CN112396861A - Automobile driving assisting control method and device - Google Patents
Automobile driving assisting control method and device Download PDFInfo
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- CN112396861A CN112396861A CN202011343050.1A CN202011343050A CN112396861A CN 112396861 A CN112396861 A CN 112396861A CN 202011343050 A CN202011343050 A CN 202011343050A CN 112396861 A CN112396861 A CN 112396861A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
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Abstract
本发明提供一种汽车辅助驾驶控制方法及其装置，所述方法包括响应于汽车行驶轨迹的轨迹生成信号，获取汽车规划的行驶轨迹；获取行驶轨迹中的全部目标位置并生成目标位置集；根据目标位置集中的第一个指定位置和起始位置生成第一子轨迹；获取汽车在第一子轨迹上的行驶状态；获取目标位置集中第二个指定位置的位置状态，并根据行驶状态和位置状态生成所述汽车在所述行驶轨迹上的行驶决策。本发明通过根据接送目标的实际位置和实际情况进行行驶路线的规划，满足司机行驶路线的科学规划，也实现了对多个乘客乘车需求的满足，同时也使得多个乘客乘车时获得更好的乘车体验，避免多个乘客乘车导致接送顺序无序的问题。
The present invention provides a method and a device for controlling assisted driving of a vehicle. The method includes: in response to a trajectory generation signal of the vehicle's driving trajectory, acquiring a planned driving trajectory of the vehicle; acquiring all target positions in the driving trajectory and generating a target position set; The first specified position and the starting position in the target position set generate the first sub-track; obtain the driving state of the car on the first sub-track; obtain the position status of the second specified position in the target position set, and according to the driving state and position The states generate driving decisions for the vehicle on the driving trajectory. By planning the driving route according to the actual location and actual situation of the pick-up target, the present invention satisfies the scientific planning of the driving route of the driver, and also realizes the satisfaction of the riding needs of multiple passengers, and at the same time enables multiple passengers to obtain more benefits when riding the bus. A good ride experience, avoiding the problem of disordered pick-up and drop-off caused by multiple passengers taking the bus.
Description
Technical Field
The invention relates to the technical field of communication, in particular to an automobile auxiliary driving control method and device.
Background
At present, when a driver needs to complete a plurality of orders, how to make a corresponding service strategy according to each order is a problem to be solved urgently, for example, when the driver receives a plurality of passenger travel demands, a corresponding service strategy is made according to the destination, the actual demand situation and the geographical position change of each passenger, and for example, when a school bus or a commuter bus needs to deliver each specified target, besides a preset getting-on place, how to plan a driving route according to the actual position and the actual situation of the delivery target, and the like.
Disclosure of Invention
The invention aims to overcome the defects and provide a method and a device for controlling auxiliary driving of an automobile, aiming at solving at least one of the technical problems in the prior art.
The invention is realized by adopting the following technical scheme:
the automobile assistant driving control method comprises the following steps:
s1, responding to a track generation signal of an automobile driving track, and acquiring the planned driving track of the automobile;
s2, acquiring all target positions in the driving track and generating a target position set;
s3, generating a first sub-track according to a first designated position and an initial position in the target position set;
s4, acquiring the driving state of the automobile on the first sub-track;
and S5, acquiring the position state of a second designated position in the target position set, and generating a driving decision of the automobile on the driving track according to the driving state and the position state.
According to an embodiment of the present invention, the step S1 of obtaining the planned driving track of the automobile in response to the track generation signal of the automobile driving track specifically includes:
s11, extracting signal data in the track generation signal, and identifying a starting position, a target position and a suspected target position in the signal data;
s12, marking the starting position as a starting position feature, marking the target position as a target position feature, and marking the suspected target position as a suspected target feature;
s13, acquiring a plurality of first feature vectors indicating that the starting position feature points to the plurality of target position features, and acquiring a plurality of second feature vectors indicating that the starting position feature points to the plurality of suspected target features;
and S14, generating a driving track according to the first feature vector and the second feature vector.
The starting position refers to a starting position or a selected starting position of the automobile, the target position refers to a plurality of destinations in the whole driving track or riding positions sent by a plurality of targets, and the suspected target position refers to a suspected target position of a possible path from the starting position to the target position.
It should be noted that the suspected target position is a position, a road sign or a route mentioned in the signal data, and by acquiring the suspected target position in the signal data, a driving route can be planned for a driver more accurately, and personalized services can be provided for a plurality of passengers.
In an application scenario, a driver and a passenger A agree to take a bus at a position X, and agree to take a bus at a position Y, the driver agrees to realize the bus taking demand of the passenger A firstly, and then realizes the bus taking demand of the passenger B, at the moment, when the driver communicates with the passenger B, details in the aspects of a route from the position X to the position Y and the like are involved in communication, and if a position W is involved in the communication, the position W is a suspected target position.
According to an embodiment of the present invention, in the step S11, the step of extracting the signal data in the trajectory generation signal and identifying the start position, the target position, and the suspected target position in the signal data specifically includes:
identifying and marking a departure location of the vehicle in the signal data as the starting location;
identifying the position of the target in the signal data and marking the position as the target position;
identifying and tagging an approach route of the car in the signal data as the suspected target location.
In particular, the present embodiment provides an embodiment of identifying a start position, a target position and a suspected target position in the signal data.
In an application scenario, a driver makes an appointment to take a bus with a passenger C at a third intersection, and drives from a second north street to the third intersection after making an appointment in communication, wherein the position of the driver is an initial position, the third intersection is a target position, and the first north street and the second north street are suspected target positions.
According to an embodiment of the present invention, the step of acquiring all target positions in the driving trajectory and generating a target position set specifically includes:
extracting the target position and the suspected target position in the driving track, and generating the target position set according to the target position and the suspected target position.
Specifically, the embodiment provides an implementation manner for extracting the target position and the suspected target position in the driving track, and the target position and the suspected target position are extracted by summarizing all signal data, so that the extraction and the post-processing of the target position and the suspected target position are facilitated.
According to an embodiment of the present invention, the step of generating the first sub-track according to the first designated position and the starting position in the target position set specifically includes:
if the first designated position is the target position, generating a first sub-track according to the first designated position and the initial position, and sending the first sub-track to all the target positions;
if the first designated position is the suspected target position, selecting the target position closest to the suspected target position, and generating a first sub-track based on the starting position and the target position and passing through the suspected target position.
Specifically, the embodiment provides an implementation manner that the possibility of implementing the first designated location is implemented to further implement the first sub-trajectory, and two manners of planning the first sub-trajectory are implemented by judging whether the first designated location is a target location or a suspected target location.
According to an embodiment of the present invention, the step of acquiring the driving state of the automobile on the first sub-trajectory specifically includes:
acquiring the road condition information of the first sub-track in real time, and extracting the obstacles on the first sub-track for judgment, wherein the judgment logic is as follows:
and if the automobile cannot finish the first sub-track, updating the first sub-track according to the position between the current position of the automobile and the first appointed position, and sending the updated first sub-track to all the target positions.
Specifically, the embodiment provides an implementation mode that when the automobile runs on the first written trajectory, the automobile runs by encountering an obstacle, if the automobile can bypass the obstacle or can complete the first sub-trajectory under the preset time and preset conditions, the automobile runs according to the original plan, and if the automobile cannot complete the first sub-trajectory through the obstacle, the automobile regenerates the first sub-trajectory.
According to an embodiment of the present invention, the step of obtaining a position state of a second designated position in the target position set, and generating a driving decision of the vehicle on the driving track according to the driving state and the position state specifically includes:
if the second designated position is the target position, continuously acquiring the position state of the second designated position;
if the second designated position is a suspected target position, selecting the target position closest to the suspected target position, marking the target position as the second designated position, and continuously acquiring the position state of the second designated position;
if the position state of the second designated position changes, acquiring the position coordinate of the second designated position, and comparing the position coordinate with a preset movement range:
if the position coordinate of the second designated position is within the preset movement range, continuously acquiring the position state of the second designated position;
and if the position coordinate of the second designated position is outside the preset moving range, selecting the target position closest to the first designated position as the second designated position, and continuously acquiring the position state of the second designated position.
Specifically, the embodiment provides an implementation manner of the second designated position, and by acquiring the position state of the second designated position, the riding requirements of a plurality of passengers are met, and meanwhile, a better riding experience is obtained when the plurality of passengers ride, so that the problem that the receiving and delivering sequence is disordered due to riding of the plurality of passengers is avoided.
An automobile driving assist control apparatus for implementing the automobile driving assist control method includes:
the response module is used for responding to a generated signal of a running track of the automobile;
the acquisition module is used for acquiring a planned driving track of an automobile, acquiring all target positions in the driving track, acquiring the driving state of the automobile on a first sub-track and acquiring the position state of a second designated position in the target position set;
the generating module is used for generating a target position set, generating a first sub-track according to a first designated position and a starting position in the target position set, and generating a driving decision of the automobile on the driving track according to the driving state and the position state.
According to a third aspect of the present invention, there is provided a server comprising:
the memory and the processor are communicated with each other through a bus;
the memory stores computer instructions executable on the processor;
when the processor calls the computer program instructions, the method for controlling the auxiliary driving of the automobile can be executed.
According to a fourth aspect of the present invention, there is provided a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of a method of controlling assisted driving of a vehicle as described above.
One or more technical solutions in the present invention have at least one of the following technical effects: according to the automobile auxiliary driving control method, the automobile auxiliary driving control device, the automobile auxiliary driving control server and the storage medium, the driving route is planned according to the actual position and the actual condition of the pick-up target, the scientific planning of the driving route of a driver is met, the riding requirements of a plurality of passengers are met, meanwhile, the passengers can obtain better riding experience when riding, and the problem that the pick-up sequence is disordered due to riding of the passengers is avoided.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow logic diagram of a method for controlling assisted driving of a vehicle according to the present invention;
fig. 2 is a schematic structural diagram of an electronic device provided in the present invention.
Reference numerals:
810: a processor; 820: a communication interface; 830: a memory; 840: a communication bus.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The present application will now be described in detail with reference to the drawings, and the specific operations in the method embodiments may also be applied to the apparatus embodiments or the system embodiments. In the description of the present application, "at least one" includes one or more unless otherwise specified. "plurality" means two or more. For example, at least one of A, B and C, comprising: a alone, B alone, a and B in combination, a and C in combination, B and C in combination, and A, B and C in combination. In this application, "/" means "or, for example, A/B may mean A or B; "and/or" herein is merely an association describing an associated object, and means that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone.
In some embodiments of the present invention, as shown in fig. 1, the present invention provides a method for controlling driving assistance of a vehicle, comprising:
responding to a track generation signal of an automobile running track, and acquiring a planned running track of the automobile;
acquiring all target positions in the driving track and generating a target position set;
generating a first sub-track according to a first designated position and an initial position in the target position set;
acquiring the driving state of the automobile on the first sub-track;
and acquiring the position state of a second designated position in the target position set, and generating a driving decision of the automobile on the driving track according to the driving state and the position state.
In detail, the invention plans the driving route according to the actual position and the actual condition of the pick-up target, meets the scientific planning of the driving route of a driver, also realizes the meeting of the riding requirements of a plurality of passengers, simultaneously enables the plurality of passengers to obtain better riding experience when riding, and avoids the problem of disordered pick-up sequence caused by riding of the plurality of passengers.
In some possible embodiments, the step of obtaining the planned driving trajectory of the vehicle in response to the trajectory generation signal of the driving trajectory of the vehicle specifically includes:
extracting signal data in the track generation signal, and identifying a starting position, a target position and a suspected target position in the signal data;
marking the starting position as a starting position feature, marking the target position as a target position feature, and marking the suspected target position as a suspected target feature;
obtaining a plurality of first feature vectors of the starting position feature pointing to a plurality of target position features, and obtaining a plurality of second feature vectors of the starting position feature pointing to a plurality of suspected target features;
and generating a driving track according to the first feature vector and the second feature vector.
Specifically, a start position, a target position and a suspected target position are obtained according to the identification of the signal data, wherein the start position refers to a starting position or a selected starting position of the automobile, the target position refers to a plurality of destinations in the whole driving track or riding positions sent by a plurality of targets, and the suspected target position refers to a suspected target position of a possible path from the start position to the target position.
It should be noted that the suspected target position is a position, a road sign or a route mentioned in the signal data, and by acquiring the suspected target position in the signal data, a driving route can be planned for a driver more accurately, and personalized services can be provided for a plurality of passengers.
In an application scenario, a driver and a passenger A agree to take a bus at a position X, and agree to take a bus at a position Y, the driver agrees to realize the bus taking demand of the passenger A firstly, and then realizes the bus taking demand of the passenger B, at the moment, when the driver communicates with the passenger B, details in the aspects of a route from the position X to the position Y and the like are involved in communication, and if a position W is involved in the communication, the position W is a suspected target position.
In some possible embodiments, the step of extracting the signal data in the trajectory generation signal and identifying the start position, the target position, and the suspected target position in the signal data specifically includes:
identifying and marking a departure location of the vehicle in the signal data as the starting location;
identifying the position of the target in the signal data and marking the position as the target position;
identifying and tagging an approach route of the car in the signal data as the suspected target location.
In particular, the present embodiment provides an embodiment of identifying a start position, a target position and a suspected target position in the signal data.
In an application scenario, a driver makes an appointment to take a bus with a passenger C at a third intersection, and drives from a second north street to the third intersection after making an appointment in communication, wherein the position of the driver is an initial position, the third intersection is a target position, and the first north street and the second north street are suspected target positions.
In some possible embodiments, the step of acquiring all target positions in the driving trajectory and generating a target position set specifically includes:
extracting the target position and the suspected target position in the driving track, and generating the target position set according to the target position and the suspected target position.
Specifically, the embodiment provides an implementation manner for extracting the target position and the suspected target position in the driving track, and the target position and the suspected target position are extracted by summarizing all signal data, so that the extraction and the post-processing of the target position and the suspected target position are facilitated.
In some possible embodiments, the step of generating the first sub-trajectory according to the first designated position and the starting position in the target position set specifically includes:
if the first designated position is the target position, generating a first sub-track according to the first designated position and the initial position, and sending the first sub-track to all the target positions;
if the first designated position is the suspected target position, selecting the target position closest to the suspected target position, and generating a first sub-track based on the starting position and the target position and passing through the suspected target position.
Specifically, the embodiment provides an implementation manner that the possibility of implementing the first designated location is implemented to further implement the first sub-trajectory, and two manners of planning the first sub-trajectory are implemented by judging whether the first designated location is a target location or a suspected target location.
In some possible embodiments, the step of acquiring the driving state of the automobile on the first sub-trajectory specifically includes:
acquiring the road condition information of the first sub-track in real time, and extracting the obstacles on the first sub-track for judgment, wherein the judgment logic is as follows:
and if the automobile cannot finish the first sub-track, updating the first sub-track according to the position between the current position of the automobile and the first appointed position, and sending the updated first sub-track to all the target positions.
Specifically, the embodiment provides an implementation mode that when the automobile runs on the first written trajectory, the automobile runs by encountering an obstacle, if the automobile can bypass the obstacle or can complete the first sub-trajectory under the preset time and preset conditions, the automobile runs according to the original plan, and if the automobile cannot complete the first sub-trajectory through the obstacle, the automobile regenerates the first sub-trajectory.
In some possible embodiments, the step of obtaining a position state of a second designated position in the target position set, and generating a driving decision of the vehicle on the driving trajectory according to the driving state and the position state specifically includes:
if the second designated position is the target position, continuously acquiring the position state of the second designated position;
if the second designated position is a suspected target position, selecting the target position closest to the suspected target position, marking the target position as the second designated position, and continuously acquiring the position state of the second designated position;
if the position state of the second designated position changes, acquiring the position coordinate of the second designated position, and comparing the position coordinate with a preset movement range:
if the position coordinate of the second designated position is within the preset movement range, continuously acquiring the position state of the second designated position;
and if the position coordinate of the second designated position is outside the preset moving range, selecting the target position closest to the first designated position as the second designated position, and continuously acquiring the position state of the second designated position.
Specifically, the embodiment provides an implementation manner of the second designated position, and by acquiring the position state of the second designated position, the riding requirements of a plurality of passengers are met, and meanwhile, a better riding experience is obtained when the plurality of passengers ride, so that the problem that the receiving and delivering sequence is disordered due to riding of the plurality of passengers is avoided.
In some embodiments of the present invention, there is provided a driving assistance control apparatus for a vehicle, including:
the response module is used for responding to a generated signal of a running track of the automobile;
an obtaining module, configured to obtain a planned driving track of the vehicle, obtain all target positions in the driving track, obtain a driving state of the vehicle on the first sub-track, and obtain a position state of a second designated position in the set of target positions;
the generating module is used for generating a target position set, generating a first sub-track according to a first designated position and a starting position in the target position set, and generating a driving decision of the automobile on the driving track according to the driving state and the position state.
In some embodiments of the invention, the invention provides a server comprising:
the memory and the processor are communicated with each other through a bus;
the memory stores computer instructions executable on the processor;
when the processor calls the computer program instructions, the method for controlling the auxiliary driving of the automobile can be executed.
In some embodiments of the present invention, a non-transitory computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of a method for controlling assisted driving of a vehicle as described above.
Fig. 2 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 2: a processor (processor)810, a communication Interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication Interface 820 and the memory 830 communicate with each other via the communication bus 840. The processor 810 may invoke logic instructions in the memory 830 to perform a method of controlling vehicle assisted driving.
It should be noted that, when being implemented specifically, the electronic device in this embodiment may be a server, a PC, or other devices, as long as the structure includes the processor 810, the communication interface 820, the memory 830, and the communication bus 840 shown in fig. 2, where the processor 810, the communication interface 820, and the memory 830 complete mutual communication through the communication bus 840, and the processor 810 may call the logic instructions in the memory 830 to execute the above method. The embodiment does not limit the specific implementation form of the electronic device.
The server may be a single server or a server group. The set of servers can be centralized or distributed (e.g., the servers can be a distributed system). In some embodiments, the server may be local or remote to the terminal. For example, the server may access information stored in the user terminal, a database, or any combination thereof via a network. As another example, the server may be directly connected to at least one of the user terminal and the database to access information and/or data stored therein. In some embodiments, the server may be implemented on a cloud platform; by way of example only, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud (community cloud), a distributed cloud, an inter-cloud, a multi-cloud, and the like, or any combination thereof. In some embodiments, the server and the user terminal may be implemented on an electronic device having one or more components in embodiments of the present application.
Further, the network may be used for the exchange of information and/or data. In some embodiments, one or more components (e.g., servers, user terminals, and databases) in an interaction scenario may send information and/or data to other components. In some embodiments, the network may be any type of wired or wireless network, or combination thereof. Merely by way of example, the Network may include a wired Network, a Wireless Network, a fiber optic Network, a telecommunications Network, an intranet, the internet, a Local Area Network (LAN), a Wide Area Network (WAN), a Wireless Local Area Network (WLAN), a Metropolitan Area Network (MAN), a Wide Area Network (WAN), a Public Switched Telephone Network (PSTN), a bluetooth Network, a ZigBee Network, or a Near Field Communication (NFC) Network, among others, or any combination thereof. In some embodiments, the network may include one or more network access points. For example, the network may include wired or wireless network access points, such as base stations and/or network switching nodes, through which one or more components of the interaction scenario may connect to the network to exchange data and/or information.
In addition, the logic instructions in the memory 830 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Further, embodiments of the present invention disclose a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, which, when executed by a computer, enable the computer to perform the methods provided by the above-mentioned method embodiments.
In another aspect, embodiments of the present invention further provide a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented by a processor to execute a method for controlling driving assistance in a vehicle provided in the foregoing embodiments.
In still another aspect, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented by a processor to execute the method for controlling driving assistance in a vehicle provided in the foregoing embodiments.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An automobile driving assist control method, characterized by comprising:
s1, responding to a track generation signal of an automobile driving track, and acquiring the planned driving track of the automobile;
s2, acquiring all target positions in the driving track and generating a target position set;
s3, generating a first sub-track according to a first designated position and an initial position in the target position set;
s4, acquiring the driving state of the automobile on the first sub-track;
and S5, acquiring the position state of a second designated position in the target position set, and generating a driving decision of the automobile on the driving track according to the driving state and the position state.
2. The vehicle driving assist control method according to claim 1, wherein the step S1 specifically includes:
s11, extracting signal data in the track generation signal, and identifying a starting position, a target position and a suspected target position in the signal data;
s12, marking the starting position as a starting position feature, marking the target position as a target position feature, and marking the suspected target position as a suspected target feature;
s13, acquiring a plurality of first feature vectors indicating that the starting position feature points to the plurality of target position features, and acquiring a plurality of second feature vectors indicating that the starting position feature points to the plurality of suspected target features;
and S14, generating a driving track according to the first feature vector and the second feature vector.
3. The vehicle driving assist control method according to claim 2, wherein the step S11 specifically includes:
identifying and marking a departure location of the vehicle in the signal data as the starting location;
identifying the position of the target in the signal data and marking the position as the target position;
identifying and tagging an approach route of the car in the signal data as the suspected target location.
4. The vehicle driving assist control method according to claim 2, wherein the step S2 specifically includes:
extracting the target position and the suspected target position in the driving track, and generating the target position set according to the target position and the suspected target position.
5. The vehicle driving assist control method according to claim 4, wherein the step S3 specifically includes:
if the first designated position is the target position, generating a first sub-track according to the first designated position and the initial position, and sending the first sub-track to all the target positions;
if the first designated position is the suspected target position, selecting the target position closest to the suspected target position, and generating a first sub-track based on the starting position and the target position and passing through the suspected target position.
6. The vehicle driving assist control method according to claim 5, wherein the step S4 specifically includes:
acquiring the road condition information of the first sub-track in real time, and extracting the obstacles on the first sub-track for judgment, wherein the judgment logic is as follows:
and if the automobile cannot finish the first sub-track, updating the first sub-track according to the position between the current position of the automobile and the first appointed position, and sending the updated first sub-track to all the target positions.
7. The vehicle driving assist control method according to claim 6, wherein the step S5 specifically includes:
if the second designated position is the target position, continuously acquiring the position state of the second designated position;
if the second designated position is a suspected target position, selecting the target position closest to the suspected target position, marking the target position as the second designated position, and continuously acquiring the position state of the second designated position;
if the position state of the second designated position changes, acquiring the position coordinate of the second designated position, and comparing the position coordinate with a preset movement range:
if the position coordinate of the second designated position is within the preset movement range, continuously acquiring the position state of the second designated position;
and if the position coordinate of the second designated position is outside the preset moving range, selecting the target position closest to the first designated position as the second designated position, and continuously acquiring the position state of the second designated position.
8. A vehicle driving assist control apparatus for implementing the vehicle driving assist control method according to claim 1, characterized by comprising, connected in sequence:
the response module is used for responding to a generated signal of a running track of the automobile;
an obtaining module, configured to obtain a planned driving track of the vehicle, obtain all target positions in the driving track, obtain a driving state of the vehicle on the first sub-track, and obtain a position state of a second designated position in the set of target positions;
the generating module is used for generating a target position set, generating a first sub-track according to a first designated position and a starting position in the target position set, and generating a driving decision of the automobile on the driving track according to the driving state and the position state.
9. A server, comprising:
the memory and the processor are communicated with each other through a bus;
the memory stores computer instructions executable on the processor;
the processor, when executing the computer program instructions, is capable of performing a method of controlling vehicle driving assistance as claimed in any one of claims 1 to 7.
10. A non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of a method for controlling driving assistance in a vehicle according to any one of claims 1 to 7.
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