CN116552502A - Driving assistance device and driving assistance method for vehicle - Google Patents

Abstract

The invention provides a driving assistance device and a driving assistance method for a vehicle. The processor calculates the relative positional relationship between the first stationary reference object sensed by the sensor and the vehicle, and when the first stationary reference object leaves the sensing range of the sensor as the vehicle moves, according to the moving state of the vehicle and the first stationary The vehicle is controlled to perform a driving assistance operation with reference to the relative positional relationship between the object and the vehicle.

Description

Driving assistance device and driving assistance method for vehicle

technical field

The invention relates to an assisting device, in particular to a driving assisting device and a driving assisting method for a vehicle.

Background technique

Due to the advancement of technology and the demand for real-time information, there are now many devices that can assist users in driving, and thus the user's demand for the functions of these auxiliary devices has greatly increased. Driving assistance devices can provide the driver with auxiliary control or warning information of the vehicle to assist the driver to complete the driving needs. However, due to the variety of actual vehicle driving conditions, in many cases, the current driving assistance devices are still unable to assist the driver to smoothly Car driving, such as unnecessary braking or deceleration, etc., may occur, so there are still many areas to be improved for driving assistance devices.

Contents of the invention

The invention provides a driving assistance device and a driving assistance method of a vehicle, which can effectively improve the driving assistance quality of the driving assistance device.

A driving assistance device for a vehicle according to the present invention includes a sensor and a processor. The processor is coupled to the sensor, and calculates the relative positional relationship between the first stationary reference object sensed by the sensor and the vehicle. When the first stationary reference object leaves the sensing range of the sensor as the vehicle moves, the processor The moving state and the relative positional relationship between the first stationary reference object and the vehicle control the vehicle to perform a driving assistance operation.

In an embodiment of the present invention, the above-mentioned driving assistance operation includes at least one of controlling the vehicle to move, braking and providing warning information.

In an embodiment of the present invention, the above-mentioned processor disables the driving assistance operation corresponding to the moving object when the vehicle performs a parking operation and the sensor detects the moving object outside the parking operation area of the vehicle.

In an embodiment of the present invention, the above-mentioned processor determines whether the vehicle is performing a parking operation according to whether the sensor senses the parking instruction object or whether the automatic parking command is received.

In an embodiment of the present invention, the above-mentioned parking instruction objects include at least one of wheel chocks, parking signs and parking grid markings.

In an embodiment of the present invention, the above-mentioned first stationary reference object includes a wheel chock.

In an embodiment of the present invention, the above-mentioned processor calculates the relative positional relationship between the first stationary reference object and the second stationary reference object sensed by the sensor, when the first stationary reference object moves with the vehicle When leaving the sensing range of the sensor, the processor also controls the vehicle to perform a driving assistance operation according to the relative positional relationship between the first stationary reference object and the second stationary reference object.

The present invention also provides a vehicle driving assistance method including the following steps. A relative positional relationship between the first stationary reference object sensed by the sensor and the vehicle is calculated. When the first stationary reference object leaves the sensing range of the sensor as the vehicle moves, the driving assistance operation is performed according to the moving state of the vehicle and the relative positional relationship between the first stationary reference object and the vehicle.

In an embodiment of the present invention, the above-mentioned driving assistance operation includes at least one of controlling the vehicle to move, braking and providing warning information.

In an embodiment of the present invention, the above-mentioned driving assistance method for a vehicle includes disabling the driving assistance operation corresponding to the moving object when the vehicle performs a parking operation and the sensor detects a moving object outside the parking operation area of the vehicle.

In an embodiment of the present invention, the above-mentioned driving assistance method for a vehicle includes determining whether the vehicle is performing a parking operation according to whether the sensor senses a parking instruction object or whether an automatic parking instruction is received.

In an embodiment of the present invention, the above-mentioned parking instruction objects include at least one of wheel chocks, parking signs and parking grid markings.

In an embodiment of the present invention, the above-mentioned first stationary reference object includes a wheel chock.

In an embodiment of the present invention, the above-mentioned driving assistance method for a vehicle includes the following steps. A relative positional relationship between the first stationary reference object and the second stationary reference object sensed by the sensor is calculated. When the first stationary reference object leaves the sensing range of the sensor as the vehicle moves, the vehicle is also controlled to perform a driving assistance operation according to the relative positional relationship between the first stationary reference object and the second stationary reference object.

Based on the above, the embodiments of the present invention can perform driving assistance operations according to the moving state of the vehicle and the relative positional relationship between the first stationary reference object and the vehicle when the first stationary reference object leaves the sensing range of the sensor as the vehicle moves. . In this way, the driving assistance operation is performed according to the moving state of the vehicle and the previously calculated relative positional relationship between the first stationary reference object and the vehicle, even when the first stationary reference object cannot be sensed, the execution can still be continued The driving assistance operation can effectively improve the driving assistance quality of the driving assistance device.

In order to make the above-mentioned features and advantages of the present invention more comprehensible, the following specific embodiments are described in detail with reference to the accompanying drawings.

Description of drawings

FIG. 1 is a schematic diagram of a driving assistance device for a vehicle according to an embodiment of the present invention.

2 to 4 are schematic diagrams of a driving assistance device for a vehicle according to an embodiment of the present invention.

Fig. 5 is a flowchart of a driving assistance method for a vehicle according to an embodiment of the present invention.

FIG. 6 is a flowchart of a driving assistance method for a vehicle according to another embodiment of the present invention.

Fig. 7 is a flowchart of a driving assistance method for a vehicle according to another embodiment of the present invention.

Detailed ways

In order to make the content of the present invention more comprehensible, the following specific examples are given as examples in which the present invention can indeed be implemented. In addition, wherever possible, components/components with the same reference numerals are used in the drawings and embodiments to represent the same or similar components.

FIG. 1 is a schematic diagram of a driving assistance device for a vehicle according to an embodiment of the present invention, please refer to FIG. 1 . The driving assistance device can be configured on a vehicle, which can be, for example, a car or a motorcycle, but is not limited thereto. The driving assistance device may include a sensor 102 and a processor 104. The sensor 102 may include at least one of a camera, a radar, and a global satellite positioning system. The processor 104 may be, for example, a central processing unit, but not limited thereto. The sensor 102 can sense objects around the vehicle to obtain related information about the objects around the vehicle, such as images of the objects and distances between the objects and the vehicle, but not limited thereto. The processor 104 can control the vehicle to perform a driving assistance operation according to the sensing result of the sensor 102 .

For example, the sensor 102 can sense stationary reference objects around the vehicle to obtain images of the stationary reference objects, location information, distances between the stationary reference objects and the vehicle, and so on. The processor 104 can calculate the relative positional relationship between the stationary reference object and the vehicle according to the sensing result of the sensor 102 , such as the distance, orientation, height, etc. of the stationary reference object relative to the vehicle. When the stationary reference object leaves the sensing range of the sensor 102 as the vehicle moves (for example, when leaving the image capture range of the camera), the processor 104 can control the vehicle according to the moving state of the vehicle and the relative positional relationship between the stationary reference object and the vehicle The vehicle performs a driving assistance operation. The moving state of the vehicle can be, for example, the moving speed, acceleration, and wheel rotation angle of the vehicle, etc., and the driving assistance operation can be, for example, at least one of controlling the moving of the vehicle, braking, and providing warning information, but it is not limited to this , in the case that the driving assistance operation is a fully automatic driving assistance operation, the driving assistance operation performed by the vehicle may, for example, automatically complete the operation of parking the vehicle into a parking space. In addition, the warning information may, for example, include at least one of an audio signal and an image signal.

In this way, the driving assistance operation is performed according to the moving state of the vehicle and the previously calculated relative positional relationship between the stationary reference object and the vehicle. Even when the sensor 102 cannot sense the stationary reference object, the processor 104 can continue Smoothly perform driving assistance operations without unnecessary braking, deceleration, or driving the vehicle to an unintended position, thereby effectively improving the quality of driving assistance of driving assistance devices.

FIG. 2 is a schematic view of a driving assistance device for a vehicle according to an embodiment of the present invention. In this embodiment, the vehicle CA1 can be equipped with the above-mentioned driving assistance device, and the sensor 102 of the vehicle CA1 can be installed in front of the vehicle CA1 (such as the position of the windshield) as shown in FIG. 3 to sense objects in front of the vehicle CA1. , but not limited to this. In this embodiment, the above-mentioned stationary reference object may be, for example, the wheel block ST1, and the sensor 102 may sense the wheel block ST1 to obtain information such as an image of the wheel block ST1 and a distance between the wheel block ST1 and the vehicle CA1. The processor 104 can calculate the relative positional relationship between the wheel block ST1 and the vehicle CA1 according to the sensing result of the sensor 102 , such as the distance and orientation of the wheel block ST1 relative to the vehicle CA1 , but not limited thereto. When the wheel stop ST1 leaves the sensing range of the sensor 102 as the vehicle CA1 moves, the processor 104 can control the vehicle CA1 to perform a driving assistance operation according to the moving state of the vehicle CA1 and the relative positional relationship between the stationary reference object and the vehicle CA1.

For example, as shown in FIG. 2 , the vehicle CA1 is moving straight toward the wheel block ST1, the processor 104 can control the vehicle CA1 to perform driving assistance operations according to the sensing result of the wheel block ST1 sensed by the sensor 102, such as controlling the vehicle CA1 Approaching the wheel block ST1 at a specific speed, or issuing a warning message to inform the driver of the distance between the current vehicle CA1 and the wheel block ST1, etc., but not limited thereto. When the wheel block ST1 exceeds the sensing range of the sensor 102 as shown in FIG. The relative positional relationship between the vehicle CA1 and the wheel stop ST1 calculated before the sensing range of 102 and the moving speed of the vehicle CA1 are used to control the vehicle CA1 to perform the driving assistance operation. For example, the processor 104 can calculate the distance between the vehicle CA1 and the wheel chock ST1 when the vehicle CA1 finishes walking the wheel chock ST1 and leaves the sensing range of the sensor 102 according to the preset moving speed (for example, the front wheel of the vehicle CA1 and the wheel chock ST1 the distance between them) for the preset time required, and control the vehicle CA1 to stop at the preset moving speed after the preset time.

Alternatively, the processor 104 may provide a warning message to inform the driver whether the distance D1 traveled by the vehicle CA1 (as shown in FIG. 4 ) has reached the distance between the vehicle CA1 and the wheel stop ST1 when the wheel stop ST1 leaves the sensing range of the sensor 102 , to assist the driver in parking. The processor 104 can, for example, calculate the distance D1 traveled by the vehicle CA1 according to the amount of rotation of the wheels of the vehicle CA1, that is, calculate the distance D1 traveled by the vehicle CA1 according to the degree of rotation of the wheels and the radius of the wheels. In addition, in this embodiment, when the processor 104 controls the distance between the vehicle CA1 and the wheel chock ST1 when the vehicle CA1 finishes walking and the wheel chock ST1 leaves the sensing range of the sensor 102 and brakes, the front wheels of the vehicle CA1 will be at Position in front of wheel chock ST1. In some embodiments, it can also be designed that when the front wheels of the vehicle CA1 pass over the wheel chock ST1 so that the position of the wheel chock ST1 is located behind the front wheels of the vehicle CA1, the processor 104 controls the vehicle CA1 to brake, or controls the vehicle CA1 Provides a warning message telling you to perform a stop.

In addition, the processor 104 can determine whether the vehicle CA1 is performing a parking operation according to the sensing result of the sensor 102 . For example, the processor 104 can determine whether the sensor 102 senses a parking indicating object to determine whether the vehicle CA1 is performing a parking operation. When the sensor 102 senses a parking indicating object, the processor 104 can determine that the vehicle CA1 is performing a parking operation. . The parking instruction object may be, for example, the wheel chock ST1 , the stop sign S1 shown in FIG. 2 or the parking grid line L1 , or other objects related to the parking operation. In some embodiments, the processor 104 may also determine whether the vehicle CA1 is performing a parking operation according to whether an automatic parking instruction is received, and the automatic parking instruction is used to instruct the vehicle CA1 to perform an automatic parking operation.

In addition, in some embodiments, the processor 104 may also control the vehicle CA1 to perform the driving assistance operation according to the two stationary reference objects. For example, in the embodiment of FIG. 2 , the sensor 102 senses the stop sign S1 in addition to the wheel block ST1 . In addition to calculating the relative positional relationship between the wheel chock ST1 and the vehicle CA1 based on the sensing results of the sensor 102, the processor 104 can also calculate the relative position between the stop sign S1 and the wheel chock ST1 based on the sensing results of the sensor 102. Relationships, such as the distance and orientation of the stop sign S1 relative to the wheel stop ST1, etc., but are not limited thereto. Assuming that when the wheel chock ST1 leaves the sensing range of the sensor 102 with the movement of the vehicle CA1, the stop sign S1 is still within the sensing range of the sensor 102. Since the relative positional relationship between the stop sign S1 and the wheel chock ST1 is fixed, The processor 104 can calculate the position of the wheel chock ST1 according to the position of the stop sign S1 and the relative positional relationship between the stop sign S1 and the wheel chock ST1, and then can calculate the relative positional relationship between the wheel chock ST1 and the vehicle CA1. The processor 104 can control the vehicle CA1 to perform the driving assistance operation according to the moving state of the vehicle CA1 and the relative positional relationship between the wheel stop ST1 and the vehicle CA1.

In addition, in some embodiments, the processor 104 disables the driving assistance operation corresponding to the moving object when the vehicle CA1 performs a parking operation and the sensor 102 senses a moving object outside the parking operation area of the vehicle CA1. For example, as shown in FIG. 2 , when the processor 104 has judged that the vehicle CA1 is performing a parking operation, the parking operation area (which may be, for example, the parking lot where the vehicle CA1 is located, the parking grid, or a predetermined area centered on the vehicle CA1 Assume that the vehicle CA2 on the road outside the range) travels in a direction perpendicular to the traveling direction of the vehicle CA1 and passes in front of the vehicle CA1. It can be seen from FIG. 3 that when the vehicle CA2 passes in front of the vehicle CA1, the vehicle CA2 will enter the sensing range of the sensor 102 of the vehicle CA1. In general, the processor 104 can respond to the vehicle CA2 entering the sensing range of the sensor 102. Performing a driving assistance operation such as braking, but actually because the vehicle CA1 is performing a parking operation in the parking lot, the vehicle CA1 will not enter the moving path of the vehicle CA2, and the processor 104 does not need to respond to the vehicle CA2. Therefore, the processor 104 can disable the vehicle CA1 from performing the driving assistance operation corresponding to the vehicle CA2 when the vehicle CA1 performs the parking operation, so that the vehicle CA1 can more smoothly perform the driving assistance operation related to the parking operation.

Fig. 5 is a flowchart of a driving assistance method for a vehicle according to an embodiment of the present invention. It can be seen from the above embodiments that the driving assistance method for a vehicle may at least include the following steps. First, calculate the relative positional relationship between the first stationary reference object sensed by the sensor and the vehicle (step S502), and then, when the first stationary reference object leaves the sensing range of the sensor as the vehicle moves, according to the The moving state and the relative positional relationship between the first stationary reference object and the vehicle perform a driving assistance operation (step S504). The driving assistance operation may include at least one of controlling the vehicle to move, braking, and providing warning information, and the first stationary reference object may be, for example, a wheel chock, but is not limited thereto.

FIG. 6 is a flowchart of a driving assistance method for a vehicle according to another embodiment of the present invention. Compared with the embodiment in FIG. 5 , in addition to calculating the relative positional relationship between the first stationary reference object sensed by the sensor and the vehicle, this embodiment also calculates the relationship between the first stationary reference object and the second stationary reference object sensed by the sensor. The relative positional relationship between the reference objects (step S602), and then, when the first stationary reference object leaves the sensing range of the sensor with the movement of the vehicle, the relative position between the first stationary reference object and the vehicle can be The positional relationship and the relative positional relationship between the first stationary reference object and the second stationary reference object control the vehicle to perform a driving assistance operation (step S604 ).

Fig. 7 is a flowchart of a driving assistance method for a vehicle according to another embodiment of the present invention. Compared with the embodiment in FIG. 5 , the driving assistance method for a vehicle in this embodiment can first judge whether the vehicle is performing a parking operation according to whether the sensor senses a parking instruction object or whether an automatic parking instruction is received (step S702 ), wherein the parking instruction The object may include, for example, at least one of wheel chocks, parking signs, and parking grid markings, but is not limited thereto. Then, when the vehicle performs a parking operation and the sensor detects a moving object outside the parking operation area of the vehicle, the driving assistance operation corresponding to the moving object is disabled (step S704), and then steps S502 and S504 are executed, so that the vehicle When the parking operation is performed, the vehicle is disabled from performing the driving assistance operation corresponding to the moving object, so that the vehicle can perform subsequent driving assistance operations related to the parking operation more smoothly.

In summary, in the embodiment of the present invention, when the first stationary reference object leaves the sensing range of the sensor as the vehicle moves, driving assistance is performed according to the moving state of the vehicle and the relative positional relationship between the first stationary reference object and the vehicle operate. In this way, the driving assistance operation is performed according to the moving state of the vehicle and the previously calculated relative positional relationship between the first stationary reference object and the vehicle, even when the first stationary reference object cannot be sensed, the execution can still be continued The driving assistance operation can effectively improve the driving assistance quality of the driving assistance device. In some embodiments, it is also possible to disable the vehicle from performing the driving assistance operation corresponding to the moving object when the vehicle performs the parking operation, so that the vehicle can perform the driving assistance operation related to the parking operation more smoothly.

Although the present invention has been disclosed above with the embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some changes and modifications without departing from the spirit and scope of the present invention. Therefore, the present invention The scope of protection shall prevail as defined by the claims.

Claims (14)

1. A driving assistance device for a vehicle, comprising: sensors; and A processor, coupled to the sensor, calculates the relative positional relationship between the first stationary reference object sensed by the sensor and the vehicle, when the first stationary reference object moves away from the vehicle as the vehicle moves When the sensing range of the sensor is exceeded, the processor controls the vehicle to perform a driving assistance operation according to the moving state of the vehicle and the relative positional relationship between the first stationary reference object and the vehicle. 2 . The driving assistance device for a vehicle according to claim 1 , wherein the driving assistance operation includes at least one of controlling the vehicle to move, braking and providing warning information. 3 . 3. The driving assistance device for a vehicle according to claim 1, wherein the processor is configured to operate when the vehicle performs a parking operation and the sensor senses a moving object outside the parking operation area of the vehicle , disable the driving assistance operation corresponding to the mobile object. 4. The driving assistance device for a vehicle according to claim 1, wherein the processor determines whether the vehicle is performing a parking operation according to whether the sensor senses a parking instruction object or whether an automatic parking instruction is received . 5 . The driving assistance device for a vehicle according to claim 4 , wherein the parking instruction object includes at least one of wheel chocks, parking signs and parking grid lines. 6 . 6. The driving assistance device for a vehicle according to claim 1, wherein the first stationary reference object comprises a wheel chock. 7. The driving assistance device for a vehicle according to claim 1, wherein the processor calculates the relative positional relationship between the first stationary reference object and the second stationary reference object sensed by the sensor , when the first stationary reference object leaves the sensing range of the sensor with the movement of the vehicle, the processor also bases on the relative relationship between the first stationary reference object and the second stationary reference object The positional relationship controls the vehicle to perform the driving assistance operation. 8. A driving assistance method for a vehicle, comprising: calculating a relative positional relationship between the sensor's sensed first stationary reference object and the vehicle; and When the first stationary reference object leaves the sensing range of the sensor as the vehicle moves, perform according to the moving state of the vehicle and the relative positional relationship between the first stationary reference object and the vehicle Driving assistance operation. 9 . The driving assistance method for a vehicle according to claim 8 , wherein the driving assistance operation includes at least one of controlling the vehicle to move, braking and providing warning information. 10. The driving assistance method for a vehicle according to claim 8, comprising: When the vehicle performs a parking operation and the sensor senses a moving object outside the parking operation area of the vehicle, the driving assistance operation corresponding to the moving object is disabled. 11. The driving assistance method for a vehicle according to claim 8, characterized in that it comprises: Whether the vehicle is performing a parking operation is determined according to whether the sensor senses a parking instruction object or whether an automatic parking instruction is received. 12 . The driving assistance method for a vehicle according to claim 11 , wherein the parking instruction objects include at least one of wheel chocks, parking signs and parking grid markings. 13 . 13. The driving assistance method for a vehicle according to claim 8, wherein the first stationary reference object includes a wheel chock. 14. The driving assistance method for a vehicle according to claim 8, comprising: calculating a relative positional relationship between the first stationary reference object and a second stationary reference object sensed by the sensor; When the first stationary reference object leaves the sensing range of the sensor with the movement of the vehicle, control the The vehicle performs the driving assistance operation.