CN113050615B - Driving safety control method and device, electronic equipment and storage medium - Google Patents
Driving safety control method and device, electronic equipment and storage medium Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The application relates to a driving safety control method, a driving safety control device, electronic equipment and a storage medium, wherein the driving safety control method is realized by acquiring an environment image around a vehicle; determining the relative position of the target vehicle and the characteristic information of the signal lamp of the target vehicle based on the environment image; the characteristic information includes color information and a category; determining state information of the signal lamp according to the color information; determining the driving intention of the target vehicle according to the type of the signal lamp, the state information of the signal lamp and the relative position; the state information of the signal lamp comprises on, off and flashing; the categories include turn lights, high beam lights, low beam lights and brake lights. Therefore, the driving intention of the target vehicle is judged by determining the type of the signal lamp of the target vehicle, the state information of the signal lamp and the relative position, and the accuracy of the prediction of the behavior of the surrounding vehicles in the actual driving process of the vehicle can be improved, so that the driving safety and the same-vehicle efficiency of the vehicle can be improved.
Description
Technical Field
The present application relates to the field of automotive technologies, and in particular, to a driving safety control method, a driving safety control device, an electronic device, and a storage medium.
Background
Autopilot has become an important direction of technical development in the modern automobile industry and the electronic and electric industry, and the combination of autopilot and new energy in the future will reduce environmental pollution and improve road traffic capacity, so the technology aiming at various aspects of autopilot has become a key research field of the modern high and new technology. The sensor of the automatic driving technology is used as a support for sensing the surrounding environment, and the current sensor mainly comprises a camera, a laser radar, a millimeter wave radar, an ultrasonic radar and the like.
In the development process of automatic driving, the scene of mixed running of the automatic driving vehicle and the manned vehicle is necessarily experienced. In this scenario, a person driving a vehicle is more traditional, and most of the traditional vehicles do not have vehicle-to-vehicle communication (V2V) capability, and are more flexible and changeable in the driving process. The automatic driving vehicle is difficult to know the behavior and the intention of the traditional pedestrian driving vehicle, deviation is easy to occur in the prediction of the behavior of the pedestrian driving vehicle, and the problems of low efficiency, easy occurrence of traffic accidents and the like are easy to occur.
The existing automatic driving vehicle is added with a measure for judging the whistling of the automobile, the intention of the overtaking of the rear automobile is judged through the whistling of the rear automobile, but the whistling is a noise pollution source, and the whistling is forbidden in a plurality of cities; in addition, the wind, rain and the like of the automatic driving automobile can cause serious interference to the pickup in the high-speed driving process, and complicated software and hardware noise reduction measures are required to be adopted; in addition, most of the sound collection uses a microphone array, and the microphone array is mounted on the vehicle, so that the whistling sound of the rear vehicle is shielded, reflected, diffracted and the like, and positioning is difficult.
According to the application, the lamplight judgment of the automatic driving vehicle to the manual driving vehicle is added, for example, the intention of the traditional manned vehicle is judged through the steering lamp, the far-near lamp and the brake lamp, and the driving safety of the vehicle can be improved.
Disclosure of Invention
The embodiment of the application provides a driving safety control method, a driving safety control device, electronic equipment and a storage medium, wherein the driving intention of a target vehicle is judged through a signal lamp of the target vehicle, so that the driving safety of the vehicle can be improved.
In one aspect, an embodiment of the present application provides a driving safety control method, including:
acquiring an environment image around a vehicle;
determining the relative position of the target vehicle and the characteristic information of the signal lamp of the target vehicle based on the environment image; the characteristic information includes color information and a category;
determining state information of the signal lamp according to the color information;
determining the driving intention of the target vehicle according to the type of the signal lamp, the state information of the signal lamp and the relative position;
the state information of the signal lamp comprises on, off and flashing; the categories include turn lights, high beam lights, low beam lights and brake lights.
In another aspect, an embodiment of the present application provides a driving safety control device, including:
the acquisition module is used for acquiring an environment image around the vehicle;
a first determining module for determining a relative position of the target vehicle and characteristic information of a signal lamp of the target vehicle based on the environmental image; the characteristic information includes color information and a category;
the second determining module is used for determining the state information of the signal lamp according to the color information;
a third determining module for determining the driving intention of the target vehicle according to the type of the signal lamp, the state information of the signal lamp and the relative position;
the state information of the signal lamp comprises on, off and flashing; the categories include turn lights, high beam lights, low beam lights and brake lights.
In another aspect, an embodiment of the present application provides an electronic device, where the electronic device includes a processor and a memory, and the memory stores at least one instruction, at least one section of program, a code set, or an instruction set, and the at least one instruction, the at least one section of program, the code set, or the instruction set is loaded and executed by the processor to implement the driving safety control method described above.
In another aspect, an embodiment of the present application provides a computer readable storage medium, where at least one instruction, at least one program, a code set, or an instruction set is stored, where at least one instruction, at least one program, a code set, or an instruction set is loaded and executed by a processor to implement the driving safety control method described above.
The driving safety control method, the driving safety control device, the electronic equipment and the storage medium provided by the embodiment of the application have the following beneficial effects:
acquiring an environment image around a vehicle; determining the relative position of the target vehicle and the characteristic information of the signal lamp of the target vehicle based on the environment image; the characteristic information includes color information and a category; determining state information of the signal lamp according to the color information; determining the driving intention of the target vehicle according to the type of the signal lamp, the state information of the signal lamp and the relative position; the state information of the signal lamp comprises on, off and flashing; the categories include turn lights, high beam lights, low beam lights and brake lights. Therefore, the driving intention of the target vehicle is judged by determining the type of the signal lamp of the target vehicle, the state information of the signal lamp and the relative position, and the accuracy of the prediction of the behavior of the surrounding vehicle in the actual driving process of the vehicle can be improved, so that the driving safety and the same-vehicle efficiency of the vehicle can be improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present application;
fig. 2 is a schematic flow chart of a driving safety control method according to an embodiment of the present application;
FIG. 3 is a schematic diagram of various driving scenarios provided by an embodiment of the present application;
fig. 4 is a schematic structural diagram of a driving safety control device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, fig. 1 is a schematic diagram of an application scenario provided by an embodiment of the present application, including a vehicle 101 and a target vehicle 102, where the vehicle 101 includes a sensing module 1011, and the sensing module 1011 includes a camera for detecting, identifying and analyzing characteristic information of a signal lamp of the target vehicle 102.
The vehicle 101 acquires an environmental image around the vehicle 101 through the perception module 1011, and the vehicle 101 determines the relative position of the target vehicle 102 based on the environmental image. The vehicle 101 can determine the target vehicle 102 and the relative position thereof through a method based on computer vision by the perception module 101; in addition, the vehicle 101 may fuse information acquired by the lidar or millimeter wave radar to determine the target vehicle 102 and its relative position. The vehicle 101 determines feature information of a signal lamp of the target vehicle 102 through the perception module 1011, wherein the feature information includes color information and a kind, and the perception module 1011 determines state information of the signal lamp according to the color information; the perception module 101 sends characteristic information of a signal lamp of the target vehicle 102 to a decision module of the vehicle 101, and the decision module determines the driving intention of the target vehicle 102 according to the type of the signal lamp, the state information of the signal lamp and the relative position; the state information of the signal lamp comprises on, off and flashing; the categories include turn lights, high beam lights, low beam lights and brake lights.
Alternatively, the vehicle 101 may be an autonomous vehicle having an autonomous function; the target vehicle 102 may be a conventional manned vehicle that does not have an autopilot function. Because the traditional manned vehicle cannot communicate with the automatic driving vehicle, the traditional manned vehicle is flexible and changeable in the driving process. The behavior and the intention of the traditional manned vehicle are difficult to know by the automatic driving vehicle, and the behavior prediction of the traditional manned vehicle is easy to deviate, so that the efficiency of the same party is easy to be low, and even traffic accidents can be caused. According to the driving safety control method provided by the embodiment of the application, the automatic driving vehicle can judge the driving intention of the traditional manned vehicle by determining the type of the signal lamp, the state information and the relative position of the signal lamp of the traditional manned vehicle, and the accuracy of the automatic driving vehicle in predicting the behavior of the surrounding vehicles in the actual driving process can be improved, so that the driving safety and the same-as efficiency of the automatic driving vehicle can be improved.
In the following, a specific embodiment of a driving safety control method according to the present application is described, and fig. 2 is a schematic flow chart of a driving safety control method according to an embodiment of the present application, and the present specification provides method operation steps as an example or a flow chart, but may include more or fewer operation steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. When implemented in a real system or server product, the methods illustrated in the embodiments or figures may be performed sequentially or in parallel (e.g., in a parallel processor or multithreaded environment). As shown in fig. 2, the method may include:
s201: an image of the environment surrounding the vehicle is acquired.
S203: determining the relative position of the target vehicle and the characteristic information of the signal lamp of the target vehicle based on the environment image; the feature information includes color information and a category.
In the embodiment of the application, the sensing module of the vehicle acquires an environment image around the vehicle through the vehicle-mounted camera, and determines the relative position of the target vehicle based on the environment image, wherein the relative position is the position of the target vehicle relative to the vehicle in the same lane or different lanes. The perception module also determines characteristic information of signal lamps of the target vehicle based on the environment image, wherein the signal lamps comprise turn signals, high beam lights, low beam lights and brake lights, and the color information can be represented by red, green and blue (RGB) values based on RGB color standards.
In an alternative implementation mode for determining the relative position of the target vehicle based on the environment image, the environment image and the data acquired by the laser radar or the microwave radar can be correlated and fused to judge the object type of each target in the environment image, and the targets belonging to the vehicle type are determined; and then determining the relative position of the target vehicle according to the lane lines in the environment image, namely, the position of the target vehicle in the same lane or a different lane with the vehicle.
In an alternative embodiment of determining the feature information of the signal lamp of the target vehicle based on the environment image, the target vehicle is extracted from the environment image in a segmentation mode, the position areas of the steering lamp, the high beam lamp, the low beam lamp and the brake lamp are positioned according to the outline of the target vehicle, and the RGB value of each signal lamp position area is obtained. Here, locating the location areas of the turn signal, the high beam, the low beam, and the brake light according to the outline of the target vehicle means that the location area of each signal is determined according to the location of the vehicle in general, that is, the location area of each signal is determined, and the type of signal is determined.
S205: and determining the state information of the signal lamp according to the color information.
In the embodiment of the application, a sensing module of a vehicle judges the state information of each signal lamp by determining the RGB value of each signal lamp in a multi-frame environment image, wherein the state information of each signal lamp comprises on, off and flickering.
In an alternative embodiment, the state information of the signal lamp is determined according to the color information, and multiple frames of environment images around the vehicle are obtained; determining color information of a signal lamp in each frame of environment image of the multi-frame environment image; obtaining a color information set; determining color change information of the signal lamp according to the color information set; status information of the signal lamp is determined based on the color change information.
For example, it is assumed that the vehicle determines that the relative position of the target vehicle is located in front of the same lane as the vehicle from the environmental images, then positions the signal lamp position areas according to the outline of the target vehicle, the RGB values of the position areas in each frame of environmental image of the multi-frame environmental image are determined by acquiring the multi-frame environmental image acquired by the camera within a preset time, assuming that the preset time is 5 seconds, and the RGB values of the position areas in 25 continuous frames can be determined by acquiring the 5 frames of environmental images per second by the camera. If the variation range of RGB values of 25 continuous frames is within the allowable variation range, the state information of the signal lamp can be determined to be on or off; if the RGB values of 25 consecutive frames are changed in a certain period, it can be determined that the status information of the signal lamp is blinking. And secondly, determining the state of the current signal lamp according to the RGB value when each signal lamp is started. For example, the turn signal light is generally yellow, the RGB value of the turn signal light can be (255,255,0) when the turn signal light is turned on, and if the RGB values of 25 continuous frames are (255,255,0), or if the RGB values in 25 continuous frames float within the allowable range, the turn signal light is determined to be turned on; if the RGB values of the 25 continuous frames are all close to (0, 0), determining that the state of the turn signal lamp is off; if the RGB value of the first 5 frames of the 25 consecutive frames is (255,255,0), the RGB value of the 6 th frame starts to be (0, 0), the RGB value of the 11 th frame starts to be (255,255,0), the RGB value of the 16 th frame starts to be (0, 0) … …, and the RGB values of the 25 consecutive frames are repeatedly circulated according to a certain rule, the state information of the turn signal is determined to be blinking. It should be noted that, the RGB values of each signal lamp may be set according to an actual scene.
S207: and determining the driving intention of the target vehicle according to the type of the signal lamp, the state information of the signal lamp and the relative position.
In the embodiment of the application, the sensing module of the vehicle sends the determined type of the signal lamp, the state information of the signal lamp and the relative position to the decision module of the vehicle, and the decision module finally determines the driving intention of the target vehicle according to the type of the signal lamp, the state information of the signal lamp and the relative position.
Referring to fig. 3, fig. 3 is a schematic diagram of various driving scenarios provided in an embodiment of the present application, including a vehicle 301 and a target vehicle 302, where the vehicle 301 may be an autonomous vehicle and the target vehicle 302 may be a conventional manned vehicle.
An alternative embodiment for determining the driving intention of the target vehicle according to the kind of the signal lamp, the state information of the signal lamp and the relative position is as follows: if the type of the signal lamp is a turn lamp, the state information of the signal lamp is on, the relative position is located on a lane different from the vehicle, and the driving intention of the target vehicle is determined as the turning intention.
Specifically, as shown in fig. 3 (a), when the vehicle 301 is traveling normally on the lane a, there may be a case of a lane-crossing of the target vehicle 302 located on the lane B, and in this case, if the target vehicle 302 changes lanes and the vehicle 301 is traveling with sudden acceleration, an accident of collision between two vehicles may be caused. In this embodiment of the present application, according to the above-mentioned alternative embodiment, if the sensing module of the vehicle 301 determines that the relative position of the target vehicle 302 is located in a lane different from the vehicle, determines that the type of the signal lamp is a right turn lamp, and determines that the state information of the signal lamp is on, then determines that the driving intention of the target vehicle 302 is a steering intention, the sensing module sends the steering intention of the target vehicle 302 to the decision module of the vehicle 301, and the decision module makes a decision of decelerating according to the steering intention, so that the target vehicle 302 can smoothly complete the overtaking, and the collision with the target vehicle 302 is prevented.
Another alternative embodiment for determining the driving intention of the target vehicle according to the kind of the signal lamp, the state information of the signal lamp, and the relative position is: if the type of the signal lamp is a turn lamp, the state information of the signal lamp is on, the relative position is in the same lane of the vehicle, and the driving intention of the target vehicle is determined as the steering intention. After determining that the traveling intention of the target vehicle is the steering intention, further comprising: if the steering lamp of the vehicle and the steering lamp of the target vehicle are the same-position steering lamp, determining the relative speed of the target vehicle based on the vehicle; and if the relative speed is greater than the preset relative speed, changing the running intention of the vehicle. Here, the definition of the relative speed is a difference between the running speed of the target vehicle and the running speed of the vehicle. If the relative speed of the target vehicle based on the vehicle is greater than zero, the running speed of the target vehicle is greater than the running speed of the vehicle, and the distance between the target vehicle and the vehicle is gradually reduced; if the relative speed of the target vehicle based on the vehicle is smaller than zero, the running speed of the target vehicle is smaller than the running speed of the vehicle, and the distance between the target vehicle and the vehicle gradually becomes larger; if the relative speed is equal to zero, it means that the running speed of the target vehicle is equal to the running speed of the vehicle, and the distance between the target vehicle and the vehicle will remain unchanged.
Specifically, as shown in fig. 3 (b), both the vehicle 301 and the target vehicle 302 are located in the lane a, and when the vehicle 301 changes lanes to the left, the left turn signal is turned on to notify the rear vehicle, and the lane is slowly changed to the left. If the target vehicle 302 is also right to turn left at this time, the left turn signal is also turned on. If the speed of the vehicle 301 is high at this time, both vehicles wish to change lanes at the same time, a collision accident may occur. In the embodiment of the present application, according to the above-described alternative embodiment, the vehicle 301 turns on the left turn signal while observing the signal light of the target vehicle 302 during the course of changing lanes to the left. In one case, the vehicle 301 determines that the type of the signal lamp of the target vehicle is a turn lamp, the state information of the signal lamp is on, and the relative position is in the same lane of the vehicle 301, and the vehicle 301 determines that the traveling intention of the target vehicle 302 is a steering intention; next, if it is determined that the turn signal is a left turn signal, the determination target vehicle 302 is based on the relative speed of the vehicle 301; if the relative speed is greater than the preset relative speed, indicating that the distance between the target vehicle 302 and the vehicle 301 is gradually decreasing, the vehicle 301 will stop changing lanes. In another case, the vehicle 301 determines that the kind of the target vehicle 302 is a turn signal, and the state information of the signal lamp is off, and the vehicle 301 continues to slowly lane left.
Another alternative embodiment for determining the driving intention of the target vehicle according to the kind of the signal lamp, the state information of the signal lamp, and the relative position is: if the type of the signal lamp is a high beam, the state information of the signal lamp is flashing, the relative position is at the rear of a lane different from the vehicle, and the driving intention of the target vehicle is determined to be the lane change preventing intention.
Specifically, as shown in fig. 3 (c), when the vehicle 301 wants to change the lane from the lane a to the lane B, the vehicle 301 turns on the left turn signal to notify the other vehicles on the lane B, and determines whether the other vehicles on the lane B allow the vehicle 301 to change the lane by determining the type of the traffic light of the other vehicles on the lane B and the state information of the traffic light. According to the above-described alternative implementation method, in one case, the vehicle 301 determines that the relative position of the target vehicle 302 located on the lane B is located behind a lane different from the vehicle, determines that the signal lamp type of the target vehicle 302 is a high beam, and determines that the traveling intention of the target vehicle 302 is to prevent the lane change intention if it is determined that the state information of the high beam is blinking; the vehicle 301 stops lane change to the left according to the lane change preventing intention of the target vehicle 302. In another case, if it is determined that the status information of the high beam is off, it is determined that the target vehicle 302 has no intention to prevent lane change; the vehicle 301 continues to determine that the target vehicle 302 is based on the relative speed of the vehicle 301, and if the relative speed is less than the preset relative speed, it indicates that the relative distance between the target vehicle 302 and the vehicle 301 is within the controllable range, and at this time, the vehicle 301 may slowly change lanes to lane B.
Another alternative embodiment for determining the driving intention of the target vehicle according to the kind of the signal lamp, the state information of the signal lamp, and the relative position is: if the type of the signal lamp is a brake lamp, the state information of the signal lamp is on, the relative position is in front of a lane different from the vehicle, and the running intention of the target vehicle is determined to be the intention of slowing down the vehicle; after determining that the traveling intention of the target vehicle is the intention to slow down the vehicle speed, further comprising: if the turn signal lamp of the vehicle corresponds to the lane where the target vehicle is located, determining the relative speed of the target vehicle based on the vehicle; and if the relative speed is greater than the preset relative speed, changing the running intention of the vehicle.
Specifically, as shown in fig. 3 (d), when the vehicle 301 wants to change the lane from the lane a to the lane B, it is necessary to observe the traveling state of the other vehicle on the lane B. According to the above-described alternative embodiment, the vehicle 301 determines that the relative position of the target vehicle 302 is located in front of a lane different from the vehicle, the type of the signal lamp is a brake lamp, and the state information of the signal lamp is on, and determines that the traveling intention of the target vehicle 302 is an intention to slow down the vehicle; the vehicle 301 continues to determine the relative speed of the target vehicle 302 based on the vehicle 301, if the relative speed is greater than the preset relative speed, which indicates that a sufficient relative distance is left between the target vehicle 302 and the vehicle 301, and the relative distance gradually becomes larger, so that the vehicle 301 finishes lane changing, and at this time, the vehicle 301 continues to slowly change the lane to the lane B; if the vehicle 301 determines that the relative speed is less than or equal to the preset relative speed, it means that the relative distance between the target vehicle 302 and the vehicle 301 gradually decreases, and if the vehicle 301 continues to change lanes, a collision accident may be caused, so that the vehicle 301 may stop changing lanes.
The embodiment of the application also provides a driving safety control device, and fig. 4 is a schematic structural diagram of the driving safety control device provided by the embodiment of the application, as shown in fig. 4, the device includes:
an acquisition module 401 for acquiring an environmental image around the vehicle;
a first determining module 402, configured to determine a relative position of the target vehicle and characteristic information of a signal lamp of the target vehicle based on the environmental image; the characteristic information includes color information and a category;
a second determining module 403, configured to determine status information of the signal lamp according to the color information;
a third determining module 404, configured to determine a driving intention of the target vehicle according to the type of the signal lamp, the state information of the signal lamp, and the relative position;
the state information of the signal lamp comprises on, off and flashing; the categories include turn lights, high beam lights, low beam lights and brake lights.
The device and method embodiments in the embodiments of the present application are based on the same application concept.
An embodiment of the present application provides an electronic device, including a processor and a memory, where the memory stores at least one instruction, at least one section of program, a code set, or an instruction set, and the at least one instruction, the at least one section of program, the code set, or the instruction set is loaded and executed by the processor to implement the driving safety control method described above.
Embodiments of the present application also provide a storage medium that may be disposed in a server to store at least one instruction, at least one program, a code set, or an instruction set related to a driving safety control method for implementing a driving safety control method in a method embodiment, where the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the driving safety control method described above.
Alternatively, in this embodiment, the storage medium may be located in at least one network server among a plurality of network servers of the computer network. Alternatively, in the present embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
As can be seen from the embodiments of the driving safety control method, apparatus, electronic device and storage medium provided by the present application, in the present application, an environmental image around a vehicle is obtained; determining the relative position of the target vehicle and the characteristic information of the signal lamp of the target vehicle based on the environment image; the characteristic information includes color information and a category; determining state information of the signal lamp according to the color information; determining the driving intention of the target vehicle according to the type of the signal lamp, the state information of the signal lamp and the relative position; the state information of the signal lamp comprises on, off and flashing; the categories include turn lights, high beam lights, low beam lights and brake lights. Therefore, the driving intention of the target vehicle is judged by determining the type of the signal lamp of the target vehicle, the state information of the signal lamp and the relative position, and the accuracy of the prediction of the behavior of the surrounding vehicle in the actual driving process of the vehicle can be improved, so that the driving safety and the same-vehicle efficiency of the vehicle can be improved.
It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And the foregoing description has been directed to specific embodiments of this specification. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the apparatus embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The foregoing description of the preferred embodiments of the application is not intended to limit the application to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the application are intended to be included within the scope of the application.
Claims (9)
1. A driving safety control method, characterized by comprising:
acquiring an environment image around a vehicle;
determining the relative position of a target vehicle and the characteristic information of a signal lamp of the target vehicle based on the environment image; the characteristic information comprises color information and types, and the relative position is the position of the target vehicle relative to the vehicle in the same lane or different lanes;
determining the state information of the signal lamp according to the color information, wherein the method comprises the following steps: acquiring a multi-frame environment image around the vehicle; determining the color information of the signal lamp in each frame of environment image of the multi-frame environment image to obtain a color information set; determining color change information of the signal lamp according to the color information set; determining state information of the signal lamp based on the color change information;
determining the driving intention of the target vehicle according to the type of the signal lamp, the state information of the signal lamp and the relative position;
wherein, the state information of the signal lamp comprises on, off and flashing; the categories include turn lights, high beam lights, low beam lights and brake lights.
2. The method according to claim 1, wherein the determining the traveling intention of the target vehicle based on the kind of the signal, the state information of the signal, and the relative position includes:
and if the type of the signal lamp is the turn lamp, the state information of the signal lamp is on, the relative position is positioned on a lane different from the vehicle, and the driving intention of the target vehicle is determined to be the steering intention.
3. The method according to claim 1, wherein the determining the traveling intention of the target vehicle based on the kind of the signal, the state information of the signal, and the relative position includes:
if the type of the signal lamp is the turn lamp, the state information of the signal lamp is on, the relative position is in the same lane of the vehicle, and the driving intention of the target vehicle is determined to be the steering intention;
after the determination that the traveling intention of the target vehicle is the steering intention, further includes:
if the steering lamp of the vehicle and the steering lamp of the target vehicle are the same-position steering lamp, determining the relative speed of the target vehicle based on the vehicle;
and if the relative speed is smaller than the preset relative speed, changing the running intention of the vehicle.
4. The method according to claim 1, wherein the determining the traveling intention of the target vehicle based on the kind of the signal, the state information of the signal, and the relative position includes:
and if the type of the signal lamp is the high beam, the state information of the signal lamp is flashing, the relative position is positioned behind a lane different from the vehicle, and the driving intention of the target vehicle is determined to be the intention of preventing lane change.
5. The method according to claim 1, wherein the determining the traveling intention of the target vehicle based on the kind of the signal, the state information of the signal, and the relative position includes:
if the type of the signal lamp is the brake lamp, the state information of the signal lamp is on, the relative position is in front of a lane different from the vehicle, and the driving intention of the target vehicle is determined to be the intention of slowing down the vehicle;
after the determining that the driving intention of the target vehicle is the intention to slow down the vehicle speed, the method further includes:
if the turn signal lamp of the vehicle corresponds to the lane in which the target vehicle is located, determining the relative speed of the target vehicle based on the vehicle;
and if the relative speed is smaller than the preset relative speed, changing the running intention of the vehicle.
6. A driving safety control device, characterized by comprising:
the acquisition module is used for acquiring an environment image around the vehicle;
a first determining module for determining a relative position of a target vehicle and characteristic information of a signal lamp of the target vehicle based on the environment image; the characteristic information comprises color information and types, and the relative position is the position of the target vehicle relative to the vehicle in the same lane or different lanes;
the second determining module is configured to determine status information of the signal lamp according to the color information, and includes: acquiring a multi-frame environment image around the vehicle; determining the color information of the signal lamp in each frame of environment image of the multi-frame environment image to obtain a color information set; determining color change information of the signal lamp according to the color information set; determining state information of the signal lamp based on the color change information;
a third determining module for determining a driving intention of the target vehicle according to the kind of the signal lamp, the state information of the signal lamp and the relative position;
wherein, the state information of the signal lamp comprises on, off and flashing; the categories include turn lights, high beam lights, low beam lights and brake lights.
7. The apparatus of claim 6, wherein the device comprises a plurality of sensors,
and the third determining module is further configured to determine that the driving intention of the target vehicle is a steering intention if the type of the signal lamp is the turn-on lamp, the state information of the signal lamp is on, and the relative position is located in a lane different from the vehicle.
8. An electronic device comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a set of codes, or a set of instructions, the at least one instruction, the at least one program, the set of codes, or the set of instructions being loaded and executed by the processor to implement the driving safety control method of any one of claims 1-5.
9. A computer readable storage medium having stored therein at least one instruction, at least one program, code set, or instruction set, the at least one instruction, the at least one program, the code set, or instruction set being loaded and executed by a processor to implement the driving safety control method according to any one of claims 1-5.
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| CN114792468A (en) * | 2021-09-17 | 2022-07-26 | 大唐高鸿智联科技(重庆)有限公司 | Vehicle driving intention identification method and device and electronic equipment |
| CN114519848A (en) * | 2022-02-09 | 2022-05-20 | 商汤集团有限公司 | Movement intention determining method, device and equipment and storage medium |
| CN115457783B (en) * | 2022-08-30 | 2023-08-11 | 重庆长安汽车股份有限公司 | Traffic, cooperation and cooperation method and system for intersection without signal lamp |
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