KR20210038462A - Method for reminding driving in dedicated lane, apparatus, device and storage medium - Google Patents

Abstract

The present specification provides an exclusive lane driving notificiation method, an exclusive lane driving notificiation device, equipment and a storage medium, which relate to the field of smart transportation. According to the specific implementation scheme, the exclusive lane driving notificiation method is applied to the electronic equipment, the electronic equipment communicates with a visual sensor, the visual sensor is arranged on a target vehicle, and the electronic equipment or the target vehicle is provided with a navigation system. The exclusive lane driving notificiation method comprises the steps of: acquiring current frame environment data, collected by the visual sensor, in front of the target vehicle; determining attribute information of a target lane line in which the target vehicle is currently driving according to the current frame environment data; when determining that the target vehicle is currently driving in the exclusive lane according to the attribute information of the target lane line, acquiring an exclusive lane traffic control time period from the navigation system; and when determining that current driving time is within the exclusive lane traffic control time period, outputting second-level traffic control notificiation information. The exclusive lane driving notificiation method can accurately determine whether the target vehicle is really driving in the exclusive lane or not, and accurately notify a driver of an exclusive public transport vehicle lane.

Description

Dedicated road driving notification method, device, device, and storage medium {METHOD FOR REMINDING DRIVING IN DEDICATED LANE, APPARATUS, DEVICE AND STORAGE MEDIUM}

The present application relates to the field of data processing technology, and in particular to smart traffic technology.

With the continuous improvement of the modern public transport system, in order to smoothly operate public transport vehicles and solve the problem of congestion of public transport vehicle routes, roadways for public transport vehicles, such as bus lanes, have been built. Regarding non-public transportation vehicles, roadways exclusively for public transportation vehicles have a driving time limit, and non-public transportation vehicles are regulated from entering the exclusive roadway during the limited driving time period. Therefore, it is necessary to prevent the occurrence of offenses by reminding drivers who are driving immediately on the roadway exclusively for public transportation vehicles during the time limit for driving non-public transportation vehicles.

In the prior art, when notifying the driver, generally, the vehicle is positioned by the IMU fusion positioning system.By combining the vehicle location information after positioning with the navigation system, it is confirmed that the vehicle will soon run on a road section of a public transport vehicle-only roadway. If so, notify the driver.

However, since the existing fusion positioning system can only approximate the location of the vehicle, the navigation system can only determine that the road section for which the vehicle is traveling includes a roadway exclusively for public transport vehicles, and the vehicle is actually dedicated. It is not possible to determine whether or not you are driving on a roadway. Therefore, it is not possible to accurately inform the driver of the road for public transport vehicles, and in case of inaccurate notification, the driving experience of the user is degraded.

The embodiment of the present application provides a method, an apparatus, a device, and a storage medium to notify the driving of a dedicated roadway, so that in the prior art, it is not possible to accurately notify the driver of a roadway exclusively for public transport vehicles, and in case of an inaccurate notification, the user's driving experience is poor Solve technical problems.

In the first aspect of the embodiment of the present application, a dedicated roadway driving notification method is provided, the method being applied to an electronic device, the electronic device and a vision sensor communicating, the vision sensor being installed in a target vehicle, and the electronic device. The device or the target vehicle is equipped with a navigation system, and the method includes:

Acquiring current frame environment data in front of the target vehicle collected by the vision sensor; Determining attribute information of a target lane on which the target vehicle is currently traveling according to the current frame environment data; If it is determined that the target vehicle is currently traveling on a dedicated lane according to attribute information of the target lane, acquiring a dedicated lane driving time zone from the navigation system; And when it is determined that the current driving time is within the limited driving time of the exclusive vehicle, outputting second class driving limitation notification information.

In the embodiment of the present application, since the environmental data obtained by the vision sensor is true and accurate environmental information of the vehicle driving process, it is possible to accurately determine whether the target vehicle is actually driving on a dedicated roadway. By combining the time limit for driving the roadway, it is possible to provide accurate notification of the roadway exclusively for public transport vehicles to the driver, and improve the driving experience of the user.

Further, in the method as described above, the vision sensor is a camera, and the current frame environment data is a current frame environment image; The step of determining attribute information of a target lane on which the target vehicle is currently traveling according to the current frame environment data may include: determining a target roadway on which the target vehicle is currently traveling according to the current frame environment image; And determining the attribute information by analyzing a roadway line corresponding to the target roadway.

In the embodiment of the present application, the vision sensor uses a camera, and can accurately determine the target roadway on which the target vehicle is currently driving by using the current frame environment image collected by the camera, and when compared with other vision sensors, Cameras are inexpensive and have a wide range of applications.

Further, in the method as described above, the step of determining a target roadway on which the target vehicle is currently traveling according to the current frame environment image,

Converting the current frame environment image from an image coordinate system to a 3D coordinate system, and determining position information of a roadway line corresponding to each roadway in the 3D coordinate system; Determining current position information of the camera in the 3D coordinate system, and determining current position information of the target vehicle; And determining the target roadway according to the current location information of the target vehicle and location information of a roadway line corresponding to each roadway.

In the embodiment of the present application, the current frame environment image can be converted from an image coordinate system to a three-dimensional coordinate system, and the true location information of each lane and the target vehicle can be obtained, from which the target roadway can be accurately determined according to the true location information. I can.

Further, in the method as described above, the step of determining the attribute information by analyzing the lane line corresponding to the target roadway,

Recognizing the color of the target roadway line, and determining color information of the target roadway line; And/or determining width information and length information of the target lane.

In the embodiment of the present application, since the color, width, and length information of a dedicated lane is different from that of a general vehicle, at least one of the color, width and length of the target lane is determined, and the target lane is dedicated according to this attribute information. It is possible to accurately recognize whether it is a roadway or not.

Further, in the method as described above, if it is determined that the target vehicle is currently traveling on a dedicated lane according to the attribute information of the target lane, before the step of acquiring a dedicated lane driving time zone from the navigation system,

And determining whether the target lane is a dedicated lane according to attribute information of the target lane.

Further, in the method as described above, the step of determining whether the target lane is a dedicated lane according to attribute information of the target lane,

Matching attribute information of the target lane and standard attribute information of a dedicated lane; If the attribute information of the target lane and the standard attribute information of the dedicated lane are matched, determining that the target lane is a dedicated lane; And if the attribute information of the target lane and the standard attribute information of the dedicated lane do not match, determining that the target lane is not a dedicated lane.

The embodiment of the present application determines whether the target lane is a dedicated lane by using a method of matching the attribute information of the target lane and the standard attribute information of the dedicated lane, so it is simple and quick to determine whether the target lane is a dedicated lane. Can be confirmed.

Further, in the method as described above, the step of determining whether the target lane is a dedicated lane according to attribute information of the target lane,

Inputting attribute information of the target lane line into a trained lane classification model until convergence; And recognizing the type of the target lane through the trained lane classification model until convergence, and outputting a result of whether or not it is a dedicated lane.

In the embodiment of the present application, since it is determined whether the target lane is a dedicated lane by using the lane classification model trained until convergence, it is accurately recognized whether the target lane is a dedicated lane even when there is some difference in the dedicated lane. And improve the accuracy of target lane type recognition.

Further, in the method as described above, after the step of outputting the second class driving restriction notification information,

Determining whether the time the target vehicle has traveled on the exclusive roadway exceeds a preset time threshold; And when it is determined that the time the target vehicle has traveled on the exclusive roadway exceeds a preset time threshold, outputting first class driving restriction notification information.

In the embodiment of the present application, when the time the target vehicle has traveled on a dedicated roadway exceeds a preset time threshold, the first class driving restriction notification information is output, and the corresponding first class driving restriction notification information is the second class driving It is a more powerful notification than the limited notification information, from which the driver can quickly get out of the dedicated roadway, effectively reducing the occurrence of offenses.

Further, in the method as described above, the step of outputting the first class driving restriction notification information,

And performing a notification by displaying a warning on a navigation screen using an AR format, and performing a voice notification using a format of a voice broadcast.

In the embodiment of the present application, an AR format and a voice broadcast format can be simultaneously used on the navigation screen to notify, and by enhancing the effect of the notification, the driver can quickly get out of the exclusive roadway, and the occurrence of offenses can be effectively prevented. Reduce.

In the second aspect of the embodiment of the present application, a dedicated roadway driving notification device is provided, the device being disposed in an electronic device, the electronic device and a vision sensor communicating, the vision sensor being installed in a target vehicle, and the electronic device Or the target vehicle is provided with a navigation system, the device,

A data acquisition module for acquiring current frame environment data in front of the target vehicle collected by the vision sensor; An attribute determination module configured to determine attribute information of a target lane on which the target vehicle is currently traveling according to the current frame environment data; A time zone determination module for acquiring a limited time zone for exclusive lane driving from the navigation system when it is determined that the target vehicle is currently traveling on a dedicated lane according to attribute information of the target lane line; And a notification output module configured to output second class driving restriction notification information when it is determined that the current driving time is within the limited driving time of the exclusive vehicle.

Further, in the apparatus as described above, the vision sensor is a camera, and the current frame environment data is a current frame environment image.

Correspondingly, the attribute determination module specifically,

Determining a target roadway on which the target vehicle is currently traveling according to the current frame environment image; The attribute information is determined by analyzing a roadway line corresponding to the target roadway.

Further, in the above-described apparatus, the attribute determination module may specifically, when determining a target roadway on which the target vehicle is currently traveling according to the current frame environment image,

Converting the current frame environment image from an image coordinate system to a 3D coordinate system, and determining position information of a roadway line corresponding to each roadway in the 3D coordinate system; Determining current position information of the camera in the three-dimensional coordinate system, and determining current position information of the target vehicle; The target roadway is determined according to the current location information of the target vehicle and location information of a roadway line corresponding to each roadway.

Further, in the apparatus as described above, the attribute determination module, when determining the attribute information by analyzing the lane line corresponding to the target roadway, specifically,

Recognizing the color of the target roadway line, and determining color information of the target roadway line; And/or determine width information and length information of the target lane.

Further, in the device as described above, the lane determination module,

It is determined whether the target lane is a dedicated lane according to the attribute information of the target lane.

Optionally, in the device as described above, the lane line determination module is specifically,

Matching attribute information of the target lane line with standard attribute information of a dedicated lane line; If the attribute information of the target lane and the standard attribute information of the dedicated lane are matched, it is determined that the target lane is a dedicated lane; If the attribute information of the target lane and the standard attribute information of the dedicated lane do not match, it is determined that the target lane is not a dedicated lane.

Optionally, in the device as described above, the lane line determination module is specifically,

Inputting attribute information of the target lane line into a trained lane classification model until convergence; The type of the target lane is recognized through the trained lane classification model until convergence, and a result of whether or not it is a dedicated lane is output.

Furthermore, the notification output module further includes,

Determining whether the time the target vehicle has traveled on the dedicated road exceeds a preset time threshold; When it is determined that the time the target vehicle has traveled on the exclusive roadway exceeds a preset time threshold, first class driving restriction notification information is output.

Furthermore, when the notification output module outputs the first class driving restriction notification information, specifically,

Using the AR format, a notification is performed with a warning display on the navigation screen, and a voice notification is performed using the format of a voice broadcast.

In a third aspect of the embodiment of the present application, an electronic device is provided, the electronic device comprising: at least one processor; And a memory that is communicatively connected with the at least one processor,

An instruction that can be executed by the at least one processor is stored in the memory, and the instruction is executed by the at least one processor, so that the at least one processor can execute any one of the first aspects. .

In the non-transitory computer-readable storage medium storing the computer instructions provided in the fourth aspect of the embodiment of the present application, the computer instructions cause the computer to execute any one of the methods of the first aspect.

In a fifth aspect of the embodiment of the present application, a computer program stored in a computer-readable storage medium is provided, wherein the computer program includes a program code, and when the computer executes the computer program, the program code is a method according to the first aspect. Run.

In the technical solution according to the embodiment of the present application, since the environmental data obtained by the vision sensor is true and accurate environmental information in the process of driving the vehicle, it is possible to accurately determine whether the target vehicle is actually driving on a dedicated roadway, By combining the time limit for driving the exclusive roadway determined in the navigation system, it is possible to accurately inform the driver of the roadway exclusively for public transport vehicles, and improve the driving experience of the user.

The accompanying drawings are provided to more fully understand the technical solution, and are not limited to the present application.
1 is a scenario diagram in which a method for notifying a driving of a dedicated roadway according to an embodiment of the present application can be implemented.
2 is a flowchart of a method for notifying driving of a dedicated roadway according to the first embodiment of the present application.
3 is a flowchart of a method for notifying a driving of a dedicated roadway according to a second exemplary embodiment of the present application.
4 is a flowchart of step 203 of a method for notifying a driving of a dedicated roadway according to a second embodiment of the present application.
5 is a flowchart of a step 2031 of a method for notifying driving of a dedicated roadway according to the second embodiment of the present application.
6 is a first flowchart of a step 204 of a method for notifying a driving of a dedicated roadway according to the second embodiment of the present application.
7 is a second flowchart of a step 204 of a method for notifying a driving of a dedicated roadway according to the second embodiment of the present application.
8 is a signaling interaction diagram capable of implementing a method for notifying a driving of a dedicated roadway according to an embodiment of the present application.
9 is a structural diagram of a dedicated roadway driving notification device according to a fourth exemplary embodiment of the present application.
10 is a structural diagram of a dedicated roadway driving notification device according to a fifth exemplary embodiment of the present application.
11 is a block diagram of an electronic device for implementing a method for notifying a driving of a dedicated roadway according to an exemplary embodiment of the present application.

Hereinafter, exemplary embodiments of the present application will be described in conjunction with the accompanying drawings. Here, including various details of the embodiments of the present application will be easily understood. These should be considered as illustrative only. Accordingly, those skilled in the art may make various modifications and modifications to the embodiments described herein, and should be regarded as not departing from the scope and spirit of the present application. Likewise, for clarity and conciseness, descriptions of known functions and structures are omitted from the following description.

In order to more clearly understand the technical solution of the present application, first, a method of the prior art is introduced in detail. In order to solve the problem of vehicle congestion, roadways for public transport vehicles are installed on urban roads, and in particular, lanes for buses are installed. In addition, a roadway exclusively for public transportation vehicles has a driving time limit, and a non-public transportation vehicle is not allowed to drive on the dedicated roadway within the driving time limit. Violations are recorded as offenses.

In the prior art, in order to ventilate the driver, the IMU fusion positioning system positions the vehicle with respect to the vehicle, and when the driver operates the navigation, the IMU fusion positioning system sends vehicle position information to the navigation system after positioning, so that the navigation system According to the location information and the location information of the exclusive driveway, whether the vehicle is entering the exclusive driveway or is already driving on the exclusive driveway is determined and notified to the driver.

Since the precision of the vehicle position positioned by the IMU fusion positioning system is lower, the navigation system can determine whether the vehicle will soon enter the dedicated driveway or whether it is already driving on the dedicated driveway according to the vehicle location information and the location information of the dedicated driveway. At this time, it cannot be determined whether or not the vehicle is actually running on a dedicated roadway. For example, the vehicle is driving on another roadway parallel to the exclusive driveway, but it is confirmed that it is driving on the exclusive driveway due to an error. From this, an erroneous notification is provided to the driver as soon as he enters the exclusive roadway or runs on the exclusive roadway, thereby deteriorating the user's driving experience.

Therefore, regarding the problem of the prior art's dedicated roadway driving notification, the inventor installed a vision sensor on the target vehicle during research, collected the current frame environment data substantially in front of the target vehicle from the vision sensor, and used the current frame environment data. By recognizing whether the target vehicle is actually driving on a dedicated lane, it was found that it was possible to determine whether the vehicle was actually driving on a dedicated lane by replacing the IMU fusion positioning system and the navigation system. It solves the technical problem of providing a false notification that the driver is entering a dedicated lane soon or is driving on a dedicated lane because it cannot be determined whether or not the vehicle is driving in.

The inventor discovered the following parts through further research. That is, one possible way of collecting the current frame environment data substantially in front of the target vehicle by the vision sensor and further recognizing whether the target vehicle is actually driving on a dedicated roadway through the current frame environment data is: Current frame environment data Determining attribute information of the target lane on which the target vehicle is currently traveling according to the method; It is determined whether the target vehicle is currently driving on a dedicated lane according to the attribute information of the target lane. When it is determined that the target vehicle is currently driving on a dedicated lane, the navigation system is used to obtain the dedicated lane driving time limit, and when it is determined that the current driving time is in the dedicated lane driving time limit, the second class driving restriction notification information is displayed. Print it out. Since the environmental data acquired by the vision sensor is true and accurate environmental information of the vehicle driving process, it is possible to accurately determine whether the target vehicle is actually driving on a dedicated lane, and combine it with the limited driving time of the dedicated lane determined by the navigation system. , It is possible to provide the driver with an accurate notification about the roadway dedicated to public transport vehicles, thereby improving the user's driving experience.

Based on the above-described creative discovery, the inventor suggested a technical solution of the present application. Hereinafter, an application scenario of the method for determining a drivable area according to an embodiment of the present application will be introduced. As shown in FIG. 1, in one scenario of a method for notifying a driving of a dedicated roadway according to an embodiment of the present application, an electronic device and a vision sensor are included, and a navigation system is further provided in the electronic device. For example, electronic devices are smart phones, and smart phones have a navigation system. At this time, the corresponding vision sensor is installed on the target vehicle. After starting the target vehicle, the user operates the navigation system of the smartphone, triggers the operation operation of the vision sensor, and the electronic device acquires the current frame environment data in front of the target vehicle collected by the vision sensor; Determining attribute information of a target lane on which the target vehicle is currently traveling according to the current frame environment data; If it is determined that the target vehicle is currently traveling on the dedicated lane according to the attribute information of the target lane, obtain a limited driving time zone of the dedicated lane from the navigation system; When it is determined that the current driving time is in the limited driving time of the exclusive vehicle, the second class driving limitation notification information is output. Here, as shown in FIG. 1, when it is confirmed that the target vehicle currently enters the dedicated roadway and the current driving time is within the exclusive driveway driving time limit, it is possible to notify the user that the vehicle has already entered the exclusive roadway by a voice method. have.

As it should be described, the application scenario of the embodiment of the present application may be other application scenarios, and the present embodiment is not limited thereto. For example, the electronic device is an electronic device provided with a vision sensor, and the electronic device provided with the vision sensor is installed in a target vehicle, and the method of the embodiment of the present application is executed.

An embodiment of the present application will be described in detail with reference to the accompanying drawings below.

Example 1

2 is a flowchart of a method for notifying driving of a dedicated roadway according to the first embodiment of the present application. As shown in FIG. 2, the execution subject of the embodiment of the present application is a dedicated roadway driving notification device, and the corresponding dedicated roadway driving notification device may be integrated into an electronic device. The electronic device and the vision sensor communicate, the vision sensor is installed in the target vehicle, and the electronic device or the target vehicle is equipped with a navigation system. In this case, the method for notifying the driving of a dedicated roadway according to the present embodiment includes several steps below.

Step 101, the current frame environment data in front of the target vehicle collected by the vision sensor is acquired.

In this embodiment, the vision sensor may be a LiDAR, a line matrix/Fran matrix CCD beacon or a TV beacon, a digital beacon, a camera, or the like.

Before executing the dedicated roadway driving notification method of this embodiment, the vision sensor can be fixedly installed on the target vehicle. For example, a vision sensor may be installed in the middle of a windshield of a target vehicle or a rearview mirror. Here, the viewing angle of the vision sensor faces the environment in front of the target vehicle.

As it should be explained, after installing the vision sensor, the parameters of the vision sensor can be calibrated.

In this embodiment, the communication method between the electronic device and the vision sensor is Global System of Mobile communication (GSM), Code Division Multiple Access (CDMA), and Wideband Code Division Multiple Access. Access, WCDMA), Time Division-Synchronous Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE) systems, and future 5G. , The communication method between the electronic device and the vision sensor may be a wireless communication method, and the wireless communication method may be a Zigbee communication, a Bluetooth (BLE) communication, or a Wi-Fi communication.

As it should be explained, when the vision sensor is integrated into an electronic device, the vision sensor and the electronic device may communicate using a bus communication method. When the vision sensor is integrated into the electronic device, the electronic device is fixedly installed on the target vehicle.

Specifically, in this embodiment, the vision sensor collects environmental data of each frame in front of the target vehicle according to the collection frequency, sends environmental data of each frame to the electronic device, and the electronic device acquires environmental data of each frame. do.

Here, the environment data acquired at the current time is the current frame environment data. The current frame environment is not limited to the type of data, and is related to the type of vision sensor. For example, if the vision sensor is a videcon or a camera, the current frame environment data is image data. If the vision sensor is LiDAR, the current frame environment data is point cloud data.

In step 102, attribute information of the target lane on which the target vehicle is currently traveling is determined according to the current frame environment data.

Specifically, in the present embodiment, first, a target roadway on which the target vehicle is currently traveling is determined according to the current frame environment data, a roadway line of the target roadway is obtained, and attribute information of the target roadway line is obtained by analyzing from the target roadway line.

Here, the attribute information of the target lane is characteristic information of the target lane itself, and may include at least one of a color, a width, and a length of the target lane.

In step 103, if it is determined that the target vehicle is currently traveling on the dedicated lane according to the attribute information of the target lane, a time limit for driving the dedicated lane is obtained from the navigation system.

Here, the exclusive roadway is a roadway exclusively for public transportation vehicles. Optionally, it may be a bus-only lane.

Specifically, in the present embodiment, the navigation system stores the driving time limit of each public transport vehicle-only lane in advance. After determining the attribute information of the target lane, it is determined whether the target vehicle is currently driving on the dedicated lane according to the attribute information of the target lane. When it is determined that the target vehicle is driving on a dedicated roadway, the navigation system also navigates synchronously, so it is possible to monitor the exclusive driveway near the current target vehicle, and at this time, the time limit for driving the monitored dedicated driveway is acquired. , The electronic device is sent to the electronic device, and the electronic device acquires the driving time limit of the dedicated roadway.

When the navigation system navigates synchronously, it will be understood that the fusion positioning system must send the vehicle's positioning information to the navigation system, and implement the navigation by combining high-precision maps.

In step 104, when it is determined that the current driving time is in the limited driving time zone, the second class driving limitation notification information is output.

Specifically, in the present embodiment, the current driving time is obtained, it is determined whether the current driving time is within the exclusive driveway driving time limit, and if the corresponding exclusive driveway is within the driving limit time range, entering the relevant exclusive driveway is a crime. In other words, a second class driving restriction notification message is output.

Here, the second class driving restriction notification message is a lightweight driving restriction notification message, and, for example, a voice notification may be provided in a voice broadcasting format. Alternatively, a notification may be provided in the form of displaying offense characters, and the present embodiment is not limited thereto.

A dedicated roadway driving notification method according to the present embodiment includes acquiring current frame environment data in front of a target vehicle collected by a vision sensor; Determining attribute information of a target lane on which the target vehicle is currently traveling according to the current frame environment data; If it is determined that the target vehicle is currently traveling on the dedicated lane according to the attribute information of the target lane, obtain a limited driving time zone of the dedicated lane from the navigation system; When it is determined that the current driving time is in the limited driving time of the exclusive vehicle, the second class driving limitation notification information is output. Since the environmental data acquired by the vision sensor is true and accurate environmental information in the driving process of the vehicle, it can accurately determine whether the target vehicle is actually driving on a dedicated lane, and combine the time limit for driving on the dedicated lane determined in the navigation system. Thus, it is possible to provide the driver with an accurate notification on a roadway dedicated to public transport vehicles, and improve the user's driving experience.

Example 2

3 is a flowchart of a method for notifying a driving of a dedicated roadway according to a second exemplary embodiment of the present application. As shown in FIG. 3, the method for notifying a driving of a dedicated roadway according to the present embodiment is, on the basis of the method of notifying a driving of a dedicated roadway according to the first embodiment of the present application, additional steps 102-104 It is segmentation. In addition, the step of providing a first class driving restriction notification to the driver is further included. At this time, the method for notifying driving of a dedicated roadway according to the present embodiment includes the following steps.

Step 201, the parameters of the vision sensor are calibrated.

Specifically, in this embodiment, the vision sensor is installed on the target vehicle, determines location information and viewing angle information in the target vehicle, calibrates the parameters of the vision sensor, and specifically, tilting angle, yaw angle, roll angle, and ground You can calibrate the height from and so on. From this, after the current frame environment image is acquired by the vision sensor, it is possible to more accurately switch from the image coordinate system to the three-dimensional coordinate system.

Step 202, the current frame environment data in front of the target vehicle collected by the vision sensor is acquired.

Optionally, in this embodiment, the vision sensor is a camera, and the camera is installed at an intermediate position of the windshield of the target vehicle. Therefore, the current frame environment data in front of the target vehicle collected by the camera is the current frame environment image.

In step 203, attribute information of the target lane on which the target vehicle is currently traveling is determined according to the current frame environment data.

As an optional embodiment, in this embodiment, as shown in Fig. 4, step 203 includes the following steps.

In step 2031, a target roadway on which the target vehicle is currently traveling is determined according to the current frame environment image.

As an optional embodiment, in this embodiment, as shown in Fig. 5, step 2031 includes the following steps.

In step 2031a, the current frame environment image is converted from the image coordinate system to a three-dimensional coordinate system, and position information of a roadway line corresponding to each roadway in the three-dimensional coordinate system is determined.

Further, in the present embodiment, first, after recognizing each roadway and corresponding roadway information in the current frame image, the current frame environment image is converted from the image coordinate system to the 3D coordinate system according to the internal and external parameters after the calibration of the camera, and the recognized Position information of each roadway and corresponding roadway line in a three-dimensional coordinate system is determined through image coordinates of each roadway and corresponding roadway line.

Here, in the 3D coordinate system, the position of the camera is the origin position of the 3D coordinate system.

In step 2031b, the current position information of the camera is determined in the three-dimensional coordinate system, and the current position information of the target vehicle is determined.

Furthermore, when the camera is installed in the target vehicle, the position of the camera in the target vehicle can be determined. In this embodiment, since the camera is installed in the middle of the windshelf of the target vehicle, the position of the camera is targeted. You can do it with the location of the vehicle. Since the current position in the 3D coordinate system of the camera is determined as the origin position, the current position of the target vehicle is determined as the origin position in the 3D coordinate system.

In step 2031c, the target roadway is determined according to the current location information of the target vehicle and the location information of the roadway line corresponding to each roadway.

Further, in this embodiment, according to the current location information of the target vehicle and the location information of the lane lines corresponding to each roadway, it is determined whether the location of the target vehicle is within the section of the lane position of which roadway, and the target vehicle is currently traveling. Confirm the target roadway.

In step 2032, the roadway line corresponding to the target roadway is analyzed, and attribute information is determined.

As a selectable embodiment, in this embodiment, step 2032 is specifically,

Recognizing the color of the target roadway line, and determining color information of the target roadway line; And/or determine width information and length information of the target lane.

In this embodiment, the attribute information of the target lane line,

It includes at least one of color information, width information, and length information of the target lane line.

Specifically, in the present embodiment, color information of the target roadway line may be determined according to the size of the pixel value of the target roadway line in the current frame environment image. Acquire the 3D coordinates of the target roadway, calculate the width and length of the target roadway according to the 3D coordinates of the target roadway, and construct width and length information of the target roadway, respectively.

In this embodiment, the vision sensor is a camera, and the current frame environment image collected by the camera can be used to accurately determine the target roadway on which the target vehicle is currently driving. Compared with other vision sensors, the cost of the camera It is inexpensive and has a wide range of applications.

In step 204, it is determined whether or not the target lane is a dedicated lane according to the attribute information of the target lane, and if so, step 205 is executed, otherwise, it is terminated.

As an optional embodiment, in this embodiment, as shown in Fig. 6, step 204 includes the following steps.

In step 2041, attribute information of the target lane and standard attribute information of the dedicated lane are matched.

Specifically, in this selectable embodiment, the attribute information of the target lane and the standard attribute information of the dedicated lane are matched, respectively. For example, the color information of the target lane and the standard color information of the dedicated lane are matched, the width information of the target lane and the standard width information of the dedicated lane are matched, and the length information of the target lane and the standard length information of the dedicated lane are matched. Let it.

In step 2042, if the attribute information of the target lane and the standard attribute information of the dedicated lane are matched, it is determined that the target lane is a dedicated lane.

In step 2043, if the attribute information of the target lane and the standard attribute information of the dedicated lane do not match, it is determined that the target lane is not a dedicated lane.

Specifically, in the present embodiment, when the attribute information of the target lane and the standard attribute information of the dedicated lane are matched, that is, if the attribute information of each target lane and the standard attribute information corresponding to the dedicated lane are all matched, the target lane is the dedicated lane line. It is confirmed that it is. If the attribute information of the target lane and the standard attribute information of the dedicated lane do not match, that is, if the attribute information of at least one target lane and the standard attribute information corresponding to the dedicated lane do not match, it is determined that the target lane is not a dedicated lane. .

In this embodiment, since it is determined whether the target lane is a dedicated lane by using a method of matching the attribute information of the target lane and the standard attribute information of the dedicated lane, it is possible to simply and quickly determine whether the target lane is a dedicated lane. I can.

Alternatively, as another optional embodiment, as shown in FIG. 7, step 204 includes the following steps.

In step 204a, attribute information of the target lane is input into the trained lane classification model until convergence.

In step 204b, the type of the target lane is recognized through the trained lane classification model until convergence, and a result of whether or not it is a dedicated lane is output.

In such a possible embodiment, the attribute information of at least one target lane is input into the trained lane classification model trained until convergence with the characteristics of the target lane, and the lane classification model trained to convergence is the target lane classification model according to the attribute information of the at least one target lane. Recognizes the type and outputs the result of whether it is a dedicated lane.

Here, the type of the target lane recognized by the lane classification model trained until convergence may be a dedicated lane type, a general vehicle lane type, or the like.

In this embodiment, the initial lane classification model is trained until the convergence condition of the lane classification model is satisfied by using attribute information indicating the type of the dedicated lane type or the general vehicle lane type as a training sample, and thus the trained lane classification model is obtained. I can.

In this embodiment, it is determined whether the target lane is a dedicated lane by using the lane classification model trained until convergence, and even when there is some difference in the dedicated lane, it is possible to accurately recognize whether the target lane is a dedicated lane, and the target Improves the accuracy of recognizing the type of lanes.

Step 205, a dedicated roadway driving time zone is obtained from the navigation system.

In step 206, when it is determined that the current driving time is in the limited driving time zone of the exclusive roadway, second class driving limitation notification information is output.

In this embodiment, the embodiment of step 205-step 206 is the same as the embodiment of step 103-step 104 of the first embodiment of the present application, and will not be described herein again.

Step 207, it is determined whether or not the time the target vehicle has traveled on the exclusive roadway exceeds a preset time threshold value, and if so, step 208 is executed, otherwise it is terminated.

In step 208, first class driving restriction notification information is output.

In this embodiment, in order for the driver to control the target vehicle to leave the exclusive roadway as quickly as possible, the target vehicle is continuously monitored, and whether the time the target vehicle has traveled on the exclusive roadway exceeds a preset time threshold. It is determined, and when the time the target vehicle has traveled on the exclusive roadway exceeds a preset time threshold, first class driving restriction notification information is output.

Here, the importance of the first class driving restriction notification information is higher than that of the second class driving restriction notification information.

Optionally, the step of outputting the first class driving restriction notification information,

And providing a notification of a warning display on the navigation screen using an AR format, and proceeding with a voice notification using a voice broadcast format.

Specifically, in the present embodiment, a warning display notification may be provided on the navigation screen in a reality augmented format (AR format). For example, the warning display may be a warning display prohibiting driving. In addition, voice notifications are provided in the manner of voice broadcasting. For example, the voice broadcast may be "Get out of the dedicated road quickly to avoid the offense".

In this embodiment, when the time the target vehicle has traveled on a dedicated roadway exceeds a preset time threshold, first class driving restriction notification information is output, and the first class driving restriction notification information is second class driving restriction notification. It's a more powerful alert than information, can get the driver out of a dedicated driveway quickly, and effectively reduces the occurrence of offenses.

Example 3

8 is a signaling flowchart of a method for notifying a driving of a dedicated roadway according to the third embodiment of the present application. As shown in FIG. 8, in this embodiment, a target vehicle is equipped with a navigation system, and an electronic device includes a vision sensor and a vision sensor. Each communication with the navigation system of the target vehicle, and the dedicated roadway driving notification method according to the present embodiment includes the following steps.

Step 301, the vision sensor collects the current frame environment data in front of the target vehicle.

In this embodiment, the vision sensor collects environmental data in front of the target vehicle according to the collection period, and the environmental data in front of the target vehicle collected at the current time is current frame environment data.

Step 302, the vision sensor sends the current frame environment data to the electronic device.

In step 303, the electronic device determines attribute information of the target lane on which the target vehicle is currently traveling according to the current frame environment data.

In this embodiment, the properties of the target lane line include three, respectively, color information, width information, and length information of the target lane line.

In step 304, when it is determined that the target vehicle is currently driving on the dedicated lane according to the attribute information of the target lane, a request for acquiring the exclusive lane driving time limit is transmitted to the navigation system.

In this embodiment, if the electronic device determines that the target vehicle is currently traveling on a dedicated roadway, the electronic device transmits a request for acquiring the exclusive roadway driving time limit to the navigation system, and the acquisition request may include location information of the exclusive roadway.

In step 305, the navigation system acquires the limited driving time zone of the exclusive lane according to the request for acquiring the limited driving time zone of the exclusive lane.

In the present embodiment, the navigation system stores display information, location information, and a limited travel time zone for each dedicated road in advance in association with each other. From this, it is possible to obtain a driving limit time zone of the exclusive roadway that matches each other according to the location information of the exclusive roadway.

In step 306, the navigation system sends a dedicated roadway driving time limit to the electronic device.

In step 307, when it is determined that the current driving time is in the exclusive driveway driving restriction time zone, the electronic device outputs second class driving restriction notification information.

In step 308, it is determined whether or not the time the target vehicle has traveled on the dedicated road exceeds a preset time threshold, and if so, step 309 is executed.

In step 309, first class driving restriction notification information is output.

In this embodiment, the embodiment of step 307-step 309 and the embodiment of step 205-step 208 of the second embodiment of the present application are the same, and will not be repeated here.

In this embodiment, since the color, width and length information of the dedicated lane is different from that of a general vehicle, it is determined whether or not the target lane is a dedicated lane based on three pieces of information on the target lane's color, width, and length, and It further improves the accuracy of confirming.

Example 4

9 is a structural diagram of a dedicated roadway driving notification device according to the fourth embodiment of the present application, and as shown in FIG. 9, the dedicated roadway driving notification device according to the present embodiment is disposed in an electronic device, and The sensors communicate, the vision sensor is installed in the target vehicle, and the electronic device or the target vehicle is equipped with a navigation system. The dedicated roadway driving notification device 900 includes a data acquisition module 901, an attribute determination module 902, a time zone determination module 903, and a notification output module 904.

Here, the data acquisition module 901 is for acquiring the current frame environment data in front of the target vehicle collected by the vision sensor. The attribute determination module 902 is for determining attribute information of a target lane on which the target vehicle is currently traveling according to the current frame environment data. When it is determined that the target vehicle is currently traveling on the dedicated roadway according to the attribute information of the target laneway, the time zone determination module 903 is for obtaining a limited driving time zone of the dedicated roadway from the navigation system. The notification output module 904 is for outputting second class driving restriction notification information when it is determined that the current driving time is in the dedicated roadway driving limit time zone.

The dedicated roadway driving notification device according to the present embodiment can execute the technical scheme of the method embodiment shown in FIG. 2, and its implementation principle and technical effect are similar to those of the method embodiment shown in FIG. 2, and thus will not be described herein again. .

Example 5

10 is a structural diagram of a dedicated roadway driving notification device according to a fifth embodiment of the present application, and as shown in FIG. 10, a dedicated roadway driving notification device 1000 according to the present embodiment is a fourth exemplary embodiment of the present application. On the basis of the dedicated roadway driving notification device 900 according to the above, a lane determination module 1001 is further included.

Furthermore, the vision sensor is a camera, and the current frame environment data is a current frame environment image.

Correspondingly, the attribute determination module 902 specifically,

Determining a target roadway on which the target vehicle is currently traveling according to the current frame environment image; The roadway line corresponding to the target roadway is analyzed and attribute information is determined.

Furthermore, the attribute determination module 902 specifically, when determining the target roadway on which the target vehicle is currently traveling according to the current frame environment image,

Converting the current frame environment image from the image coordinate system to a three-dimensional coordinate system, and determining position information of a roadway line corresponding to each roadway in the three-dimensional coordinate system; Determining the current position information of the camera in the three-dimensional coordinate system, and determining the current position information of the target vehicle; The target roadway is determined according to the current location information of the target vehicle and location information corresponding to the roadway lines corresponding to each roadway.

Furthermore, when the attribute determination module 902 analyzes the lane line corresponding to the target roadway and determines the attribute information, specifically,

Recognizing the color of the target roadway line, and determining color information of the target roadway line; And/or determine width information and length information of the target lane.

Further, the lane determination module 1001,

It is determined whether the target lane is a dedicated lane according to the attribute information of the target lane.

Optionally, the lane determination module 1001 specifically,

Matching attribute information of the target lane line with standard attribute information of the dedicated lane line; If the attribute information of the target lane and the standard attribute information of the dedicated lane are matched, it is determined that the target lane is a dedicated lane; If the attribute information of the target lane and the standard attribute information of the dedicated lane do not match, it is determined that the target lane is not a dedicated lane.

Optionally, the lane determination module 1001 specifically,

Inputting attribute information of the target lane line into the trained lane classification model until convergence; The type of target lane is recognized through the trained lane classification model until convergence, and the result of whether it is a dedicated lane is output.

Furthermore, the notification output module 904 also,

Determining whether the time the target vehicle has traveled on the exclusive roadway exceeds a preset time threshold; When the time the target vehicle has traveled on the exclusive roadway exceeds a preset time threshold, first class driving restriction notification information is output.

Furthermore, when the notification output module 904 outputs the first class driving restriction notification information, specifically,

A warning display notification is provided on the navigation screen using an AR format, and a voice notification is provided using a voice broadcast format.

The dedicated roadway driving notification device according to the present embodiment can execute the technology method of the method embodiment shown in FIGS. 3 to 8, and its implementation principle and technical effect are similar to the method embodiment shown in FIGS. 3 to 8 In this case, there is no overlapping explanation.

According to an embodiment of the present application, the present application further provides an electronic device and a readable storage medium.

11 is a block diagram of an electronic device of a method for notifying a driving of a dedicated roadway according to an exemplary embodiment of the present application. Electronic devices refer to various types of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, large computers, and other suitable computers. Electronic devices may refer to various types of mobile devices, such as personal digital processing, cell phones, smart phones, wearable devices, and other similar computing devices. The members disclosed herein, their connections and relationships, and their functions are merely exemplary, and are not intended to limit the implementation of the present application as disclosed and/or required by the text.

As shown in FIG. 11, the electronic device includes one or more processors 1101, a memory 1102, and an interface including a high-speed interface and a low-speed interface for connecting each member. Each member is connected to each other through a different bus, and can be mounted on a common main board or mounted in other ways according to demand. The processor may process commands executed in the electronic device, and is stored in or on the memory to provide commands to display graphic information of the GUI on an external input/output device (eg, a display device coupled to an interface). Can include. In other embodiments, a plurality of processors and/or a plurality of buses and a plurality of memories may be used together, depending on demand. Likewise, it is possible to connect multiple electronic devices, each of which provides some necessary operation (eg, as a server array, a set of blade servers, or as a multiprocessor system). 11 illustrates one processor 1101 as an example.

The memory 1102 is a non-transitory computer-readable storage medium according to the present application. Here, the memory stores instructions that can be executed by at least one processor, so that the at least one processor performs the dedicated roadway driving notification method according to the present application. The non-transitory computer-readable storage medium of the present application stores a computer command, and the computer command causes the computer to perform the dedicated roadway driving notification method according to the present application.

The memory 1102 is a non-transitory computer-readable storage medium, such as a non-transitory software program, a non-transitory computer executable program and module, for example, a program command/module corresponding to the dedicated roadway driving notification method according to the embodiment of the present application (example For example, a data acquisition module 901, an attribute determination module 902, a time zone determination module 903, and a notification output module 904 illustrated in FIG. 9 may be stored. The processor 1101 executes non-transitory software programs, instructions, and modules stored in the memory 1102 to perform various functional applications and data processing of the server. That is, among the above-described method embodiments, a dedicated roadway driving notification method is implemented.

The memory 1102 may include a program storage area and a data storage area. Here, the program storage area may store an operating system and an application program required for at least one function. The data storage area may store data constructed according to the use of the electronic device of FIG. 11, and the like. Meanwhile, the memory 1102 may include a high-speed random access memory, and may include, for example, a non-transitory memory such as at least one magnetic storage device, a flash memory, or other non-transitory solid state storage device. In some embodiments, memory 1102 may optionally include memory installed remotely to processor 1101. Such a remote memory may be connected to the electronic device of FIG. 11 through a network. Examples of the above-described network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

The electronic device of FIG. 11 may further include an input device 1103 and an output device 1104. The processor 1101, the memory 1102, the input device 1103, and the output device 1104 may be connected by a bus or other method, and FIG. 11 illustrates that the connection is connected through a bus.

The input device 1103 may receive input number or character code information, and may generate a key signal input for user setting and function control of the electronic device of FIG. 11. For example, it may include an input device such as a touch screen, a keypad, a mouse, a track pad, a touch panel, an instruction lever, one or more mouse buttons, a track ball, and a control lever. The output device 1104 may include a display device, an auxiliary lighting device (eg, LED), a tactile feedback device (eg, a vibration motor), and the like. The display device may include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display, and a plasma display. In some embodiments, the display device may be a touch screen.

Various embodiments of the systems and technologies described herein may be implemented in digital electronic circuit systems, integrated circuit systems, dedicated ASICs (dedicated integrated circuits), computer hardware, firmware, software, and/or combinations thereof. Such various embodiments may include being implemented in one or a plurality of computer programs, and the one or a plurality of computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, and the corresponding programmable The processor may be a dedicated or general purpose programmable processor, and may receive data and commands from a storage system, at least one input device, and at least one output device, and transmit data and commands to the storage system and at least one input device. , And transmits to the at least one output device.

Such computing programs (also called programs, software, software applications, or code) contain mechanical instructions of a programmable processor, and use high-level process and/or object-oriented programming languages, and/or assembly/mechanical languages to execute such computer programs. You can do it. For example, the terms "machine-readable medium" and "computer-readable medium" as used herein refer to any computer program for providing mechanical instructions and/or data to a programmable processor, or any computer for providing data to a programmable processor. A machine-readable medium that points to a program product, appliance, and/or device (eg, magnetic disk, optical disk, memory, programmable logic device (PLD)) and receives mechanical instructions that are machine-readable signals. The term “machine-readable signal” refers to any signal for providing mechanical instructions and/or data to a programmable processor.

In order to provide interaction with a user, the systems and technologies described herein can be implemented on a computer, and the computer may be a display device (e.g., CRT (cathode tube) or LCD ( Liquid crystal display) monitor); And a keyboard-oriented device (eg, a mouse or a trackball), and a user may provide an input to the computer through the keyboard and the corresponding oriented device. Other types of devices may also provide user interaction. For example, the feedback provided to the user may be any form of sensing feedback (eg, visual feedback, auditory feedback, or tactile feedback); Input from the user may be received through any form (sound input, voice input, or tactile input).

The systems and technologies described herein include a computing system including a background member (e.g., as a data server), or a computing system including an intermediate member (e.g., an application server), or a computing system including a front end member. System (e.g., a user computer having a graphical user interface or an Internet browser, the user may interact with the implementation of the systems and technologies described herein through the graphical user interface or the Internet browser), or such a background It can be implemented in any computing system including a member, an intermediate member, or a front end member. The members of the system can be interconnected through digital data communication (eg, a communication network) in any form or medium. Examples of the communication network include a local area network (LAN), a wide area network (WAN), and the Internet.

The computer system can include clients and servers. Clients and servers are generally far apart from each other and typically interact over a telecommunication network. A client-server relationship is created through a computer program that runs on the corresponding computer and has a client-server relationship with each other.

According to an embodiment of the present application, the present application further provides a computer program stored in a computer-readable storage medium, wherein the computer program includes a program code, and when the computer executes the computer program, the program code executes the present application. Execute the method according to the example.

It should be understood that steps can be rearranged, added or deleted using the various types of processes described above. For example, each step described in the present application may be performed in parallel, may be performed sequentially, may be performed in a different order, and if the technical solution disclosed in the present application can obtain the desired result, the text here Not limited.

The specific embodiments described above are not limited to the scope of protection of the present application. Those of ordinary skill in the art will appreciate that various modifications, combinations, sub-combinations and substitutions can be made based on design needs and other factors. All modifications, equivalent substitutions and improvements made within the spirit and principle of this application are all within the scope of protection of this application.

Claims (21)

In the dedicated roadway driving notification method applied to an electronic device,
The electronic device and the vision sensor communicate, the vision sensor is installed in a target vehicle, the electronic device or the target vehicle is provided with a navigation system, the method,
Acquiring current frame environment data in front of the target vehicle collected by the vision sensor;
Determining attribute information of a target lane on which the target vehicle is currently traveling according to the current frame environment data;
If it is determined that the target vehicle is currently traveling on a dedicated roadway based on attribute information of the target laneway, obtaining a dedicated roadway driving time zone from the navigation system;
And outputting second class driving restriction notification information when it is determined that the current driving time is within the exclusive lane driving time limit. The method of claim 1,
The vision sensor is a camera, and the current frame environment data is a current frame environment image;
The step of determining attribute information of a target lane on which the target vehicle is currently traveling according to the current frame environment data,
Determining a target roadway on which the target vehicle is currently traveling according to the current frame environment image;
And determining the attribute information by analyzing a roadway line corresponding to the target roadway. The method of claim 2,
The step of determining a target roadway on which the target vehicle is currently traveling according to the current frame environment image,
Converting the current frame environment image from an image coordinate system to a 3D coordinate system, and determining position information of a roadway line corresponding to each roadway in the 3D coordinate system;
Determining current position information of the camera in the 3D coordinate system, and determining current position information of the target vehicle;
And determining the target roadway according to the current location information of the target vehicle and location information of a roadway line corresponding to each roadway. The method of claim 3,
The step of determining the attribute information by analyzing the roadway line corresponding to the target roadway,
Recognizing the color of the target roadway line, and determining color information of the target roadway line;
And/or determining width information and length information of the target lane. The method of claim 1,
If it is determined that the target vehicle is currently traveling on a dedicated lane according to the attribute information of the target lane, before the step of acquiring a dedicated lane driving time zone from the navigation system,
And determining whether the target lane is a dedicated lane according to attribute information of the target lane. The method of claim 5,
The step of determining whether the target lane is a dedicated lane according to the attribute information of the target lane,
Matching attribute information of the target lane and standard attribute information of a dedicated lane;
If the attribute information of the target lane and the standard attribute information of the dedicated lane are matched, determining that the target lane is a dedicated lane;
And if the attribute information of the target lane and the standard attribute information of the dedicated lane do not match, determining that the target lane is not a dedicated lane. The method of claim 5,
The step of determining whether the target lane is a dedicated lane according to the attribute information of the target lane,
Inputting attribute information of the target lane line into a trained lane classification model until convergence;
And recognizing the type of the target lane through the lane classification model trained until the convergence and outputting a result of whether or not it is a dedicated lane. The method of claim 1,
After the step of outputting the second class driving restriction notification information,
Determining whether the time the target vehicle has traveled on the exclusive roadway exceeds a preset time threshold;
And outputting first class driving restriction notification information when it is determined that the time the target vehicle has traveled on the exclusive roadway exceeds a preset time threshold. The method of claim 8,
The step of outputting the first class driving restriction notification information,
A method comprising the steps of: providing a notification as a warning display on a navigation screen using an AR format, and proceeding with a voice notification using a voice broadcast format. In the dedicated vehicle road driving notification device,
The device is disposed in an electronic device, the electronic device and a vision sensor communicate with each other, the vision sensor is installed in a target vehicle, the electronic device or the target vehicle is provided with a navigation system,
The device,
A data acquisition module for acquiring current frame environment data in front of the target vehicle collected by the vision sensor;
An attribute determination module configured to determine attribute information of a target lane on which the target vehicle is currently traveling according to the current frame environment data;
A time zone determination module for acquiring a limited time zone for exclusive driveway driving from the navigation system when it is determined that the target vehicle is currently traveling on a dedicated lane according to attribute information of the target lane line;
And a notification output module configured to output second class driving restriction notification information when it is determined that the current driving time is within the exclusive driving time limit. The method of claim 10,
The vision sensor is a camera, and the current frame environment data is a current frame environment image;
The attribute determination module is specifically,
Determining a target roadway on which the target vehicle is currently traveling according to the current frame environment image; And determining the attribute information by analyzing a roadway line corresponding to the target roadway. The method of claim 11,
The attribute determination module, when determining a target roadway on which the target vehicle is currently traveling according to the current frame environment image, is specifically,
Converting the current frame environment image from an image coordinate system to a 3D coordinate system, and determining position information of a roadway line corresponding to each roadway in the 3D coordinate system; Determining current position information of the camera in the three-dimensional coordinate system, and determining current position information of the target vehicle; And determining the target roadway according to the current location information of the target vehicle and location information of a roadway line corresponding to each roadway. The method of claim 12,
The attribute determination module, when determining the attribute information by analyzing a lane line corresponding to the target roadway, specifically,
Recognizing the color of the target roadway line, and determining color information of the target roadway line; And/or determining width information and length information of the target lane. The method according to any one of claims 10 to 13,
And a lane determination module configured to determine whether the target lane is a dedicated lane according to attribute information of the target lane. The method of claim 14,
The lane determination module is specifically,
Matching attribute information of the target lane line with standard attribute information of a dedicated lane line; If the attribute information of the target lane and the standard attribute information of the dedicated lane are matched, it is determined that the target lane is a dedicated lane; And if the attribute information of the target lane and the standard attribute information of the dedicated lane do not match, it is determined that the target lane is not a dedicated lane. The method of claim 14,
The lane determination module is specifically,
Inputting attribute information of the target lane line into a trained lane classification model until convergence; And outputting a result of whether or not it is a dedicated lane by recognizing the type of the target lane through the lane classification model trained until the convergence. The method according to any one of claims 10 to 13,
The notification output module also,
Determining whether the time the target vehicle has traveled on the dedicated road exceeds a preset time threshold; And outputting first class driving restriction notification information when it is determined that the time the target vehicle has traveled on a dedicated roadway exceeds a preset time threshold. The method of claim 17,
When the notification output module outputs the first class driving restriction notification information, specifically,
An apparatus, comprising: providing a warning display notification on a navigation screen using an AR format, and performing a voice notification using a voice broadcast format. At least one processor; And
Including; a memory that is communicatively connected with the at least one processor,
In the memory, an instruction that can be executed by the at least one processor is stored, and the instruction is executed by the at least one processor, so that the at least one processor according to any one of claims 1 to 9 is stored. Electronic device, characterized in that to enable the method to be performed. 10. A non-transitory computer-readable storage medium having computer instructions stored thereon, wherein the computer instructions cause the computer to perform the method according to any one of claims 1 to 9. In the computer program stored in a computer-readable storage medium,
The computer program, characterized in that the computer program includes program code, and causes the computer to perform the method according to any one of claims 1 to 9 when the computer executes the computer program.

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