的时间间隔(例如，1秒)拍摄前方道路图像，并在相应的前方道路图像的元数据中记录拍摄图像的时间(即，时间戳)。然后，车辆可将所拍摄的前方道路图像及其元数据发送给计算设备。计算设备在接收到第一前方道路图像和第二前方道路图像之后，可通过对具有相同时间戳的第一前方道路图像和第二前方道路图像执行图像配准来生成拼接图像，并将该拼接图像发送给第一车辆110。对具有相同时间戳的第一前方道路图像和第二前方道路图像执行图像配准来生成拼接图像，能够避免由于第一车辆110与第二车辆120和第三车辆130之间的物体运动而 造成的拼接不准的问题。
图像配准是将由不同传感器(成像设备)获取的或者在不同条件下(例如，拍摄位置、拍摄角度等)获取的两幅或多幅图像进行匹配、叠加的过程。图3示例性地示出用于说明基于图像配准来生成拼接图像的示意图。在图3中，以从第一车辆110和第二车辆120拍摄的图像为例进行说明。第一车辆110拍摄的图像示例性示出在图3中的左上角。第二车辆120拍摄的图像示例性示出在图3中的右上角。首先，对第一车辆110拍摄的图像和第二车辆120拍摄的图像进行特征提取，以确定两幅图像中的特征点。然后，根据相似性度量，确定匹配的特征点对。根据匹配的特征点对，可获得图像的空间坐标变换参数。根据空间坐标变换参数，可对两幅图像进行图像配准，以生成拼接图像，如在图3的下方示出的图像。在拼接图像中，左上角的图像与右上角的图像中相同的部分被合成在一起，并形成一个视野更宽的图像。例如，图像配准可利用OpenCV工具中的尺度不变特征变换(SIFT)算法实现。类似地，也可以对来自第一车辆110、第二车辆120和第三车辆130的图像进行拼接。通过拼接图像，车辆的驾驶员能够更清晰地了解前方路况。
进一步地，在本公开的实施例中，计算设备还可在向第一车辆110发送图像时发送关于该图像是否是拼接图像的指示，以使得第一车辆110能够知道所接收的图像是拼接图像还是来自其它车辆的第二前方道路图像。
在本公开的实施例中，计算设备还可以向第二车辆120和第三车辆130提供行驶建议。例如，计算设备可基于第一车辆110、第二车辆120和第三车辆130的行驶方向、当前速度和当前位置，确定第二车辆120的推荐速度。计算设备可基于第一车辆110、第二车辆120和第三车辆130的行驶方向、当前速度和当前位置，确定第三车辆130的推荐速度。计算设备可基于第一车辆110、第二车辆120和第三车辆130的行驶方向、尺寸和当前位置，确定第二车辆120的推荐车道以避免第二车辆120与第一车辆110行驶在同一车道上。计算设备可基于第一车辆110、第二车辆120和第三车辆130的行驶方向、尺寸和当前位置，确定第三车辆130的推荐车道 以避免第三车辆130与第一车辆110行驶在同一车道上。然后计算设备可分别向第二车辆120和第三车辆130提供所确定的推荐速度和推荐车道。
在本公开的实施例中，计算设备还可以向第二车辆120和第三车辆130提供第一前方道路图像。这样，第二车辆120和第三车辆130可以看到转弯之后的道路，提前做出驾驶判断。
在本公开的实施例中，计算设备还可以建立第一车辆110与第二车辆120和第三车辆130之间的语音通信。这样，第一车辆110的驾驶员可以与第二车辆120和第三车辆130的驾驶员进行语音通信，相互协调车道和速度。
在本公开的实施例中，计算设备还可以在从第一车辆110接收到禁用辅助行驶的消息之后，停止向第一车辆110发送行驶建议。
图4示出了车辆在弯道上行驶的另一种示例性情形，在该示例性情形中，也可以实施根据本公开的实施例的辅助车辆行驶的方法。如图4所示，第四车辆410、第五车辆420、第六车辆430和第七车辆440的行驶方向相同，如箭头所示。在本例中，假定第四车辆410向计算设备发送辅助行驶请求。响应于该辅助行驶请求，计算设备搜索到第五车辆420、第六车辆430和第七车辆440。
计算设备可基于第四车辆410、第五车辆420、第六车辆430和第七车辆440的行驶方向、当前速度和当前位置，确定第四车辆410的推荐速度。进一步地，计算设备可基于第四车辆410、第五车辆420、第六车辆430和第七车辆440的行驶方向、尺寸和当前位置，确定第四车辆410的推荐车道。然后，计算设备向第四车辆410提供所确定的推荐速度和推荐车道作为行驶建议，以避免第四车辆410与第五车辆420、第六车辆430和第七车辆440发生碰撞。此外，计算设备也可向第五车辆420、第六车辆430和第七车辆440分别提供推荐速度和推荐车道。
图5示出根据本公开的实施例的在车辆中使用的方法500的示例性流程图。下面以图1中的第一车辆110为例来说明在车辆中使用的方法500。
如图5所示，在步骤S502，获取车辆的前方道路图像。例如第一车辆 110可通过安装在其前方的摄像头获取第一前方道路图像。
在步骤S506，基于第一前方道路图像，确定前方道路是否为弯道，从而确定第一车辆110是否即将进入弯道。在本公开的实施例中，可使用图像识别技术来识别第一前方道路图像中的道路是否为弯道。在一个实施例中，可预先建立弯道识别模型。该弯道识别模型可使用大量已标注为弯道的弯道图像，通过对神经网络进行训练而建立。在获得第一前方道路图像后，通过弯道识别模型来识别第一前方道路图像中的道路是否是弯道。此外，也可以例如利用OpenCV工具集成的SIFT算法来识别弯道。如果确定前方道路不是弯道(步骤S506中的“否”)，表明车辆不会进入弯道，则返回步骤S502，继续获取第一前方道路图像。如果确定前方道路是弯道(步骤S506中的“是”)，表明车辆即将进入弯道，则在步骤S508，发送辅助行驶请求。
可选地，辅助行驶请求也可以由第一车辆110的驾驶员通过第一车辆110上设置的按键手动发送。在本公开的实施例中，按键可以是设置在车辆的控制台上的按键，或者是设置在车载触摸屏上的触控按键或虚拟按键。
接着，在步骤S510，第一车辆110接收响应于辅助行驶请求而提供的行驶建议。在步骤S512，第一车辆110可在车载显示器上显示所接收的行驶建议。这样，第一车辆110的驾驶员可根据行驶建议来驾驶第一车辆110。
在本公开的实施例中，第一车辆110可接收来自外部设备(例如，如上所述的计算设备)的图像。在一个实施例中，第一车辆110可在车载显示器上同时显示所接收的图像和第一前方道路图像。在另一个实施例中，第一车辆110在接收来自外部设备的图像的同时接收有关该图像是否是拼接图像的指示。第一车辆可根据所接收的指示，确定所接收的图像是否是拼接图像。如果所接收的图像是拼接图像，则第一车辆110可在车载显示器上直接显示该拼接图像。如果所接收的图像不是拼接图像，则第一车辆110可在车载显示器上同时显示第一前方道路图像和所接收的图像。可替代地，第一车辆110也可使用图像配准技术将所接收的图像与第一前方道路图像进行拼接以生成拼接图像，并在车载显示器上显示拼接图像，从而 向第一车辆110的驾驶员提供扩大的视野范围。
进一步地，在本公开的实施例中，第一车辆110还可基于第一前方道路图像，确定其是否即将离开弯道。如果确定其即将离开弯道，则第一车辆110发送禁用辅助行驶的消息。或者，第一车辆110的驾驶员可以通过第一车辆110上设置的按键手动发送禁用辅助行驶的消息。
进一步地，第一车辆110还可以接收响应于来自其它车辆的辅助行驶请求而提供的行驶建议。例如，在第二车辆120向计算设备发送辅助行驶请求的情况下，计算设备可向第二车辆120提供针对第二车辆120的行驶建议。为避免第一车辆110与第二车辆120发生碰撞，计算设备还可向第一车辆110提供针对第一车辆110行驶建议。因此，在这种情况下，即使第一车辆110没有向计算设备发送辅助行驶请求，第一车辆110也可以接收计算设备为其提供的行驶建议。
图6示出根据本公开的实施例的辅助车辆行驶的装置600的示意性框图。辅助车辆行驶的装置600例如可以是云服务器，或者在云服务器中实现。如图6所示，辅助车辆行驶的装置600可包括处理器610和存储有计算机程序的存储器620。当计算机程序由处理器610执行时，使得装置600可执行如图2所示的用于辅助车辆行驶的方法200的步骤。也就是说，装置600可从第一车辆110接收辅助行驶请求。然后，装置600可获取第一车辆110的第一车辆信息。第一车辆信息至少包括第一车辆110的当前位置。接着，装置600可基于第一车辆110的当前位置，获取第二车辆信息。第二车辆信息与同第一车辆110进入同一弯道或坡道的至少一个车辆有关。接着，装置600可基于第一车辆信息和第二车辆信息，向第一车辆110提供行驶建议。
在本公开的实施例中，装置600可基于第一车辆110和至少一个车辆的行驶方向、当前速度和当前位置，确定第一车辆110的推荐速度，并基于第一车辆110和至少一个车辆的行驶方向、尺寸和当前位置，确定第一车辆110的推荐车道。然后，装置600向第一车辆110提供推荐速度和推荐车道。
在本公开的实施例中，第二车辆信息还包括至少一个车辆的前方道路图像。在这种情况下，装置600可将来自至少一个车辆的前方道路图像发送给第一车辆110。
在本公开的实施例中，第一车辆信息还包括第一车辆110的第一前方道路图像，第二车辆信息还包括至少一个车辆的第二前方道路图像。在这种情况下，装置600可对具有相同时间戳的第一前方道路图像和第二前方道路图像执行图像配准，以生成拼接图像，并将拼接图像发送给第一车辆110。
在本公开的实施例中，装置600还可基于第一车辆信息和第二车辆信息中与至少一个车辆中的选定车辆有关的信息，向选定车辆提供行驶建议。进一步地，装置600还可将第一前方道路图像发送给选定车辆。
在本公开的实施例中，装置600还可建立第一车辆与至少一个车辆之间的语音通信。
在本公开的实施例中，装置600还可从第一车辆接收禁用辅助行驶的消息。
此外，在本公开的实施例中，装置600也可包括发送设备630，用于发送行驶建议和拼接图像等。另外，装置600还可包括接收设备640，用于接收辅助行驶请求和禁用辅助行驶的消息等。进一步地，装置600还可以包括通信设备650，用于与其它通信设备进行通信。
图7示出根据本公开的实施例的在车辆中使用的装置700的示意性框图。在车辆中使用的装置700可例如安装在车辆的控制***中。在车辆中使用的装置700可包括处理器710和存储有计算机程序的存储器720。当计算机程序由处理器710执行时，使得装置700可执行如图5所示的在车辆中使用的方法500的步骤。也就是说，装置700可获取车辆的前方道路图像，并基于前方道路图像，确定车辆是否即将进入弯道或坡道。响应于确定车辆即将进入弯道或坡道，装置700可发送辅助行驶请求。然后，装置700可接收响应于辅助行驶请求而提供的行驶建议。接着，装置700可显示行驶建议。
此外，在本公开的实施例中，装置700也可包括输入设备730，例如按键、触摸屏和摄像头等，用于获取前方道路图像和输入辅助行驶请求等。另外，装置700还可包括输出设备740，例如显示器和扩音器等，用于输出行驶建议、拼接图像，以及语音等。进一步地，装置700还可以包括通信设备750，用于与其它通信设备进行通信。
在本公开的实施例中，处理器610和710可以是例如中央处理单元CPU、微处理器、数字信号处理器(DSP)、基于多核的处理器架构的处理器等。存储器620和720可以是使用数据存储技术实现的任何类型的存储器，包括但不限于随机存取存储器、只读存储器、基于半导体的存储器、闪存、磁盘存储器等。
在本公开的其它实施例中，还提供了一种存储有计算机程序的计算机可读存储介质，其中，计算机程序在由处理器执行时实现如图2所示的用于辅助车辆行驶方法200的步骤。
在本公开的其它实施例中，还提供了一种存储有计算机程序的计算机可读存储介质，其中，计算机程序在由处理器执行时实现如图5所示的用于在车辆中使用的方法500的步骤。
图8示出根据本公开的实施例的辅助车辆行驶的***800的示意图。辅助车辆行驶的***800包括例如位于云服务器中的如图6所示的辅助车辆行驶的装置600和分别位于第一车辆110、第二车辆120和第三车辆130中的如图7所示的在车辆中使用的装置700。辅助车辆行驶的装置600可以通过例如无线通信网络(诸如3G通信网络、4G通信网络或5G通信网络等)与在车辆中使用的装置700通信，以辅助该车辆行驶。
在本公开的实施例中，在辅助车辆行驶的***800中，辅助车辆行驶的装置600与在车辆中使用的装置700协同工作。在辅助车辆行驶的装置600向第一车辆110中的装置700提供第二前方道路图像的情况下，第一车辆110可在车载显示器上同时显示第一前方道路图像和第二前方道路图像，或者可使用图像配准技术将第二前方道路图像与第一前方道路图像进行拼接以生成拼接图像。在辅助车辆行驶的装置600向第一车辆110中的 装置700提供拼接图像的情况下，第一车辆110可以直接显示该拼接图像。
本领域的技术人员可以了解，根据本公开的实施例的用于辅助车辆行驶的方法及装置和相应的在车辆中使用的方法及装置也能够用于辅助在坡道上的车辆行驶。
除非上下文中另外明确地指出，否则在本文和所附权利要求中所使用的词语的单数形式包括复数，反之亦然。因而，当提及单数时，通常包括相应术语的复数。相似地，措辞“包含”和“包括”将解释为包含在内而不是独占性地。同样地，术语“包括”和“或”应当解释为包括在内的，除非本文中明确禁止这样的解释。在本文中使用术语“示例”之处，特别是当其位于一组术语之后时，所述“示例”仅仅是示例性的和阐述性的，且不应当被认为是独占性的或广泛性的。
适应性的进一步的方面和范围从本文中提供的描述变得明显。应当理解，本申请的各个方面可以单独或者与一个或多个其它方面组合实施。还应当理解，本文中的描述和特定实施例旨在仅说明的目的并不旨在限制本申请的范围。
以上对本公开的若干实施例进行了详细描述，但显然，本领域技术人员可以在不脱离本公开的精神和范围的情况下对本公开的实施例进行各种修改和变型。本公开的保护范围由所附的权利要求限定。

Claims (15)

  1. 一种用于辅助车辆行驶的方法，包括：
    从第一车辆接收辅助行驶请求；
    获取所述第一车辆的第一车辆信息，所述第一车辆信息至少包括所述第一车辆的当前位置；
    基于所述第一车辆的当前位置，获取第二车辆信息，其中所述第二车辆信息与同所述第一车辆进入同一弯道或坡道的至少一个车辆有关；以及基于所述第一车辆信息和所述第二车辆信息，向所述第一车辆提供行驶建议。
  2. 根据权利要求1所述的方法，其中，所述第一车辆信息还包括所述第一车辆的行驶方向、当前速度和尺寸。
  3. 根据权利要求1或2所述的方法，其中，所述第二车辆信息包括所述至少一个车辆的行驶方向、当前位置、当前速度和尺寸。
  4. 根据权利要求1至3中任一项所述的方法，其中，所述至少一个车辆与所述第一车辆的距离小于预定距离。
  5. 根据权利要求1至4中任一项所述的方法，其中，基于所述第一车辆信息和所述第二车辆信息，向所述第一车辆提供行驶建议包括：
    基于所述第一车辆和所述至少一个车辆的行驶方向、当前速度和当前位置，确定所述第一车辆的推荐速度；
    基于所述第一车辆和所述至少一个车辆的行驶方向、尺寸和当前位置，确定所述第一车辆的推荐车道；以及
    向所述第一车辆提供所述推荐速度和所述推荐车道。
  6. 根据权利要求3所述的方法，其中，所述第二车辆信息还包括所述至少一个车辆的前方道路图像，
    所述方法还包括：
    将来自所述至少一个车辆的前方道路图像发送给所述第一车辆。
  7. 根据权利要求3所述的方法，其中，所述第一车辆信息还包括所述第一车辆的第一前方道路图像，所述第二车辆信息还包括所述至少一个车 辆的第二前方道路图像，所述方法还包括：
    对具有相同时间戳的所述第一前方道路图像和所述第二前方道路图像执行图像配准，以生成拼接图像；以及
    将所述拼接图像发送给所述第一车辆。
  8. 根据权利要求1至7中任一项所述的方法，还包括：
    基于所述第一车辆信息和所述第二车辆信息中与所述至少一个车辆中的选定车辆有关的信息，向所述选定车辆提供行驶建议。
  9. 根据权利要求8所述的方法，其中，所述第一车辆信息还包括所述第一车辆的第一前方道路图像，所述方法还包括：
    将所述第一前方道路图像发送给所述选定车辆。
  10. 根据权利要求1至9中任一项所述的方法，还包括：
    建立所述第一车辆与所述至少一个车辆之间的语音通信。
  11. 根据权利要求1至10中任一项所述的方法，还包括：
    从所述第一车辆接收禁用辅助行驶的消息。
  12. 一种在车辆中使用的方法，包括：
    获取所述车辆的前方道路图像；
    基于所述前方道路图像，确定所述车辆是否即将进入弯道或坡道；
    响应于确定所述车辆即将进入弯道或坡道，发送辅助行驶请求；
    接收响应于所述辅助行驶请求而提供的行驶建议；以及
    显示所述行驶建议。
  13. 一种辅助车辆行驶的装置，包括：
    至少一个处理器；以及
    存储有计算机程序的至少一个存储器；
    其中，当所述计算机程序由所述至少一个处理器执行时使得所述装置执行如权利要求1-11中任一项所述的方法。
  14. 一种在车辆中使用的装置，包括：
    至少一个处理器；以及
    存储有计算机程序的至少一个存储器；
    其中，当所述计算机程序由所述至少一个处理器执行时使得所述装置：
    获取所述车辆的前方道路图像；
    基于所述前方道路图像，确定所述车辆是否即将进入弯道或坡道；
    响应于确定所述车辆即将进入弯道或坡道，发送辅助行驶请求；
    接收响应于所述辅助行驶请求而提供的行驶建议；以及
    显示所述行驶建议。
  15. 一种辅助车辆行驶的***，包括根据权利要求13所述的辅助车辆行驶的装置和根据权利要求14所述的在车辆中使用的装置。
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