TWI866623B - Driving assistance method, on-board computer and bicycle - Google Patents

Abstract

A driving assistance method includes: obtaining driving path information in front of a bicycle; obtaining a current rotation angle of handlebars of the bicycle; determining an objective turning direction of the bicycle based on the current rotation angle and the driving path information; generating a seat tilt control command based on the objective turning direction, the seat tilt control command being configured to control a tilt direction of a seat of the bicycle. An on-board computer and the bicycle are also provided.

Description

Driving assistance method, vehicle-mounted computer and bicycle

This application relates to the field of bicycles, and specifically to a driving assistance method, an on-board computer, and a bicycle.

Motorized bicycles are usually used by the public as an affordable means of transportation, but they are physically unstable. When cruising at low speeds or when emergency evasion is required, the vehicle can easily tilt and overturn, threatening the driver’s safety.

In view of the above, the present application embodiment provides a driving assistance method, a vehicle-mounted computer and a bicycle, aiming to improve the driving safety of bicycle drivers.

This application embodiment provides a driving assistance method, which is applied to a bicycle on-board computer. The driving assistance method includes: obtaining the driving path information in front of the bicycle; obtaining the current rotation angle of the handlebar of the bicycle; determining the target turning direction of the bicycle based on the driving path information and the current rotation angle; generating a seat tilt angle control instruction based on the target turning direction, and the seat tilt angle control instruction is used to control the tilt direction of the seat of the bicycle.

The embodiment of the present application can refer to the driving path in front of the bicycle and the current rotation angle of the handlebars of the bicycle to obtain the turning direction required for the bicycle to travel on the driving path, thereby controlling the tilting direction of the bicycle seat according to the turning direction, and then allowing the driver to tilt the seat according to the inertia of the vehicle, so that the driver can maintain balance as much as possible during driving, reduce the occurrence of unsafe behaviors such as rollover, and improve the driving safety of bicycle drivers.

In some embodiments, before generating the seat tilt angle control instruction based on the target turning direction, it also includes: obtaining the driving speed of the bicycle; if the driving speed exceeds a preset threshold, turning on the seat tilt angle assist mode of the bicycle; generating the seat tilt angle control instruction based on the turning direction of the bicycle includes: generating the seat tilt angle control instruction based on the turning direction of the bicycle when the seat tilt angle assist mode of the bicycle is turned on.

In some embodiments, the seat tilt angle control instruction is also used to control the tilt angle of the seat of the bicycle. The generating of the seat tilt angle control instruction based on the target turning direction includes: obtaining the body side tilt angle of the bicycle, the body side tilt angle being the angle between the body of the bicycle and the ground on which the bicycle is located; determining the target tilt angle of the seat based on the body side tilt angle; generating the seat tilt angle control instruction based on the target turning direction of the bicycle and the target tilt angle of the seat.

In some embodiments, obtaining the driving path information in front of the bicycle includes: obtaining image data of the driving environment in front of the bicycle; determining obstacles in the driving environment in front based on the image data; and planning the driving path based on the obstacles to obtain the driving path information.

In some embodiments, the driving assistance method further includes: determining a target rotation angle of the bicycle based on the driving path information and the current rotation angle; the target rotation angle is used to assist the bicycle in driving along the forward driving path; generating a handlebar steering control instruction based on the target rotation angle, the handlebar steering control instruction is used to instruct the handlebar of the bicycle to rotate according to the target rotation angle.

In some embodiments, the driving path information includes a lane centerline, and determining the target rotation angle of the bicycle based on the driving path information and the current rotation angle includes: determining a deviation angle from the lane centerline based on the current rotation angle; and determining the target rotation angle of the bicycle based on the deviation angle.

This application embodiment also provides a vehicle-mounted computer, which includes a processor and a memory, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory, so that the vehicle-mounted computer executes the above-mentioned driving assistance method.

This application embodiment also provides a bicycle, which includes the above-mentioned on-board computer, and the on-board computer is configured on the body of the bicycle.

In some embodiments, the bicycle further includes a first motor, the first motor is communicatively connected to the onboard computer, the first motor is disposed between the body of the bicycle and the seat of the bicycle, and the first motor is used to respond to the seat tilt angle control instruction to control the tilt direction of the bicycle seat.

In some embodiments, the bicycle further includes a second motor, the second motor is communicatively connected to the onboard computer, the second motor is disposed at the connection between the body of the bicycle and the handlebar of the bicycle, and the second motor is used to respond to the steering control instruction and control the handlebar of the bicycle to rotate according to the target rotation angle.

It can be understood that the above-mentioned on-board computer and bicycle correspond to the above-mentioned driving assistance method. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects of the corresponding method provided above, and will not be elaborated here.

701, 702, 703, 704, 705: Steps

10: Bicycle

11: Handlebars

12: Body

13: Seat

14: Front fork

15: Chainstays

16:Front wheel

17: Rear wheel

20: Driving assistance system

21: Car computer

211:Memory

212: Processor

213: Computer Programs

221: First Motor

222: Second Motor

23: Camera equipment

241: First position encoder

242: Second position encoder

243: Third position encoder

25: Speed detection device

251: First speed sensor

252: Second speed sensor

26: Acceleration sensor

Figure 1 is a schematic diagram of the structure of a driving assistance system provided according to an embodiment of this application.

Figure 2 is a schematic diagram of the side structure of a bicycle provided according to an embodiment of the present application.

Figure 3 is a schematic diagram of the structure of a vehicle seat provided according to an embodiment of this application.

Figure 4 is a schematic diagram of the front structure of a bicycle provided according to an embodiment of the present application.

Figure 5 is a schematic diagram of the side structure of a bicycle equipped with a second motor according to an embodiment of the present application.

Figure 6 is a top view of a bicycle provided according to an embodiment of the present application.

Figure 7 is a step flow chart of a driving assistance method provided according to an embodiment of this application.

Figure 8 is a schematic diagram of the structure of a vehicle-mounted computer provided according to an embodiment of this application.

In order to more clearly understand the above-mentioned purpose, features and advantages of this application, the following is a detailed description of this application in conjunction with the attached drawings and specific implementation methods. It should be noted that the implementation methods of this application and the features in the implementation methods can be combined with each other without conflict.

In the following description, many specific details are explained to facilitate a full understanding of this application. The implementation methods described are only part of the implementation methods of this application, not all of the implementation methods.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of this application. The terms used in this specification of this application are only for the purpose of describing specific implementation methods and are not intended to limit this application.

It should be further explained that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, an element defined by the phrase "comprises a..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

In this application, "at least one" means one or more, and "multiple" means two or more than two. "And/or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and/or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claim and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or precedence.

In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete way.

This application embodiment provides a bicycle, an on-board computer, and a driving assistance method.

First, refer to FIG. 1 , which shows a driving assistance system 20 provided in an embodiment of the present application. The driving assistance system 20 can be configured on a bicycle 10 shown in FIG. 2 .

The driving assistance system 20 at least includes: an on-board computer 21, and the on-board computer 21 is used to execute the driving assistance method.

The driving assistance method may include: obtaining the driving path information in front of the bicycle 10; obtaining the current rotation angle of the handlebar 11 of the bicycle 10; determining the turning direction of the bicycle 10 based on the driving path information and the current rotation angle; generating a seat tilt angle control instruction based on the turning direction of the bicycle 10, and the seat tilt angle control instruction is used to control the tilt direction of the seat 13 of the bicycle 10.

The embodiment of the present application can refer to the driving path in front of the bicycle 10 and the current rotation angle of the handlebar 11 of the bicycle 10 to obtain the turning direction required for the bicycle 10 to travel on the driving path, thereby controlling the tilting direction of the seat 13 of the bicycle 10 according to the turning direction, and then allowing the driver to cooperate with the seat 13 to tilt according to the inertia of the vehicle, so that the driver can maintain balance as much as possible during driving, reduce the occurrence of unsafe behaviors such as rollover, and improve the driving safety of the bicycle 10 driver.

The vehicle-mounted computer 21 is a device that can automatically perform numerical calculations and/or information processing according to pre-set or stored instructions. Its hardware includes but is not limited to processors, microprogrammed control units (MCU), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), digital signal processors (DSP), embedded devices, etc.

In some embodiments, as shown in FIG. 3 , the driving assistance system 20 may further include a first motor 221, which is disposed between the seat 13 and the body 12 of the bicycle 10. The onboard computer 21 may transmit the seat tilt angle control command to the first motor 221, and the first motor 221 responds to the seat tilt angle control command to control the tilt direction of the seat 13.

In some embodiments, as shown in FIG. 4 , a camera device 23 may be disposed at the handlebar 11 of the bicycle 10. The camera device 23 includes at least one camera head. The camera device 23 is used to capture image data of the driving environment in front of the bicycle 10 and transmit the image data to the onboard computer 21.

The onboard computer 21 can be used to obtain the driving path information in front of the bicycle 10 based on the image data. The driving path information is used to describe the feasible path in front of the bicycle 10.

In some embodiments, referring again to FIG. 1 and FIG. 2 , the driving assistance system 20 of the bicycle 10 may further include a first position encoder 241, the first position encoder 241 is communicatively connected to the vehicle-mounted computer 21, and the first position encoder 241 is disposed at the connection between the handlebar 11 and the body 12 of the bicycle 10.

The first position encoder 241 is used to obtain the current rotation angle of the handlebar 11 and transmit the current rotation angle of the handlebar 11 to the onboard computer 21 so that the onboard computer 21 can obtain the current rotation angle of the handlebar 11.

The driving assistance system 20 may also include a second position encoder 242 and a third position encoder 243. The second position encoder 242 and the third position encoder 243 are both communicatively connected to the vehicle-mounted computer 21.

The second position encoder 242 is disposed at the connection between the front fork 14 (i.e., the front wheel suspension) and the body 12 of the bicycle 10. The second position encoder 242 is used to detect the tilt angle of the front end of the bicycle 10 and transmit the tilt angle of the front end of the bicycle 10 to the on-board computer 21.

The third position encoder 243 is disposed at the connection between the rear chain fork 15 (i.e., the rear wheel cantilever) and the vehicle body 12. The third position encoder 243 is used to detect the tilt angle of the rear end of the bicycle 10 and transmit the tilt angle of the rear end of the bicycle 10 to the vehicle-mounted computer 21.

The onboard computer 21 is used to obtain the body side tilt angle of the bicycle 10 based on the tilt angle of the front end of the bicycle 10 and the tilt angle of the rear end of the bicycle 10. The body side tilt angle is the angle between the body 12 of the bicycle 10 and the ground on which the bicycle 10 is located.

The above-mentioned method of obtaining the body side tilt angle is only an example. For example, a sensor for detecting the body side tilt angle can also be installed on the body 12 of the bicycle 10, so that the vehicle-mounted computer 21 can obtain the body side tilt angle of the bicycle 10. In actual application, the method of obtaining the body side tilt angle by the vehicle-mounted computer 21 can be set according to needs, and this application embodiment is not limited to this.

Referring again to FIG. 1 , the driving assistance system 20 may also include a speed detection device 25, which is used to detect the driving speed of the bicycle 10 and transmit the driving speed of the bicycle 10 to the onboard computer 21.

The speed detection device 25 can be arranged on the front wheel 16 and/or the rear wheel 17 of the bicycle 10.

In some embodiments, referring again to FIG. 2 , the speed detection device 25 may include a first speed sensor 251 and a second speed sensor 252.

The first speed sensor 251 and the second speed sensor 252 are both connected to the vehicle-mounted computer 21 for communication.

The first speed sensor 251 can be disposed at the axle center of the front wheel 16 of the bicycle 10 to obtain the speed of the front wheel 16 and transmit the speed of the front wheel 16 to the onboard computer 21.

The second speed sensor 252 can be disposed at the axle of the rear wheel 17 of the bicycle 10 to obtain the speed of the rear wheel 17 and transmit the speed of the rear wheel 17 to the onboard computer 21.

The onboard computer 21 can obtain the running speed of the bicycle 10 based on the speed of the front wheel 16 and the speed of the rear wheel 17. For example, the running speed of the bicycle 10 can be obtained based on the average of the speed of the front wheel 16 and the speed of the rear wheel 17. For another example, the running speed of the bicycle 10 can be obtained based on the minimum value of the speed of the front wheel 16 and the speed of the rear wheel 17, but it is not limited thereto.

This embodiment obtains the running speed of the bicycle 10 by the speed of the front wheel 16 and the speed of the rear wheel 17, which can improve the reliability of the running speed of the bicycle 10.

In some embodiments, referring to FIGS. 1 and 2 , the driving assistance system 20 may also include an acceleration sensor 26, for example, a 9-axis acceleration sensor. The acceleration sensor 26 is communicatively connected to the vehicle-mounted computer 21.

The acceleration sensor 26 can be disposed in the middle section of the vehicle body 12. The acceleration sensor 26 is used to obtain the acceleration of the bicycle 10 and transmit the acceleration of the bicycle 10 to the vehicle-mounted computer 21.

In some embodiments, as shown in FIG. 5 and FIG. 6 , the driving assistance system 20 may also include a second motor 222. The second motor 222 is communicatively connected to the vehicle-mounted computer 21.

The second motor 222 is disposed at the connection between the handlebar 11 and the body 12, and the second motor 222 is used to assist the handlebar 11 of the bicycle 10 to rotate.

For example, the onboard computer 21 is also used to determine the target rotation angle of the bicycle 10 based on the driving path information and the current rotation angle. The target rotation angle is used to assist the bicycle 10 to drive along the driving path ahead. Then, based on the target rotation angle, a handlebar steering control instruction is generated. The handlebar steering control instruction is used to instruct the handlebar 11 of the bicycle 10 to rotate according to the target rotation angle, and the handlebar 11 steering instruction is transmitted to the second motor 222.

The second motor 222 is used to respond to the handlebar steering control command and control the handlebar 11 to rotate according to the target rotation angle.

The bicycle 10 of the present application embodiment is equipped with a first motor 221 and a second motor 222. The first motor 221 and the second motor 222 can assist the bicycle 10 in steering and tilt the seat 13 of the bicycle 10 under the control of the onboard computer 21 to improve driving safety.

This application embodiment also provides a driving assistance method. Referring again to FIG. 1 and FIG. 2 , the driving assistance method can apply the above-mentioned vehicle-mounted computer 21. The vehicle-mounted computer 21 can be configured on the bicycle 10 to provide driving assistance for the bicycle 10.

Referring to FIG. 7, FIG. 7 is a flowchart of the driving assistance steps provided by the embodiment of the present application. According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted. The driving assistance method includes: Step 701, obtaining the driving path information in front of the bicycle.

The driving path information is used to describe the traversable path ahead of the bicycle 10.

In some embodiments, as shown in FIG. 4 , a camera device 23 may be disposed at the handlebar 11 of the bicycle 10. The camera device 23 may capture image data of the driving environment in front of the bicycle 10 and transmit the image data to the onboard computer 21.

The onboard computer 21 can obtain the driving path information in front of the bicycle 10 based on the image data.

Furthermore, the onboard computer 21 determines obstacles in the driving environment ahead based on the image data; based on the obstacles, the driving path is planned, such as driving as close to the center line of the lane as possible to obtain driving path information while avoiding obstacles.

That is, the onboard computer 21 can analyze the road conditions ahead based on the image data, avoid obstacles, and obtain the drivable path ahead (i.e., the driving path).

Step 702, obtain the current rotation angle of the handlebar of the bicycle.

In some embodiments, the onboard computer 21 can obtain the current rotation angle of the handlebar 11 of the bicycle 10 from the first position encoder 241 shown in FIG. 2 .

Furthermore, the onboard computer 21 can also obtain the running speed of the bicycle 10, such as the onboard computer 21 obtains the running speed of the bicycle 10 based on the speed detection device 25 shown in Figures 1 and 2, and then determines whether to turn on the tilt assist mode of the seat 13 based on the running speed.

Specifically, if the driving speed exceeds the preset threshold, it means that the driver is likely to lean when turning, which may lead to unsafe behavior. Therefore, it is determined to turn on the tilt assist mode of the seat 13 of the bicycle 10, that is, execute step 703 to improve driving safety.

If the driving speed does not exceed the preset threshold, it means that the driver is more likely to smoothly turn the corner without tilting the seat 13, so it can be determined not to turn on the seat 13 tilt assist mode of the bicycle 10.

Step 703, based on the driving path information and the current rotation angle, determine the target turning direction of the bicycle.

For example, the target turning direction is the turning direction required for bicycle 10 to travel to the driving path.

For example, the driving path is on the left side of the bicycle 10, and the current rotation angle of the handlebar 11 is a certain degree of right turn. At this time, the target turning direction of the bicycle 10 is left turn. That is, the bicycle 10 needs to turn left to drive to the driving path.

Step 704, based on the target turning direction, generate a seat tilt angle control instruction, the seat tilt angle control instruction is used to control the tilt direction of the bicycle seat.

For example, when the bicycle 10 turns left, the tilt direction of the seat 13 of the bicycle 10 is left; when the bicycle 10 turns right, the tilt direction of the seat 13 of the bicycle 10 is right.

The above steps 703 to 704 are steps executed by the onboard computer 21 when the seat tilt angle control instruction is used to control the tilt direction of the seat 13 of the bicycle 10.

In some embodiments, the seat tilt angle control command can also be used to control the tilt angle of the seat 13 of the bicycle 10.

Furthermore, the onboard computer 21 can also obtain the body side tilt angle of the bicycle 10, which is the angle between the body 12 of the bicycle 10 and the ground on which the bicycle 10 is located. For example, the onboard computer 21 can obtain the body side tilt angle from the position parameters obtained by the second position encoder 242 and the third position encoder 243 as shown in FIG. 2.

Then, based on the side tilt angle of the vehicle body, the target tilt angle of the seat 13 is determined; based on the target turning direction of the bicycle 10 and the target tilt angle of the seat 13, a seat tilt angle control instruction is generated.

In addition to determining the target tilt angle of the seat 13 in combination with the side tilt angle of the vehicle body, the target tilt angle of the seat 13 can also be determined in combination with the acceleration of the bicycle 10 and the side tilt angle of the vehicle body to further improve safety.

In some embodiments, based on the side tilt angle of the vehicle body, determining the target tilt angle of the seat 13 may include: searching a pre-stored comparison table for a target tilt angle that matches the side tilt angle of the vehicle body. The comparison table includes a correspondence between different side tilt angles and tilt angles.

In other embodiments, based on the vehicle body side tilt angle, determining the target tilt angle of the seat 13 may include: inputting the vehicle body side tilt angle into a preset calculation function of the seat 13 tilt angle to obtain the target tilt angle.

The calculation function of the preset tilt angle of the seat 13 can be set according to actual application requirements. For example, multiple sets of side tilt angles and tilt angles can be obtained through a safety experiment of bicycle 10 driving, and each set of side tilt angles and tilt angles can be fitted to obtain the calculation function, but it is not limited to this.

The above method of obtaining the target tilt angle of the seat 13 is only an example. In actual application, it can be set according to needs, and this application embodiment does not limit this.

Step 705, sending a seat tilt angle control command to the first motor.

After receiving the seat tilt angle control instruction, the first motor 221 can control the seat 13 according to the tilt direction and target tilt angle indicated by the seat tilt angle control instruction.

In some embodiments, the onboard computer 21 can not only be used to control the tilt angle of the seat 13, but also assist the driver in rotating the handlebar 11.

Furthermore, the onboard computer 21 can also determine the target rotation angle of the bicycle 10 based on the driving path information and the current rotation angle, and the target rotation angle is used to assist the bicycle 10 in driving along the driving path ahead.

Then, a handlebar steering control instruction is generated based on the target rotation angle, the handlebar steering control instruction is used to instruct the handlebar 11 of the bicycle 10 to rotate according to the target rotation angle, and the handlebar steering control instruction is transmitted to the second motor 222 as shown in Figures 5 and 6.

The second motor 222 can control the handlebar 11 to turn according to the target rotation angle.

In some embodiments, the onboard computer 21 can also combine the driving route information, the current acceleration of the bicycle 10, and the current rotation angle to determine the target rotation angle of the bicycle 10.

Furthermore, the driving path information may also include a lane centerline, and based on the driving path information and the current rotation angle, determining the target rotation angle of the bicycle 10 includes: determining a deviation angle from the lane centerline based on the current rotation angle, and then determining the target rotation angle of the bicycle 10 based on the deviation angle.

The embodiment of the present application can assist the bicycle 10 so that the bicycle 10 has the ability to center the lane, and the second motor 222 can assist the bicycle 10 in turning. When the bicycle 10 turns, the first motor 221 can be used to control the tilt angle of the seat 13, so that the driver can follow the inertia of the vehicle to cooperate with the tilting operation, thereby reducing unsafe behaviors such as rollover.

Figure 8 is a schematic diagram of an embodiment of the vehicle-mounted computer 21 of the present application.

The vehicle-mounted computer 21 includes a memory 211, a processor 212, and a computer program 213 stored in the memory 211 and executable on the processor 212. When the processor 212 executes the computer program 213, the steps in the above-mentioned driving assistance method embodiment are implemented, such as steps 701 to 705 shown in FIG. 7.

Exemplarily, the computer program 213 can also be divided into one or more modules/units, which are stored in the memory 211 and executed by the processor 212. The one or more modules/units can be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program 213 in the vehicle-mounted computer 21.

Those skilled in the art will understand that the schematic diagram is only an example of the vehicle-mounted computer 21 and does not constitute a limitation on the vehicle-mounted computer 21. The vehicle-mounted computer 21 may include more or fewer components than shown in the diagram, or may combine certain components, or may include different components. For example, the vehicle-mounted computer 21 may also include input and output devices, network access devices, buses, etc.

The processor 212 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, a single-chip microcomputer or the processor 212 may also be any conventional processor, etc.

The memory 211 can be used to store computer programs 213 and/or modules/units. The processor 212 realizes various functions of the vehicle-mounted computer 21 by running or executing the computer programs and/or modules/units stored in the memory 211 and calling the data stored in the memory 211. The memory 211 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the vehicle-mounted computer 21 (such as audio data), etc. In addition, the memory 211 may include a high-speed random access memory, and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash memory card (Flash Card), at least one disk memory device, a flash memory device, or other non-volatile solid-state memory devices.

If the module/unit integrated in the vehicle-mounted computer 21 is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application can also implement all or part of the processes in the above-mentioned embodiment method by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, which can be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier wave signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier wave signals and telecommunication signals.

In the several embodiments provided in this application, it should be understood that the disclosed electronic devices and methods can be implemented in other ways. For example, the electronic device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation.

In addition, each functional unit in each embodiment of the present application can be integrated into the same processing unit, or each unit can exist physically separately, or two or more units can be integrated into the same unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional modules.

It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present application. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. In addition, it is obvious that the word "including" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or electronic devices stated in the electronic device claim can also be implemented by the same unit or electronic device through software or hardware. The words first, second, etc. are used to indicate names and do not indicate any specific order.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this application and are not limiting. Although this application is described in detail with reference to the above embodiments, ordinary technicians in this field should understand that the technical solution of this application can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of this application.

701, 702, 703, 704, 705: Steps

Claims (9)

A driving assistance method is applied to a bicycle on-board computer, the driving assistance method comprising: obtaining a driving path information in front of the bicycle; obtaining a current rotation angle of a handlebar of the bicycle; determining a target turning direction of the bicycle based on the driving path information and the current rotation angle; generating a seat tilt angle control instruction based on the target turning direction, the seat tilt angle control instruction being used to control the tilt direction of the seat of the bicycle, wherein Before generating the seat tilt angle control instruction based on the target turning direction, the method further includes: obtaining the driving speed of the bicycle; if the driving speed exceeds a preset threshold, turning on the seat tilt angle assist mode of the bicycle; generating the seat tilt angle control instruction based on the target turning direction of the bicycle includes: generating the seat tilt angle control instruction based on the target turning direction of the bicycle when the seat tilt angle assist mode of the bicycle is turned on. The driving assistance method as described in claim 1, wherein the seat tilt angle control instruction is also used to control the tilt angle of the seat of the bicycle, and the generating of the seat tilt angle control instruction based on the target turning direction includes: obtaining the body side tilt angle of the bicycle, the body side tilt angle being the angle between the body of the bicycle and the ground on which the bicycle is located; determining the target tilt angle of the seat based on the body side tilt angle; generating the seat tilt angle control instruction based on the target turning direction of the bicycle and the target tilt angle of the seat. The driving assistance method as described in claim 1, wherein the obtaining of the driving path information in front of the bicycle comprises: obtaining image data of the driving environment in front of the bicycle; determining obstacles in the driving environment in front based on the image data; and planning the driving path based on the obstacles to obtain the driving path information. A driving assistance method as described in any one of claims 1 to 3, wherein the driving assistance method further comprises: determining a target rotation angle of the bicycle based on the driving path information and the current rotation angle; the target rotation angle is used to assist the bicycle in driving along the forward driving path; generating a handlebar steering control instruction based on the target rotation angle, the handlebar steering control instruction is used to instruct the handlebar of the bicycle to rotate according to the target rotation angle. The driving assistance method as described in claim 4, wherein the driving path information includes a lane centerline, and the determining the target rotation angle of the bicycle based on the driving path information and the current rotation angle includes: determining a deviation angle from the lane centerline based on the current rotation angle; and determining the target rotation angle of the bicycle based on the deviation angle. A vehicle-mounted computer includes a processor and a memory, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory, so that the vehicle-mounted computer executes the driving assistance method as described in any one of claim 1 to claim 5. A bicycle, comprising the on-board computer as described in claim 6, wherein the on-board computer is disposed on the body of the bicycle. The bicycle as described in claim 7, wherein the bicycle further comprises a first motor, the first motor is communicatively connected to the onboard computer, the first motor is arranged between the body of the bicycle and the seat of the bicycle, and the first motor is used to respond to the seat tilt angle control instruction to control the tilt direction of the bicycle seat. A bicycle as described in claim 7 or 8, wherein the bicycle further comprises a second motor, the second motor is communicatively connected to the onboard computer, the second motor is arranged at the connection between the body of the bicycle and the handlebar of the bicycle, and the onboard computer is further used to transmit a handlebar steering control instruction to the second motor; the handlebar steering control instruction is generated based on a target rotation angle; the target rotation angle is used to assist the bicycle in driving along a forward driving path; the second motor is used to respond to the handlebar steering control instruction and control the handlebar of the bicycle to rotate according to the target rotation angle.

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