CN-115805963-B - Driving assisting method, device, equipment and medium applied to vehicle

CN115805963BCN 115805963 BCN115805963 BCN 115805963BCN-115805963-B

Abstract

The invention discloses an auxiliary driving method, device, equipment and medium applied to a vehicle, wherein the method comprises the steps of obtaining at least one associated vehicle in the same driving direction with a target vehicle, determining relative position information of the at least one associated vehicle and the target vehicle, determining at least one vehicle to be integrated on a road where the target vehicle belongs from the at least one associated vehicle according to the relative position information, determining current relative position information of the at least one vehicle to be integrated and the associated vehicle located on the road where the target vehicle belongs and the target vehicle respectively, determining a target following vehicle based on the current relative position information, and adjusting vehicle driving parameters of the target vehicle based on vehicle driving parameters of the target following vehicle. The method and the device realize the effect of accurately determining the target following vehicle so as to adjust the vehicle running parameters of the current driving vehicle based on the vehicle running parameters of the target vehicle and intelligently assist the current driving vehicle to run.

Inventors

ZHENG ZHEN
ZHAO DEFANG
LUO XIAO
MA HUAN
CHEN XINYU
XIE ZEYU

Assignees

中国第一汽车股份有限公司

Dates

Publication Date: 20260505
Application Date: 20221130

Claims (10)

1. A driving assistance method applied to a vehicle, comprising: Acquiring at least one associated vehicle in the same running direction as a target vehicle, and determining relative position information of the at least one associated vehicle and the target vehicle, wherein the relative position information comprises a transverse interval and a longitudinal interval, the longitudinal direction corresponds to the running direction, and the transverse direction is a direction vertical to the longitudinal direction on a horizontal plane; determining at least one vehicle to be incorporated into a road to which the target vehicle belongs from the at least one associated vehicle according to the relative position information; Respectively determining the at least one vehicle to be integrated and the current relative position information of the associated vehicle positioned on the road to which the target vehicle belongs and the target vehicle, and determining a target following vehicle based on each current relative position information; and adjusting the vehicle running parameters of the target vehicle based on the vehicle running parameters of the target following vehicle.
2. The method of claim 1, wherein the acquiring at least one associated vehicle in the same direction of travel as the target vehicle and determining relative position information of the at least one associated vehicle and the target vehicle comprises: Based on a laser radar installed on a target vehicle, scanning a vehicle in the same running direction as the target vehicle to obtain at least one associated vehicle; and determining the transverse distance and the longitudinal distance of each associated vehicle relative to the target vehicle, and obtaining the relative position information of each associated vehicle relative to the target vehicle.
3. The method according to claim 1, wherein the determining at least one vehicle to be incorporated into the road to which the target vehicle belongs from the at least one associated vehicle based on each relative position information includes: determining the longitudinal distance corresponding to the corresponding associated vehicle according to the relative position information; and determining the associated vehicle which is not in the lane to which the target vehicle belongs and is smaller than the longitudinal distance threshold value as the vehicle to be incorporated into the lane to which the target vehicle belongs.
4. The method of claim 1, wherein the determining the at least one vehicle to be incorporated and the current relative position information of the associated vehicle located on the road to which the target vehicle belongs and the target vehicle, respectively, and determining the target following vehicle based on each of the current relative position information, comprises: determining a minimum longitudinal distance from the current relative position information, and determining whether an associated vehicle corresponding to the minimum longitudinal distance and the target vehicle belong to the same lane; if yes, determining the front vehicle closest to the target vehicle as a target following vehicle; If not, determining a target following vehicle from at least one vehicle to be determined, wherein the vehicle to be determined is an associated vehicle which is not in a lane to which the target vehicle belongs.
5. The method of claim 4, wherein said determining a target following vehicle from at least one vehicle to be determined comprises: Acquiring historical relative position information of each vehicle to be determined, and determining a historical transverse distance set corresponding to the corresponding vehicle to be determined based on the historical relative position information, wherein the historical relative position information comprises a historical longitudinal distance and a historical transverse distance; And determining distance change information of the transverse distances in each historical transverse distance set, and determining at least one candidate vehicle-following vehicle according to the distance change information so as to determine a target vehicle-following vehicle from each candidate vehicle-following vehicle.
6. The method of claim 5, wherein determining pitch variation information for the lateral pitches in each set of historical lateral pitches and determining at least one candidate following vehicle based on the pitch variation information to determine a target following vehicle from each candidate following vehicle comprises: if the distance change information meets the distance change detection condition, determining that the corresponding vehicle to be determined is a candidate following vehicle, wherein the distance change detection condition is that the transverse distance is continuously reduced; determining whether the number of candidate following vehicles is a plurality; if so, determining the candidate following vehicle closest to the longitudinal distance of the target vehicle as the target following vehicle; and if not, determining the candidate following vehicle as the target following vehicle.
7. The method of claim 1, wherein the adjusting the vehicle travel parameters of the target vehicle based on the vehicle travel parameters of the target following vehicle comprises: Determining a vehicle speed to be determined of the target following vehicle; And if the to-be-determined vehicle speed is smaller than the current vehicle speed of the target vehicle, reducing the current vehicle speed of the target vehicle.
8. A driving assist apparatus for use in a vehicle, comprising: the system comprises a relative position information determining module, a target vehicle, a vehicle speed sensor and a vehicle speed sensor, wherein the relative position information determining module is used for acquiring at least one associated vehicle in the same running direction with the target vehicle and determining relative position information of the at least one associated vehicle and the target vehicle, the relative position information comprises a transverse interval and a longitudinal interval, the longitudinal direction corresponds to the running direction, and the transverse direction is a direction perpendicular to the longitudinal direction on a horizontal plane; The to-be-incorporated vehicle determining module is used for determining at least one to-be-incorporated vehicle which is to be incorporated into the road to which the target vehicle belongs from the at least one associated vehicle according to the relative position information; The target following vehicle determining module is used for respectively determining the at least one vehicle to be incorporated and the current relative position information of the associated vehicle positioned on the road to which the target vehicle belongs and the target vehicle, and determining the target following vehicle based on the current relative position information; And the driving parameter adjustment module is used for adjusting the driving parameters of the target vehicle based on the driving parameters of the target following vehicle.
9. An electronic device, the electronic device comprising: at least one processor, and A memory communicatively coupled to the at least one processor, wherein, The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the driving assistance method applied in a vehicle according to any one of claims 1-7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions for causing a processor to implement the driving assistance method applied in a vehicle according to any one of claims 1-7 when executed.

Description

Driving assisting method, device, equipment and medium applied to vehicle Technical Field The present invention relates to the field of vehicle driving technologies, and in particular, to a method, an apparatus, a device, and a medium for assisting driving in a vehicle. Background In the automatic driving process of a vehicle, it is important to accurately determine the target following object of the current vehicle. Currently, when determining a target following object of a current vehicle, the target following object is generally determined from adjacent vehicles according to a lateral distance and a longitudinal distance between vehicles. However, the determination mode is single, and when the speed of the cut-in vehicle is higher than the cut-in working condition of the own vehicle or the adjacent vehicle is cut in suddenly, the braking of the target vehicle is delayed to a certain extent, so that the speed of the own vehicle is not regulated timely by the target vehicle, and the driving experience of drivers and passengers is reduced. In order to solve the above-described problems, improvements are required to the method of assisting the driving of the vehicle. Disclosure of Invention The invention provides an auxiliary driving method, device, equipment and medium applied to a vehicle, which are used for solving the problem that when the vehicle is suddenly combined, the target following vehicle is not timely switched, so that the running parameters of the vehicle currently driven are not timely regulated. In a first aspect, an embodiment of the present invention provides a driving assistance method applied to a vehicle, including: Acquiring at least one associated vehicle in the same running direction as a target vehicle, and determining relative position information of the at least one associated vehicle and the target vehicle, wherein the relative position information comprises a transverse interval and a longitudinal interval, the longitudinal direction corresponds to the running direction, and the transverse direction is a direction vertical to the longitudinal direction on a horizontal plane; determining at least one vehicle to be incorporated into a road to which the target vehicle belongs from the at least one associated vehicle according to the relative position information; Respectively determining the at least one vehicle to be integrated and the current relative position information of the associated vehicle positioned on the road to which the target vehicle belongs and the target vehicle, and determining a target following vehicle based on each current relative position information; and adjusting the vehicle running parameters of the target vehicle based on the vehicle running parameters of the target following vehicle. In a second aspect, an embodiment of the present invention further provides a driving assistance device applied to a vehicle, including: the system comprises a relative position information determining module, a target vehicle, a vehicle speed sensor and a vehicle speed sensor, wherein the relative position information determining module is used for acquiring at least one associated vehicle in the same running direction with the target vehicle and determining relative position information of the at least one associated vehicle and the target vehicle, the relative position information comprises a transverse interval and a longitudinal interval, the longitudinal direction corresponds to the running direction, and the transverse direction is a direction perpendicular to the longitudinal direction on a horizontal plane; The to-be-incorporated vehicle determining module is used for determining at least one to-be-incorporated vehicle which is to be incorporated into the road to which the target vehicle belongs from the at least one associated vehicle according to the relative position information; The target following vehicle determining module is used for respectively determining the at least one vehicle to be incorporated and the current relative position information of the associated vehicle positioned on the road to which the target vehicle belongs and the target vehicle, and determining the target following vehicle based on the current relative position information; And the driving parameter adjustment module is used for adjusting the driving parameters of the target vehicle based on the driving parameters of the target following vehicle. In a third aspect, an embodiment of the present invention further provides an electronic device, including: at least one processor, and A memory communicatively coupled to the at least one processor, wherein, The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the driving assistance method for use in a vehicle according to any one of the embodiments of the present invention. In a fourth aspect, an embodiment of the present invention further provides a computer readabl