| CPC B60W 60/0011 (2020.02) [B60W 40/02 (2013.01); B60W 50/0098 (2013.01); B60W 60/0015 (2020.02); B60W 2050/0008 (2013.01); B60W 2555/60 (2020.02); B60W 2556/35 (2020.02)] | 15 Claims |
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1. A driving assistance device for a vehicle, comprising:
an acquisition module configured to acquire information comprising at least one of vehicle state information and environment information surrounding the vehicle obtained through a vehicle bus from an on-board sensing unit comprising one or more of a camera sensor, a radar sensor, a lidar, an ultrasonic sensor, a wheel speed sensor, a displacement sensor, an acceleration sensor, and a steering angle sensor arranged on a body of the vehicle;
a decision module configured to determine a driving behavior for the vehicle in an autonomous driving mode based on the acquired information;
a pre-processing module configured to process the acquired information to identify a respective information category among a plurality of pre-defined information categories the acquired information belongs to; and
a determining module configured to retrieve one or more traffic rules related to the information category that the acquired information belongs to from a traffic rule database pre-stored in the driving assistance device; determine that the driving behavior violates any of the one or more traffic rules; and determine risks of the driving behavior after determining that the driving behavior violates at least one of the one or more traffic rules, the risks comprising a legal penalty, property damages and personal injury caused by the driving behavior, wherein the risks are converted into values in a same variable scale and a consolidated risk score is obtained for the driving behavior by calculating a weighted average of the risks;
wherein the decision module and the determining module are configured to perform a closed-loop control of the autonomous driving mode with the consolidated risk score of the determined risks as a feedback parameter, and the closed-loop control is ended when the decision module outputs a stable decision such that the determined risks of the driving behavior could not be further lowered, and the stable decision means that the determined driving behavior does not change; and
wherein the closed-loop control includes steps (a) and (b) performed sequentially, the steps being repeated until the decision module outputs the stable decision:
in step (a), the determining module outputs the determined risks of the driving behavior to the decision module; and
in step (b), the decision module determines a new driving behavior attempting to reduce the determined risks, and outputs the decision on the new driving behavior to the determining module.
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