TWI751820B - Driving assistance method, vehicle-mounted device, vehicle, and storage medium - Google Patents

Abstract

The present application provides a driving assistance method, a vehicle-mounted device, a vehicle, and a storage medium. The driving assistance method includes detecting a speed of the vehicle; calculating a speed limit of the vehicle in a road section where the vehicle is located based on relevant image data of the corresponding road section, when the speed of the vehicle exceeds a speed threshold; issuing an overspeed warning when the speed of the vehicle exceeds the speed limit of the road section where the vehicle is located. This application can assist vehicles in speeding warnings and improve safety factors of driving.

Description

Vehicle driving assistance method, vehicle-mounted device, vehicle and storage medium

The invention relates to the field of vehicle driving safety, in particular to a vehicle driving assistance method, a vehicle-mounted device, a vehicle and a storage medium.

Rail vehicles, such as trains, are important hubs in many transportation processes. When the rail vehicle is running at high speed, an accident occurs in which the train derails due to a loss of speed control (eg, overspeed). How to effectively control vehicle speed to ensure driving safety is a very important research direction in vehicle control.

In view of the above, it is necessary to provide a vehicle driving assistance method, a vehicle-mounted device, a vehicle, and a storage medium, which can provide an overspeed warning to the vehicle and improve driving safety.

The vehicle driving assistance method includes: detecting the speed of the vehicle; when the speed of the vehicle exceeds a speed threshold, obtaining the speed limit of the vehicle in the corresponding road section based on the image; and when the speed of the vehicle exceeds the corresponding road section A warning is issued when the vehicle's speed limit is exceeded.

Preferably, the obtaining the speed limit of the vehicle based on the image includes method 1: obtaining an image including a speed limit sign; intercepting a location where the speed limit sign is located from the image including the speed limit sign an image area; and identifying the intercepted image area to obtain the speed limit of the vehicle.

Preferably, the obtaining the speed limit of the vehicle based on the image further includes method 2: obtaining a track image of the track where the vehicle is located, and calculating the track of the track where the vehicle is located based on the track image calculating a track bending angle of the track on which the vehicle is located based on the track path; and obtaining a speed limit of the vehicle according to the track bending angle.

Preferably, the obtaining the speed limit of the vehicle based on the image further includes method 3: training a database with training samples; and obtaining a track image, and using the database to obtain the speed limit of the vehicle based on the track image.

Preferably, the method for training a database using training samples includes: obtaining a preset number of track images; obtaining a speed limit corresponding to each track image in the preset number of track images; and A preset number of track images and corresponding speed limits are used as training samples to train the database.

Preferably, the database is an image classifier based on Python language training.

Preferably, the obtaining the speed limit of the vehicle based on the image includes one of the following methods: Method 1: obtaining an image including a speed limit sign; intercepting the image including a speed limit sign The image area where the speed limit sign is located; and identifying the intercepted image area to obtain the speed limit of the vehicle; Method 2: Obtain a track image of the track where the vehicle is located, and calculate the vehicle based on the track image The track path of the track where it is located; the track bending angle of the track where the vehicle is located is calculated based on the track path; and the speed limit of the vehicle is obtained according to the track bending angle; Method 3: use training samples to train a database; and obtain a track map Like, use the trained database to obtain the speed limit of the vehicle based on the track image; Method 4: Take the lowest speed limit among the speed limits obtained by the method 1, method 2 and method 3 as the vehicle speed limit.

The computer-readable storage medium stores at least one instruction that, when executed by a processor, implements the vehicle driving assistance method.

The in-vehicle device includes a memory and at least one processor, the memory stores at least one instruction, and the at least one instruction implements the vehicle driving assistance method when executed by the at least one processor.

The vehicle includes the in-vehicle device.

Compared with the prior art, the vehicle driving assistance method, in-vehicle device, vehicle and storage The medium can improve the driving safety by using the driving recorder and the Global Positioning System (Global Positioning System, GPS) to warn the vehicle of overspeed.

100: Vehicle

3: Vehicle device

32: Processor

31: Storage

30: Driving assistance system

33: GPS system

34: Dash Cam

35: Camera

36: Display

37: Driving data

FIG. 1 is a flowchart of a vehicle driving assistance method according to a preferred embodiment of the present invention.

FIG. 2 is a structural diagram of a vehicle-mounted device according to a preferred embodiment of the present invention.

In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments may be combined with each other under the condition of no conflict.

In the following description, many specific details are set forth in order to facilitate a full understanding of the present invention, and the described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention.

Referring to FIG. 2 , it is a structural diagram of a vehicle-mounted device provided by a preferred embodiment of the present invention.

In this embodiment, the in-vehicle device 3 is installed on the vehicle 100 . The in-vehicle device 3 can also be called an in-vehicle computer, and includes a storage 31 , at least one processor 32 , a GPS system 33 , and a driving recorder 34 that are electrically connected to each other.

Those skilled in the art should understand that the structure of the vehicle-mounted device 3 shown in FIG. 2 does not constitute a limitation of the embodiment of the present invention, and the vehicle-mounted device 3 may also include more or less other hardware or software than that shown in FIG. 2 , Or a different component arrangement.

It should be noted that the vehicle-mounted device 3 is only an example. If other existing or future vehicle-mounted devices can be adapted to the present invention, they should also be included in the protection scope of the present invention, and use References are included here.

In some embodiments, the storage 31 may be used to store program codes of computer programs and various data. For example, the storage 31 can be used to store the driving assistance system 30 installed in the vehicle-mounted device 3 and the driving data 37 recorded by the driving recorder 34 , and realize high-speed and automatic automatic operation during the operation of the vehicle-mounted device 3 . Complete access to programs or data. The storage 31 may include a Read-Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (Erasable). Programmable Read-Only Memory, EPROM), One-time Programmable Read-Only Memory (OTPROM), Electronically-Erasable Programmable Read-Only Memory (Electrically-Erasable Programmable Read-Only Memory, EEPROM), Compact Disc Read-Only Memory (CD-ROM) or other optical disk storage, magnetic disk storage, magnetic tape storage, or any other non-volatile computer capable of carrying or storing data readable storage medium.

In some embodiments, the at least one processor 32 may be comprised of an integrated circuit. For example, it can be composed of a single packaged integrated circuit, or it can be composed of a plurality of integrated circuits packaged with the same function or different functions, including one or more central processing units (Central Processing Unit, CPU), microprocessor A combination of computer, digital word processing chip, graphics processor and various control chips, etc. The at least one processor 32 is the control core (Control Unit) of the in-vehicle device 3, and uses various interfaces and lines to connect various components of the entire in-vehicle device 3, and executes programs or modules stored in the storage 31 by executing the program or module. Or instructions, and call the data stored in the storage 31 to execute various functions of the in-vehicle device 3 and process data, for example, the function of assisting the vehicle (for details, please refer to the introduction to FIG. 1 ).

In some embodiments, the GPS system 33 may be used to detect the speed of the vehicle 100 . For example, the GPS system 33 can use the receiver to measure the running track of the vehicle 100, the receiver antenna moves relative to the earth in the process of tracking GPS satellites, and the receiver uses the GPS signal to measure the state parameters of the vehicle 100 in real time (for example, instantaneous three-dimensional position and 3D velocity).

In this embodiment, the driving recorder 34 includes a camera 35 and a display 36 . The driving recorder 34 can use the camera 35 to capture a video image of the entire driving process of the vehicle 100 , which is processed by the processor 32 and stored in the storage 31 as driving data 37 . After receiving the image captured by the camera 35 or the overspeed warning information transmitted by the processor 32 , the driving recorder 34 displays the corresponding display on the display 36 .

In this embodiment, the camera 35 may be installed at the position of the front windshield of the vehicle 100 , as long as the camera 35 can capture the track speed limit sign and track images.

In this embodiment, the display 36 may be a display device capable of presenting images and producing sounds, for example, presenting an image captured by the camera 35, and issuing an overspeed warning when the vehicle 100 exceeds the speed limit.

In this embodiment, the track speed limit sign refers to a sign that conveys speed limit information to the driver of the vehicle by a sign on the edge of the track in the corresponding road section in the forward direction of the vehicle 100 . It should be noted that the style, placement location and speed limit information of the track speed limit signboard are specifically determined according to the track in the corresponding road section where the vehicle 100 is located.

In this embodiment, the track image is an image of the track in the corresponding road section in the forward direction of the vehicle 100 .

In this embodiment, the driving assistance system 30 may include one or more modules, and the one or more modules are stored in the storage 31 and processed by at least one or more processors (in this embodiment, processing 32) to implement the function of assisting the vehicle in driving (for details, please refer to the introduction to FIG. 1 later).

In this embodiment, the integrated unit implemented in the form of a software function module can be stored in a non-volatile readable storage medium. The above-mentioned software function module includes one or more computer-readable instructions, and the in-vehicle device 3 or a processor (processor) implements part of the method of each embodiment of the present invention by executing the one or more computer-readable instructions, For example, the method for assisting the driving of a vehicle as shown in FIG. 1 .

In a further embodiment, referring to FIG. 2 , the at least one processor 32 can execute the operating device of the in-vehicle device 3 and various installed applications (such as the driving assistance system 30 ), code and the like.

In a further embodiment, the storage 31 stores the code of a computer program, and the at least one processor 32 can call the code stored in the storage 31 to execute related functions. For example, each module of the driving assistance system 30 is a program code stored in the memory 31 and executed by the at least one processor 32, so as to realize the functions of the various modules to achieve the vehicle 100 Purpose of driving assistance (see the description of Figure 1 below for details).

In one embodiment of the present invention, the storage 31 stores one or more computer-readable instructions, and the one or more computer-readable instructions are executed by the at least one processor 32 to achieve the purpose of driving assistance . Specifically, for a specific implementation method of the above computer-readable instructions by the at least one processor 32, please refer to the description of FIG. 1 below.

FIG. 1 is a flowchart of a vehicle driving assistance method provided by a preferred embodiment of the present invention.

In this embodiment, the vehicle driving assistance method can be applied to the on-board device 3 of the vehicle 100 . For the vehicle 100 that needs to perform driving assistance, the method provided by the method of the present invention can be directly integrated on the on-board device 3 of the vehicle 100 . The functions used for driving assistance, or run on the in-vehicle device 3 in the form of a software development kit (Software Development Kit, SDK).

As shown in FIG. 1 , the vehicle driving assistance method specifically includes the following steps. According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted.

Step S1 , the vehicle-mounted device 3 detects the speed of the vehicle 100 .

In one embodiment, the vehicle-mounted device 3 can use the GPS system 33 to detect the speed of the vehicle 100 .

In other embodiments, the vehicle-mounted device 3 may also use a speed sensor to detect the speed of the vehicle 100 . The speed sensor is mounted on the vehicle 100 .

Step S2, the in-vehicle device 3 determines whether the speed of the vehicle 100 exceeds a speed threshold. When it is determined that the vehicle speed of the vehicle 100 exceeds the speed threshold, step S3 is performed.

In this embodiment, the speed threshold may be an empirical value. For example, the speed threshold may be determined according to the speed of the rail vehicle corresponding to each case in a large number of cases (eg, two thousand) of the derailment caused by the overspeed of the rail vehicle. For example, the speed threshold may be part or all of the rail vehicle. The average value of the speed corresponding to the derailment case caused by the speeding of the vehicle.

Step S3: When the speed of the vehicle 100 exceeds the speed threshold, the vehicle-mounted device 3 obtains the speed limit of the vehicle 100 in the corresponding road section based on the image.

The present invention may provide multiple embodiments to implement step S3. Specifically, in the first embodiment, the obtaining the speed limit of the vehicle 100 based on the image includes a first method, and the first method includes: obtaining a notice including a speed limit The image of the sign; the image area where the speed limit sign is located is intercepted from the image including the speed limit sign; the speed limit of the vehicle 100 is obtained by identifying the intercepted image area.

In an embodiment of the present invention, the in-vehicle device 3 may acquire the image of the corresponding road section in the forward direction of the vehicle 100 from the driving data 37 of the driving recorder 34, and first use an image recognition algorithm to obtain the image of the corresponding road section from the image of the corresponding road section. Obtain the image including the speed limit sign, and then use the image recognition algorithm to identify the image area where the speed limit sign is located in the image including the speed limit sign, and finally use the image interception method to The image area where the speed limit sign is located is cut out.

The image recognition algorithm may be a template matching method. For example, images of speed limit signs in various styles (such as circles, rectangles) can be used as different templates, and each template can be matched with the acquired images to confirm whether the images include speed limit signs. Quick sign. For example, it can be determined by means of feature recognition whether the acquired image includes the image features of speed limit signs in various templates. For example, the image features of different types of speed limit signs can be obtained from each template, and then the speed limit signs in the images of the corresponding road sections can be identified according to the image features of different types of speed limit signs .

If the image of the corresponding road section is the image including the speed limit sign, when a certain template matches a certain area in the image including the speed limit sign, it is determined that the image includes the speed limit sign. A certain area of the image of the speed limit sign is the image area where the speed limit sign is located, and the image interception method is used. The image area where the speed limit sign is located is cut out from the image including the speed limit sign. The certain style is any one of the various styles.

It should be noted that the image interception method is a common processing method in image processing, and details are not described here.

In one embodiment, an image recognition algorithm may be used to identify the speed limit of the vehicle 100 from the image area where the speed limit sign is located.

The image recognition algorithm may be an optical character recognition algorithm. For example, text correction can be performed on the text information of the intercepted image area by using Radon transform, and then text information (such as digits, English letters) in the text information can be extracted, so that the text information can be determined. Speed limit in a speed limit sign.

In the second embodiment provided by the present invention, the obtaining the speed limit of the vehicle 100 based on the image includes a second method, the second method: obtaining a track image of the track where the vehicle 100 is located, and based on the track image Calculate the track path of the track where the vehicle 100 is located; calculate the track bending angle of the track where the vehicle 100 is located based on the track path; obtain the speed limit of the vehicle 100 according to the track bending angle.

In one embodiment, a track image of the track on which the vehicle 100 is located may be obtained from the driving data 37, and an image recognition algorithm may be used to identify the path of the track in the track image.

The image recognition algorithm may be an OpenCV recognition algorithm. For example, the track image can be imported in the form of a grayscale image, the grayscale image can be binarized, and the image elements of the binarized image can be scanned and summed in columns to obtain the path of the track. . It should be noted that the path of the track is usually a curve with an arc.

It should be noted that the track bending angle is also the bending angle of the curved curve corresponding to the path of the track. Use the radian curve to calculate the curve bending angle, use the bending angle to calculate the angular velocity, and further use the angular velocity to calculate the vehicle running speed limit.

In the third embodiment provided by the present invention, the obtaining the speed limit of the vehicle 100 based on the image includes a third method, and the third method includes: A database is trained using the training samples; a track image is obtained, and the speed limit of the vehicle 100 is obtained by using the database based on the track image.

The database may be an image classifier trained by the vehicle-mounted device 3 using a large number of training samples based on the Python language. For example, the in-vehicle device 3 may collect a preset number (eg, 100,000) of training samples, each of which includes a track image and a vehicle speed limit corresponding to each track image, based on the preset number The training samples are used to train the neural network, thereby obtaining the database. Here, the vehicle speed limit corresponding to each track image can be obtained by using the second method or other methods.

In the fourth embodiment provided by the present invention, the obtaining the speed limit of the vehicle 100 based on the image includes a fourth method: taking the lowest speed limit among the speed limits obtained by the first method, the second method and the third method as the The speed limit of the vehicle 100 .

In step S4, the vehicle-mounted device 3 determines whether the speed of the vehicle 100 exceeds the speed limit. When it is determined that the vehicle speed of the vehicle 100 exceeds the speed limit, S5 is performed.

Step S5, the vehicle-mounted device 3 issues a warning.

In this embodiment, the vehicle-mounted device 3 may use the display 36 to issue a warning, and the display 36 may issue a warning, and the display 36 may present a warning pattern or issue a warning sound. In other embodiments, voice warnings may also be issued through other devices (eg, speakers, etc.). In addition, a warning can also be sent to a preset terminal device (eg, a mobile phone of a designated user) to remind the vehicle speed control.

In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are only illustrative. For example, the division of the modules is only a logical function division, and other division methods may be used in actual implementation.

The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical units, that is, they can be located in one place or distributed to multiple networks. on the unit. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware, or can be implemented in the form of hardware plus software function modules.

It will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments are to be regarded in all respects as illustrative and not restrictive, and the scope of the present invention is defined by the appended claims rather than the foregoing description, and is therefore intended to fall within the scope of the claims. All changes within the meaning and range of the equivalents of , are included in the present invention. Any reference sign in a claim should not be construed as limiting the claim to which it relates. Furthermore, it is clear that the word "comprising" does not exclude other units or, and the singular does not exclude the plural. Multiple units or means stated in the device claim may also be implemented by one unit or means through software or hardware. The terms first, second, etc. are used to denote names and do not denote any particular order.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above preferred embodiments, those of ordinary skill in the art should The technical solutions can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention.

Claims (6)

A vehicle driving assistance method, wherein the method comprises: detecting the speed of the vehicle; when the speed of the vehicle exceeds a speed threshold, obtaining the speed limit of the vehicle in a corresponding road section based on an image, wherein the obtaining the obtained image based on the image The speed limit of the vehicle includes: method 1: acquiring an image including a speed limit sign; intercepting an image area where the speed limit sign is located from the image including the speed limit sign; and identifying the intercepted image Obtain the speed limit of the vehicle in the image area; method 2: obtain a track image of the track where the vehicle is located, and calculate the track path of the track where the vehicle is located based on the track image; calculate the vehicle based on the track path The track bending angle of the track where it is located; and obtaining the speed limit of the vehicle according to the track bending angle; Method 3: using the training samples to train a database; and obtaining a track image, using the trained database to obtain based on the track image The speed limit of the vehicle; the lowest speed limit among the speed limits obtained by the method 1, method 2 and method 3 is taken as the speed limit of the vehicle; and when the speed of the vehicle exceeds the vehicle in the corresponding road section When the speed limit is reached, a warning is issued. The vehicle driving assistance method according to claim 1, wherein the using the training samples to train the database comprises: obtaining a preset number of track images; obtaining the information of each track image in the preset number of track images corresponding speed limit; and training the database by using the preset number of track images and the corresponding speed limit as training samples. The vehicle driving assistance method according to claim 1, wherein the database is an image classifier obtained by training based on the Python language. A computer-readable storage medium, wherein the computer-readable storage medium stores At least one instruction, which when executed by the processor implements the vehicle driving assistance method according to any one of claims 1 to 3. An in-vehicle device, wherein the in-vehicle device includes a memory and at least one processor, the memory stores at least one instruction, and when the at least one instruction is executed by the at least one processor, the implementation of claim 1 to The vehicle driving assistance method of any one of 3. A vehicle, wherein the vehicle includes the in-vehicle device of claim 5.

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