CN112396861B - Vehicle assisted driving control method and device thereof - Google Patents

Abstract

The present invention provides a method and device for assisted driving control of a vehicle. The method comprises: in response to a trajectory generation signal of the vehicle's driving trajectory, obtaining 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 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 use the driving state and position according to 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 also 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

Vehicle assisted driving control method and device thereof

technical field

The present invention relates to the technical field of communications, and in particular, to a method and a device for assisting driving control of an automobile.

Background technique

At present, when a driver has multiple orders to complete, how to formulate a corresponding service strategy according to each order, for example, when a driver receives multiple passengers' travel requirements, according to each passenger's destination, actual demand and geographic location changes Formulate corresponding service strategies. For example, when a school bus or commuter bus needs to pick up and drop off each designated target, in addition to the predetermined pick-up location, how to plan the driving route according to the actual location and actual situation of the pick-up target, etc., are urgently to be solved. question.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a method and a device for assisting driving of an automobile in view of the above shortcomings, aiming at at least solving one of the technical problems existing in the prior art.

The present invention adopts following technical scheme to realize:

Vehicle assisted driving control methods, including:

S1, in response to the trajectory generation signal of the vehicle's driving trajectory, obtain the planned driving trajectory of the vehicle;

S2, acquiring all target positions in the driving trajectory and generating a target position set;

S3, generate the first sub-track according to the first specified position and the starting position in the target position set;

S4, acquiring the driving state of the vehicle on the first sub-track;

S5. Acquire the position state of the second specified position in the target position set, and generate a driving decision of the vehicle on the driving track according to the driving state and the position state.

According to an embodiment of the present invention, the step S1, that is, the step of acquiring the planned driving trajectory of the vehicle in response to the trajectory generation signal of the vehicle's driving trajectory, specifically includes:

S11, extracting the signal data in the trajectory generation signal, identifying the starting position, the target position and the 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 in which the initial position feature points to a plurality of the target position features, and acquiring a plurality of second feature vectors in which the initial position feature points to a plurality of the suspected target features;

S14. Generate a travel trajectory according to the first feature vector and the second feature vector.

Among them, the starting position refers to the starting position of the car or the selected starting position, the target position refers to multiple destinations in the entire driving track, or the riding position sent by multiple targets, and the suspected target position refers to the starting position from the starting position. The suspected target location of the possible route between the location and the target location.

It should be noted that the suspected target position is the position, road sign or route mentioned in the signal data. By obtaining the suspected target position in the signal data, the driving route can be more accurately planned for the driver, and can also be provided for multiple passengers. Personalized service.

In an application scenario, the driver agrees to take a ride at X with passenger A, and agrees with passenger B to take a ride at Y. The driver agrees to fulfill passenger A's ride demand first, and then fulfills passenger B's ride demand. At this time When the driver communicates with passenger B, the details of the route from X to Y will be involved in the communication. If W is involved in the communication, then W is the suspected target location.

According to an embodiment of the present invention, the step S11, that is, the step of extracting the signal data in the trajectory generation signal, and identifying the starting position, the target position and the suspected target position in the signal data, specifically includes:

Identifying the starting position of the vehicle in the signal data and marking it as the starting position;

Identify the location of the target in the signal data and mark it as the target location;

Identify the route of the vehicle in the signal data and mark it as the suspected target location.

Specifically, this embodiment provides an embodiment for identifying the starting position, the target position and the suspected target position in the signal data.

In an application scenario, the driver agrees to take the car at the "third intersection" with passenger C, and in the communication, agrees to drive from "North Second Street" to the "third intersection" after passing through "North First Street" first. Go, at this time, the driver's position is the starting position, the "third intersection" is the target position, and "North First Street" and "North Second Street" are the 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:

The target position and the suspected target position in the driving trajectory are extracted, and the target position set is generated according to the target position and the suspected target position.

Specifically, this embodiment provides an implementation manner of extracting the target position and the suspected target position in the driving track. By extracting all the target positions and suspected target positions from the signal data, it is convenient for the target position and the suspected target position to be extracted. Location extraction and post-processing.

According to an embodiment of the present invention, the step of generating the first sub-track according to the first specified 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 starting position, and sending the first sub-track to all the target positions;

If the first designated position is the suspected target position, select the target position closest to the suspected target position, generate a path based on the starting position and the target position and route the suspected target position the first subtrack of .

Specifically, this embodiment provides an implementation of the possibility of implementing the first designated position and then realizing the first sub-track. By judging that the first designated position is the target position or the suspected target position, the first designated position Two ways of planning a sub-trajectory.

According to an embodiment of the present invention, the step of acquiring the driving state of the vehicle on the first sub-track specifically includes:

Obtain the road condition information of the first sub-track in real time, and extract the obstacles on the first sub-track for judgment. The judgment logic is:

If the car cannot complete the first sub-track, update the first sub-track according to the distance between the current position of the car and the first designated position, and send the updated all target positions to all the target positions. Describe the first sub-track.

Specifically, this embodiment provides an implementation manner in which a car encounters an obstacle when driving on a first-character trajectory. If the obstacle can be bypassed or the first sub-track can be completed under a preset time and preset conditions, Then proceed according to the original plan. If the first sub-track cannot be completed through the obstacle, the first sub-track is regenerated.

According to an embodiment of the present invention, acquiring the position state of the second specified position in the target position set, and generating a driving decision of the car on the driving track according to the driving state and the position state steps, including:

If the second specified position is the target position, continuously obtain the position status of the second specified position;

If the second designated position is a suspected target position, select the target position closest to the suspected target position, mark the target position as the second designated position, and continue to acquire the The position status of the second specified position;

Wherein, when the position state of the second specified position changes, the position coordinates of the second specified position are obtained and compared with the preset movement range:

If the position coordinates of the second designated position are within the preset movement range, continuously acquiring the position state of the second designated position;

If the position coordinates of the second specified position are outside the preset movement range, select the target position closest to the first specified position as the second specified position, and continuously acquire all Describes the location status of the second specified location.

Specifically, this embodiment provides an implementation of the second designated position. By acquiring the position state of the second designated position, the requirements of multiple passengers for rides are met, and at the same time, multiple passengers are Get a better ride experience when you ride, and avoid the problem of multiple passengers riding in a car that causes the pick-up sequence to be out of order.

A vehicle auxiliary driving control device for realizing the vehicle auxiliary driving control method, comprising:

a response module, configured to generate a signal in response to the driving trajectory of the vehicle;

The acquisition module is used to acquire the planned driving trajectory of the vehicle, acquire all target positions in the driving trajectory, acquire the driving status of the vehicle on the first sub-trajectory, and acquire the position status of the second specified position in the target position set ;

A generating module is configured to generate a set of target positions, generate a first sub-track according to the first specified position and the starting position in the set of target positions, and generate the running state of the car in the driving state according to the driving state and the position state Driving decisions on trajectories.

A server provided according to a third aspect of the present invention includes:

a memory and a processor, the memory and the processor communicate with each other through a bus;

the memory stores computer instructions executable on the processor;

When the processor invokes the computer program instructions, it can execute the above-mentioned control method for assisted driving of an automobile.

A non-transitory computer-readable storage medium provided according to a fourth aspect of the present invention stores a computer program thereon, and when the computer program is executed by a processor, implements the steps of the above-mentioned method for controlling an assisted driving of a vehicle.

The above-mentioned one or more technical solutions in the present invention have at least one of the following technical effects: the present invention provides a method, device, server and storage medium for vehicle assisted driving control. The planning of the driving route meets the scientific planning of the driving route of the driver, and also realizes the satisfaction of the riding needs of multiple passengers, and also enables multiple passengers to get a better ride experience when they ride, and avoids multiple passengers. The problem of out-of-order pickup.

Additional aspects and advantages of the present invention will be set forth, in part, from the following description, and in part will be apparent from the following description, or may be learned by practice of the invention.

Description of drawings

In order to explain the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are the For some embodiments of the invention, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is the flow chart logic diagram of the vehicle assisted driving control method provided by the present invention;

FIG. 2 is a schematic structural diagram of an electronic device provided by the present invention.

Reference number:

810: processor; 820: communication interface; 830: memory; 840: communication bus.

Detailed ways

In order to make the purposes, 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 accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

The present application will be specifically described below with reference to the accompanying drawings in the specification, and the specific operation methods in the method embodiments may also be applied to the apparatus embodiments or the system embodiments. In the description of this application, unless stated otherwise, "at least one" includes one or more. "Plural" means two or more. For example, at least one of A, B, and C includes: A alone, B alone, A and B simultaneously, A and C, B and C, and A, B, and C simultaneously. In this application, "/" means or, for example, A/B can mean A or B; "and/or" in this document is only an association relationship that describes an associated object, indicating that there can be three kinds of relationships, For example, A and/or B can mean that A exists alone, A and B exist at the same time, and B exists alone.

In some specific embodiments of the present invention, as shown in FIG. 1 , the present invention provides a method for controlling assisted driving of an automobile, comprising:

In response to the trajectory generation signal of the vehicle's driving trajectory, obtain the planned driving trajectory of the vehicle;

Acquire all target positions in the travel trajectory and generate a target position set;

Generate a first sub-track according to the first specified position and the starting position in the set of target positions;

obtaining the driving state of the car on the first sub-track;

The position state of the second specified position in the target position set is acquired, and a driving decision of the car on the driving track is generated according to the driving state and the position state.

In detail, the present invention satisfies the scientific planning of the driver's driving route by planning the driving route according to the actual location and the actual situation of the pick-up target, and also realizes the satisfaction of the riding needs of multiple passengers, and also enables multiple passengers to travel. Get a better ride experience when you are in the car, and avoid the problem of disordered pick-up and drop-off caused by multiple passengers riding in the car.

In some possible embodiments, the step of generating a signal in response to the trajectory of the vehicle's driving trajectory and acquiring the planned driving trajectory of the vehicle specifically includes:

extracting the signal data in the trajectory generation signal, and identifying the starting position, the target position and the 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 in which the initial position feature points to a plurality of the target position features, and acquiring a plurality of second feature vectors in which the initial position feature points to a plurality of the suspected target features;

A driving trajectory is generated according to the first feature vector and the second feature vector.

Specifically, according to the identification of the signal data, the starting position, the target position and the suspected target position are obtained. For multiple destinations, or ride locations sent by multiple destinations, the suspected destination location refers to a possible route between the starting location and the destination location.

It should be noted that the suspected target position is the position, road sign or route mentioned in the signal data. By obtaining the suspected target position in the signal data, the driving route can be more accurately planned for the driver, and can also be provided for multiple passengers. Personalized service.

In an application scenario, the driver agrees to take a ride at X with passenger A, and agrees with passenger B to take a ride at Y. The driver agrees to fulfill passenger A's ride demand first, and then fulfills passenger B's ride demand. At this time When the driver communicates with passenger B, the details of the route from X to Y will be involved in the communication. If W is involved in the communication, then W is the suspected target location.

In some possible embodiments, the step of extracting the signal data in the trajectory generation signal and identifying the starting position, the target position and the suspected target position in the signal data specifically includes:

Identifying the starting position of the vehicle in the signal data and marking it as the starting position;

Identify the location of the target in the signal data and mark it as the target location;

Identify the route of the vehicle in the signal data and mark it as the suspected target location.

Specifically, this embodiment provides an embodiment for identifying the starting position, the target position and the suspected target position in the signal data.

In an application scenario, the driver agrees to take the car at the "third intersection" with passenger C, and in the communication, agrees to drive from "North Second Street" to the "third intersection" after passing through "North First Street" first. Go, at this time, the driver's position is the starting position, the "third intersection" is the target position, and "North First Street" and "North Second Street" are the suspected target positions.

In some possible embodiments, the step of acquiring all target positions in the travel trajectory and generating a target position set specifically includes:

The target position and the suspected target position in the driving trajectory are extracted, and the target position set is generated according to the target position and the suspected target position.

Specifically, this embodiment provides an implementation manner of extracting the target position and the suspected target position in the driving track. By extracting all the target positions and suspected target positions from the signal data, it is convenient for the target position and the suspected target position to be extracted. Location extraction and post-processing.

In some possible embodiments, the step of generating the first sub-track according to the first specified 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 starting position, and sending the first sub-track to all the target positions;

If the first designated position is the suspected target position, select the target position closest to the suspected target position, generate a path based on the starting position and the target position and route the suspected target position the first subtrack of .

Specifically, this embodiment provides an implementation of the possibility of implementing the first designated position and then realizing the first sub-track. By judging that the first designated position is the target position or the suspected target position, the first designated position Two ways of planning a sub-trajectory.

In some possible embodiments, the step of acquiring the driving state of the car on the first sub-track specifically includes:

Obtain the road condition information of the first sub-track in real time, and extract the obstacles on the first sub-track for judgment. The judgment logic is:

If the car cannot complete the first sub-track, update the first sub-track according to the distance between the current position of the car and the first designated position, and send the updated all target positions to all the target positions. Describe the first sub-track.

Specifically, this embodiment provides an implementation manner in which a car encounters an obstacle when driving on a first-character trajectory. If the obstacle can be bypassed or the first sub-track can be completed under a preset time and preset conditions, Then proceed according to the original plan. If the first sub-track cannot be completed through the obstacle, the first sub-track is regenerated.

In some possible embodiments, the acquiring a position state of a second specified 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. The steps include:

If the second specified position is the target position, continuously obtain the position status of the second specified position;

If the second designated position is a suspected target position, select the target position closest to the suspected target position, mark the target position as the second designated position, and continue to acquire the The position status of the second specified position;

Wherein, when the position state of the second specified position changes, the position coordinates of the second specified position are obtained and compared with the preset movement range:

If the position coordinates of the second designated position are within the preset movement range, continuously acquiring the position state of the second designated position;

If the position coordinates of the second specified position are outside the preset movement range, select the target position closest to the first specified position as the second specified position, and continuously acquire all Describes the location status of the second specified location.

Specifically, this embodiment provides an implementation of the second designated position. By acquiring the position state of the second designated position, the requirements of multiple passengers for rides are met, and at the same time, multiple passengers are Get a better ride experience when you ride, and avoid the problem of multiple passengers riding in a car that causes the pick-up sequence to be out of order.

In some specific embodiments of the present invention, the present invention provides a vehicle auxiliary driving control device, comprising:

a response module, configured to generate a signal in response to the driving trajectory of the vehicle;

The acquisition module is used to acquire the planned driving trajectory of the vehicle, acquire all target positions in the driving trajectory, acquire the driving state of the vehicle on the first sub-trajectory, and acquire the second target position set in the target position. the location status of the specified location;

A generating module is configured to generate a set of target positions, generate a first sub-track according to the first specified position and the starting position in the set of target positions, and generate the running state of the car in the driving state according to the driving state and the position state Driving decisions on trajectories.

In some specific embodiments of the present invention, the present invention provides a server, comprising:

a memory and a processor, the memory and the processor communicate with each other through a bus;

the memory stores computer instructions executable on the processor;

When the processor invokes the computer program instructions, it can execute the above-mentioned control method for assisted driving of an automobile.

In some specific embodiments of the present invention, the present invention provides a non-transitory computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, realizes the above-mentioned vehicle assisted driving control steps of the method.

FIG. 2 illustrates a schematic diagram of the physical structure of an electronic device. As shown in FIG. 2 , the electronic device may include: a processor (processor) 810, a communication interface (Communications Interface) 820, a memory (memory) 830, and a communication bus 840, The processor 810 , the communication interface 820 , and the memory 830 communicate with each other through the communication bus 840 . The processor 810 may invoke logic instructions in the memory 830 to execute a method of vehicle assisted driving control.

It should be noted that the electronic device in this embodiment may be a server, a PC, or other devices in specific implementation, as long as the structure includes the processor 810 and the communication interface 820 as shown in FIG. 2 . , a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other through the communication bus 840, and the processor 810 can call the logic instructions in the memory 830 to execute the above method. This embodiment does not limit the specific implementation form of the electronic device.

The server can be a single server or a server group. Server groups can be centralized or distributed (for example, servers can be distributed systems). In some embodiments, the server may be local or remote relative to the terminal. For example, a server may access information stored in a user terminal, a database, or any combination thereof via a network. As another example, the server may connect directly 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 private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, inter-cloud, Multi-cloud, etc., or any combination of them. In some embodiments, the server and the user terminal may be implemented on an electronic device having one or more components in the embodiments of the present application.

Further, the network can be used for the exchange of information and/or data. In some embodiments, one or more components in an interaction scenario (eg, server, user terminal, and database) may send information and/or data to other components. In some embodiments, the network may be any type of wired or wireless network, or a combination thereof. By way of example only, networks may include wired networks, wireless networks, fiber optic networks, telecommunications networks, intranets, the Internet, Local Area Network (LAN), Wide Area Network (WAN), Wireless Local Area Networks (WLAN) , Metropolitan Area Network (MAN), Wide Area Network (WAN), Public Switched Telephone Network (PSTN), Bluetooth network, ZigBee network, or Near Field Communication (NFC) network, etc. , or any combination thereof. In some embodiments, the network may include one or more network access points. For example, a 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 above-mentioned logic instructions in the memory 830 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .

Further, an embodiment of the present invention discloses a computer program product, the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by a computer During execution, the computer can execute the methods provided by the foregoing method embodiments.

On the other hand, an embodiment of the present invention further provides a non-transitory computer-readable storage medium on which a computer program is stored, and the computer program is implemented by a processor to execute the vehicle assisted driving provided by the above embodiments. Control Method.

In yet another aspect, an embodiment of the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and the computer program is implemented by a processor to execute the vehicle assisted driving provided by the above embodiments when the computer program is executed. Control Method.

The device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

From the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on this understanding, the above-mentioned technical solutions can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic A disc, an optical disc, etc., includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the methods described in various embodiments or some parts of the embodiments.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be The technical solutions described in the foregoing embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (6)

1. a kind of vehicle auxiliary driving control method, is characterized in that, comprises: S1, in response to the trajectory generation signal of the vehicle's driving trajectory, obtain the planned driving trajectory of the vehicle; S2, acquiring all target positions in the driving trajectory and generating a target position set; S3, generate the first sub-track according to the first specified position and the starting position in the target position set; S4, acquiring the driving state of the vehicle on the first sub-track; S5. Obtain the position state of the second specified position in the target position set, and generate a driving decision of the car on the driving track according to the driving state and the position state; The step S1 specifically includes: S11, extracting the signal data in the trajectory generation signal, identifying the starting position, the target position and the 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 in which the initial position feature points to a plurality of the target position features, and acquiring a plurality of second feature vectors in which the initial position feature points to a plurality of the suspected target features; S14, generating a driving trajectory according to the first feature vector and the second feature vector; 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 starting position, and sending the first sub-track to all the target positions; If the first designated position is the suspected target position, select the target position closest to the suspected target position, generate a path based on the starting position and the target position and route the suspected target position the first sub-track of ; The step S4 specifically includes: Obtain the road condition information of the first sub-track in real time, and extract the obstacles on the first sub-track for judgment. The judgment logic is: If the car cannot complete the first sub-track, update the first sub-track according to the distance between the current position of the car and the first designated position, and send the updated all target positions to all the target positions. Describe the first sub-track; The step S5 specifically includes: If the second specified position is the target position, continuously obtain the position status of the second specified position; If the second designated position is a suspected target position, select the target position closest to the suspected target position, mark the target position as the second designated position, and continue to acquire the The position status of the second specified position; Wherein, when the position state of the second specified position changes, the position coordinates of the second specified position are obtained and compared with the preset movement range: If the position coordinates of the second designated position are within the preset movement range, continuously acquiring the position state of the second designated position; If the position coordinates of the second specified position are outside the preset movement range, select the target position closest to the first specified position as the second specified position, and continuously acquire all Describes the location status of the second specified location. 2. The method for controlling assisted driving of an automobile according to claim 1, wherein the step S11 specifically comprises: Identifying the starting position of the vehicle in the signal data and marking it as the starting position; Identify the location of the target in the signal data and mark it as the target location; Identify the route of the vehicle in the signal data and mark it as the suspected target location. 3. A kind of automobile auxiliary driving control method according to claim 2, is characterized in that, described step S2 specifically comprises: The target position and the suspected target position in the driving trajectory are extracted, and the target position set is generated according to the target position and the suspected target position. 4. A vehicle auxiliary driving control device for realizing the vehicle auxiliary driving control method according to claim 1, characterized in that it comprises sequentially connected: a response module, configured to generate a signal in response to the driving trajectory of the vehicle; The acquisition module is used to acquire the planned driving trajectory of the vehicle, acquire all target positions in the driving trajectory, acquire the driving state of the vehicle on the first sub-trajectory, and acquire the second target position set in the target position. the location status of the specified location; A generating module is configured to generate a set of target positions, generate a first sub-track according to the first specified position and the starting position in the set of target positions, and generate the running state of the car in the driving state according to the driving state and the position state Driving decisions on trajectories. 5. A server, characterized in that, comprising: a memory and a processor, the memory and the processor communicate with each other through a bus; the memory stores computer instructions executable on the processor; When the processor invokes the computer program instructions, it can execute the vehicle assisted driving control method according to any one of claims 1 to 3. 6. A non-transitory computer-readable storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, a vehicle assistance according to any one of claims 1 to 3 is realized. The steps of the driving control method.

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