CN110503844A - A kind of based reminding method of drive speed, system and car-mounted terminal - Google Patents

A kind of based reminding method of drive speed, system and car-mounted terminal Download PDF

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Publication number
CN110503844A
CN110503844A CN201810471960.4A CN201810471960A CN110503844A CN 110503844 A CN110503844 A CN 110503844A CN 201810471960 A CN201810471960 A CN 201810471960A CN 110503844 A CN110503844 A CN 110503844A
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CN
China
Prior art keywords
road
forward road
vehicle
traffic light
speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201810471960.4A
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Chinese (zh)
Inventor
应宜伦
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Qinggan Intelligent Technology Co Ltd
Original Assignee
Shanghai Qinggan Intelligent Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Qinggan Intelligent Technology Co Ltd filed Critical Shanghai Qinggan Intelligent Technology Co Ltd
Priority to CN201810471960.4A priority Critical patent/CN110503844A/en
Publication of CN110503844A publication Critical patent/CN110503844A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00Scenes; Scene-specific elements
    • G06V20/50Context or environment of the image
    • G06V20/56Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/584Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/0962Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967Systems involving transmission of highway information, e.g. weather, speed limits

Abstract

The present invention provides based reminding method, system and the car-mounted terminal of a kind of drive speed, comprising the following steps: obtains the image information of the forward road of vehicle mounted imaging apparatus acquisition;Judge whether the forward road is traffic light intersection or speed limit roadways based on described image information;When the forward road is traffic light intersection or speed limit roadways, prompting message is issued.Based reminding method, system and the car-mounted terminal of a kind of drive speed of the invention are based on vehicle mounted imaging apparatus, by obtaining the image information for the road that moves ahead, judge whether the forward road is traffic light intersection or speed limit roadways, can play the role of prompting.

Description

A kind of based reminding method of drive speed, system and car-mounted terminal
Technical field
The present invention relates to image procossings, the technical field of image recognition, more particularly to a kind of prompting side of drive speed Method, system and car-mounted terminal.
Background technique
Currently, being easy to cause traffic accident traffic light intersection or speed-limit road section drive speed are too fast, caused traffic accident can be led A large amount of personnel and property loss are caused, and is mostly due in the too fast reason of traffic light intersection or speed-limit road section drive speed The absent minded of driver causes.And existing vehicle-mounted traveling reminder, fail to identify that vehicle forward road is Perhaps speed limit roadways make driver fail to find move ahead road traffic light intersection or speed limit roadways in time to traffic light intersection, into And personal safety and safety of property may be threatened.
Summary of the invention
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide a kind of prompting sides of drive speed Method, system and car-mounted terminal fail to identify that in the prior art vehicle forward road is traffic lights for solving when driving The problem of crossing or speed limit roadways.
In order to achieve the above objects and other related objects, the present invention provides a kind of based reminding method of drive speed, is applied to Car-mounted terminal, comprising the following steps: obtain the image information of the forward road of vehicle mounted imaging apparatus acquisition;Believed based on described image Breath judges whether the forward road is traffic light intersection or speed limit roadways;When the forward road is traffic light intersection or speed limit When road, prompting message is issued.
In one embodiment of the invention, the prompting message includes voice reminder information, alarming sound prompting message, text One of prompting message and icon prompting message or multiple combinations.
In one embodiment of the invention, when in described image information include traffic lights count down information or flicker information When, judge the forward road for traffic light intersection.
In one embodiment of the invention, distance and the speed judgement of the traffic light intersection according to vehicle distances reach institute The running time of traffic light intersection is stated, if the running time is greater than the green light count down information or amber light count down information institute The time of expression issues prompting message;If the running time is less than the time represented by the red light count down information, issue Prompting message;If the traffic lights flash, prompting message is issued.
In one embodiment of the invention, when in described image information including speed limit mark, the forward road is judged For speed limit roadways.
It further include further confirming that whether the forward road is red based on electronic map in one embodiment of the invention Green light crossing or speed limit roadways.
To achieve the above object, the present invention also provides a kind of system for prompting of drive speed, are applied to car-mounted terminal, including Obtain module, processing module and cue module;The acquisition module is used to obtain the forward road of vehicle mounted imaging apparatus acquisition Image information;The processing module is used to judge whether the forward road is traffic light intersection or limit based on described image information Fast road;The cue module is used to issue prompting message when the forward road is traffic light intersection or speed limit roadways.
To achieve the above object, the present invention also provides a kind of car-mounted terminals, comprising: processor and memory;The storage Device is for storing computer program;The processor is connected with the memory, for executing the calculating of the memory storage Machine program, so that the car-mounted terminal executes the based reminding method of above-mentioned drive speed.
Finally, the present invention provides a kind of system for prompting of drive speed, filled including above-mentioned car-mounted terminal and vehicle-mounted pick-up It sets;The vehicle mounted imaging apparatus is used to acquire the image information of forward road, and is sent to the car-mounted terminal.
In one embodiment of the invention, the vehicle mounted imaging apparatus uses vehicle-mounted camera or automobile data recorder.
As described above, based reminding method, system and the car-mounted terminal of a kind of drive speed of the invention, have below beneficial to effect Fruit: it solves to fail to identify that vehicle forward road is asking for traffic light intersection or speed limit roadways when driving in the prior art Topic.The information for the road that moves ahead is obtained from many aspects, can be in time traffic light intersection or speed limit about forward road to driver The prompting of road.
Detailed description of the invention
Fig. 1 is shown as flow chart of the based reminding method of drive speed of the invention in an embodiment;
Fig. 2 is shown as structural schematic diagram of the system for prompting of drive speed of the invention in an embodiment;
Fig. 3 is shown as the structural schematic diagram of car-mounted terminal of the invention in an embodiment;
Fig. 4 is shown as structural schematic diagram of the system for prompting of drive speed of the invention in another embodiment.
Component label instructions
21 obtain module
22 processing modules
23 cue modules
31 processors
32 memories
41 car-mounted terminals
42 vehicle mounted imaging apparatus
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from Various modifications or alterations are carried out under spirit of the invention.It should be noted that in the absence of conflict, following embodiment and implementation Feature in example can be combined with each other.
It should be noted that illustrating the basic structure that only the invention is illustrated in a schematic way provided in following embodiment Think, only shown in schema then with related component in the present invention rather than component count, shape and size when according to actual implementation Draw, when actual implementation kenel, quantity and the ratio of each component can arbitrarily change for one kind, and its assembly layout kenel It is likely more complexity.
Based reminding method, system and the car-mounted terminal of drive speed of the invention, can based on the information for obtaining the road that moves ahead Identification vehicle forward road is traffic light intersection or speed limit roadways in time, can achieve and reminds driver's vehicle forward road in time For the purpose of traffic light intersection or speed limit roadways.
As shown in Figure 1, the based reminding method of drive speed of the invention is applied to car-mounted terminal in an embodiment, including Following steps:
Step S11, the image information of the forward road of vehicle mounted imaging apparatus acquisition is obtained.
In one embodiment of the invention, the acquisition of the image information for the road that moves ahead can pass through the vehicle mounted imaging apparatus of automobile It collects, the vehicle mounted imaging apparatus is preferably the center position and/or two side positions for being set to headstock.The forward road For vehicle current driving road, what the vehicle mounted imaging apparatus acquired is the image information of vehicle current driving road.
In another embodiment of the present invention, the forward road is another road closed on vehicle current driving road Road, vehicle can be by turning left curved or turning right and bend into the forward road.
Step S12, judge whether the forward road is traffic light intersection or speed limit roadways based on described image information.
Specifically, by analyzing the image information of acquisition, the forward road is judged based on described image information When whether being traffic light intersection, by analysis described image information in whether comprising green light information, amber light information, red light information, Green light count down information, amber light count down information, red light count down information, green light flicker information, amber light flicker information or red light Flicker information judges whether the forward road is traffic light intersection.It includes base that the image information of described pair of acquisition, which carries out analysis, Analyze and determine whether the forward road is traffic light intersection in specific image recognition algorithm.Described image recognizer packet It includes but is not limited to using the Fast Rcnn algorithm (full name in English: Faster Regions with CNNs based on deep learning Features), SSD algorithm (full name in English: single shot multibox detector), Yolo algorithm (full name in English: You Only Look Once) etc. Target Recognition Algorithms or other kinds of images steganalysis algorithm.
Specifically, by analyzing the image information of acquisition, the forward road is judged based on described image information When whether being speed limit roadways, by whether including speed(-)limit sign in analysis described image information, to judge that the forward road is No is speed limit roadways.
Step S13, when the forward road is traffic light intersection or speed limit roadways, prompting message is issued.
In one embodiment of the invention, based on the forward road be current driving road, by judgement learn it is described before When trade road is traffic light intersection or speed limit roadways, reminder message is issued immediately.
It is current driving road based on the forward road in another embodiment of the present invention, is learnt by judgement described Move ahead road be traffic light intersection or speed limit roadways when, vehicle make turn round to the left or turn round to the right movement when, issue Reminder message.
It is another closed on vehicle current driving road based on the forward road in another embodiment of the present invention Road issues reminder message before vehicle drives into the forward road.
In another embodiment of the present invention, based on the forward road be traffic light intersection when, according to vehicle distances Distance and the speed judgement of traffic light intersection reach the running time of the traffic light intersection, if the running time is greater than described Time represented by green light count down information or amber light count down information issues prompting message.It is red green described in the vehicle distances The distance and speed at lamp crossing are learnt by vehicle self-carrying GPS system, meter panel of motor vehicle or electronic map.
In another embodiment of the present invention, based on the forward road be traffic light intersection when, according to vehicle distances Distance and the speed judgement of traffic light intersection reach the running time of the traffic light intersection, if the running time is less than in institute The time represented by red light count down information is stated, prompting message is issued.
In another embodiment of the present invention, based on the forward road be traffic light intersection when, the traffic lights flash when, Issue prompting message.
In another embodiment of the present invention, based on the forward road be speed limit roadways when, vehicle present speed is not limiting In fast road prescribed limit, issues reminder message and inform speed limit range to adjust speed to appropriate speed.
In another embodiment of the present invention, based on the forward road be speed limit roadways when, vehicle present speed is in speed limit In road prescribed limit, issues reminder message and inform speed limit range to prevent speed too fast or too slow.
In another embodiment of the present invention, the based reminding method of drive speed of the invention further includes being based on electronic map into one Step confirms whether the forward road is traffic light intersection or speed limit roadways.The electronic map includes but is not limited to search dog Figure, Baidu map, Amap, Tencent's map, four-dimensional map.
In another embodiment of the present invention, the reminder message includes voice reminder information, alarming sound prompting message, text One of prompting message and icon prompting message or multiple combinations.Specifically, the voice reminder information is how right prompting is The further speed control operation of vehicle carrys out regulation speed, and the alarming sound prompting message is that remind forward road be traffic lights road Mouth or speed limit roadways are please driven a vehicle according to traffic lights mark or speed(-)limit sign, and the text prompting message is how right with verbal description The further direction controlling operation of vehicle carrys out regulation speed, and the icon prompting message is to be with the forward road of alert icon prompting Traffic light intersection or speed limit roadways are please driven a vehicle according to traffic lights mark or speed(-)limit sign.
As shown in Fig. 2, the system for prompting of drive speed of the invention is applied to car-mounted terminal in an embodiment, including Obtain module 21, processing module 22 and cue module 23.
The image information for obtaining module 21 and being used to obtain the forward road of vehicle mounted imaging apparatus acquisition.
In one embodiment of the invention, moved ahead by what the vehicle mounted imaging apparatus that acquisition module 21 obtains automobile collected The image information of road, the vehicle mounted imaging apparatus are preferably the center position and/or two side positions for being set to headstock.Before described Trade road is vehicle current driving road, and what the vehicle mounted imaging apparatus acquired is the image information of vehicle current driving road.
In another embodiment of the present invention, the forward road is another road closed on vehicle current driving road Road, vehicle can be by turning left curved or turning right and bend into the forward road.
The processing module 22 be used for based on described image information judge the forward road whether be traffic light intersection or Speed limit roadways.
Specifically, the processing module 22 is sentenced by analyzing the image information of acquisition based on described image information When whether the forward road that breaks is traffic light intersection, by whether including green light information, amber light in analysis described image information Information, red light information, green light count down information, amber light count down information, red light count down information, green light flicker information, amber light Flicker information or blinking red lamp information judge whether the forward road is traffic light intersection.The processing module 22 is to described The image information of acquisition carry out analysis include analyzed and determined based on specific image recognition algorithm the forward road whether be Traffic light intersection.Described image recognizer includes but is not limited to that (English is complete using the Fast Rcnn algorithm based on deep learning Claim: Faster Regions with CNNs features), SSD algorithm (full name in English: single shot multibox Detector), the Target Recognition Algorithms or other kinds of such as Yolo algorithm (full name in English: You Only Look Once) Images steganalysis algorithm.
Specifically, the processing module 22 is sentenced by analyzing the image information of acquisition based on described image information When whether the forward road that breaks is speed limit roadways, whether the processing module 22 is by including limit in analysis described image information Speed mark, to judge whether the forward road is speed limit roadways.
The cue module 23 is used to issue when the forward road is traffic light intersection or speed limit roadways and remind letter Breath.
It is current driving road based on the forward road in one embodiment of the invention, the processing module 22 passes through When judging to learn the forward road as traffic light intersection or speed limit roadways, the cue module 23 issues reminder message immediately.
It is current driving road based on the forward road in another embodiment of the present invention, the processing module 22 is logical It crosses when judging to learn the forward road as traffic light intersection or speed limit roadways, is made in vehicle and turn round or turn round to the right to the left Movement when, the cue module 23 issues reminder message.
It is another closed on vehicle current driving road based on the forward road in another embodiment of the present invention Road, before vehicle drives into the forward road, the cue module 23 issues reminder message.
In another embodiment of the present invention, based on the forward road be traffic light intersection when, the processing module 22 The running time that the traffic light intersection is reached according to distance and the speed judgement of traffic light intersection described in vehicle distances, if the row The time is sailed greater than the time represented by the green light count down information or amber light count down information, the sending of cue module 23 mentions Awake information.The distance and speed of traffic light intersection described in the vehicle distances by vehicle self-carrying GPS system, meter panel of motor vehicle or Person's electronic map is learnt.
In another embodiment of the present invention, based on the forward road be traffic light intersection when, the processing module 22 The running time that the traffic light intersection is reached according to distance and the speed judgement of traffic light intersection described in vehicle distances, if the row The time is sailed less than the time represented by the red light count down information, the cue module 23 issues prompting message.
In another embodiment of the present invention, based on the forward road be traffic light intersection when, the traffic lights flash when, The cue module 23 issues prompting message.
In another embodiment of the present invention, based on the forward road be speed limit roadways when, vehicle present speed is not limiting In fast road prescribed limit, the cue module 23 issues reminder message and informs speed limit range to adjust speed to appropriate speed.
In another embodiment of the present invention, based on the forward road be speed limit roadways when, vehicle present speed is in speed limit In road prescribed limit, the cue module 23 issues reminder message and informs speed limit range to prevent speed too fast or too slow.
In another embodiment of the present invention, the based reminding method of drive speed of the invention further includes being based on electronic map into one Step confirms whether the forward road is traffic light intersection or speed limit roadways.The electronic map includes but is not limited to search dog Figure, Baidu map, Amap, Tencent's map, four-dimensional map.
In another embodiment of the present invention, the reminder message includes voice reminder information, alarming sound prompting message, text One of prompting message and icon prompting message or multiple combinations.Specifically, the cue module 23 include sound module and Display module, the voice reminder information are to be reminded by the sound module how to the further speed control operation of vehicle Carry out regulation speed, it is traffic light intersection or speed limit that the alarming sound prompting message, which is by the forward road of sound module prompting, Road is please driven a vehicle according to traffic lights mark or speed(-)limit sign, and the text prompting message is to be retouched by the display module with text It states and how regulation speed is come to the further direction controlling operation of vehicle, the icon prompting message is to pass through the display module It is that traffic light intersection or speed limit roadways are please driven a vehicle according to traffic lights mark or speed(-)limit sign that the road that moves ahead is reminded with alert icon.
It should be noted that it should be understood that the modules of system above division be only a kind of logic function division, It can completely or partially be integrated on a physical entity in actual implementation, it can also be physically separate.And these modules can be with All realized by way of processing element calls with software;It can also all realize in the form of hardware;It can also part mould Block realizes that part of module passes through formal implementation of hardware by way of processing element calls software.For example, x module can be The processing element individually set up also can integrate and realize in some chip of above-mentioned apparatus, in addition it is also possible to program generation The form of code is stored in the memory of above-mentioned apparatus, is called by some processing element of above-mentioned apparatus and is executed the above x mould The function of block.The realization of other modules is similar therewith.Furthermore these modules completely or partially can integrate together, can also be only It is vertical to realize.Processing element described here can be a kind of integrated circuit, the processing capacity with signal.During realization, Each step of the above method or the above modules can be by the integrated logic circuits of the hardware in processor elements or soft The instruction of part form is completed.
For example, the above module can be arranged to implement one or more integrated circuits of above method, such as: One or more specific integrated circuits (ApplicationSpecificIntegratedCircuit, abbreviation ASIC), or, one Or multi-microprocessor (digitalsingnalprocessor, abbreviation DSP), or, one or more field-programmable gate array Arrange (FieldProgrammableGateArray, abbreviation FPGA) etc..For another example, when some above module is dispatched by processing element When the form of program code is realized, which can be general processor, such as central processing unit (CentralProcessingUnit, abbreviation CPU) or it is other can be with the processor of caller code.For another example, these modules can To integrate, realized in the form of system on chip (system-on-a-chip, abbreviation SOC).
As shown in figure 3, car-mounted terminal of the invention includes: processor 31 and memory 32 in an embodiment;It is described to deposit Reservoir 32 is for storing computer program;The processor 31 is connected with the memory 32, is used for according to the identification information, The computer program that the memory 32 stores is executed, so that the car-mounted terminal executes the prompting side of above-mentioned drive speed Method.
Specifically, the memory 32, which includes: that ROM, RAM, magnetic disk, USB flash disk, storage card or CD etc. are various, can store The medium of program code.
Preferably, the processor 31 can be general processor, including central processing unit (CentralProcessingUnit, abbreviation CPU), network processing unit (NetworkProcessor, abbreviation NP) etc.;It can be with It is digital signal processor (DigitalSignalProcessor, abbreviation DSP), specific integrated circuit (ApplicationSpecificIntegratedCircuit, abbreviation ASIC), field programmable gate array (Field- ProgrammableGateArray, abbreviation FPGA) either other programmable logic device, discrete gate or transistor logic device Part, discrete hardware components.
As shown in figure 4, in an embodiment, the system for prompting of drive speed of the invention, including above-mentioned car-mounted terminal 41 and vehicle mounted imaging apparatus 42;The vehicle mounted imaging apparatus 42 is used to acquire the road conditions image of forward road, and is sent to described Car-mounted terminal 41.
In one embodiment of the invention, the vehicle mounted imaging apparatus 42 uses vehicle-mounted camera or automobile data recorder.
In conclusion the based reminding method of drive speed of the present invention, system and car-mounted terminal, based on the letter for obtaining the road that moves ahead Breath can identify that vehicle forward road is traffic light intersection or speed limit roadways in time, can achieve before reminding driver's vehicle in time Trade road is the purpose of traffic light intersection or speed limit roadways.So the present invention effectively overcome it is in the prior art it is various lack It puts and has high industrial utilization value.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as At all equivalent modifications or change, should be covered by the claims of the present invention.

Claims (10)

1. a kind of based reminding method of drive speed is applied to car-mounted terminal, which comprises the following steps:
Obtain the image information of the forward road of vehicle mounted imaging apparatus acquisition;
Judge whether the forward road is traffic light intersection or speed limit roadways based on described image information;
When the forward road is traffic light intersection or speed limit roadways, prompting message is issued.
2. the based reminding method of drive speed according to claim 1, which is characterized in that the prompting message includes that voice mentions One of awake information, alarming sound prompting message, text prompting message and icon prompting message or multiple combinations.
3. the based reminding method of drive speed according to claim 1, which is characterized in that when in described image information include it is red When green light count down information or flicker information, judge the forward road for traffic light intersection.
4. the based reminding method of drive speed according to claim 3, which is characterized in that the traffic lights according to vehicle distances Distance and the speed judgement at crossing reach the running time of the traffic light intersection, fall if the running time is greater than the green light Time represented by clocking information or amber light count down information issues prompting message;If the running time is less than the red light Time represented by count down information issues prompting message;If the traffic lights flash, prompting message is issued.
5. the based reminding method of drive speed according to claim 1, which is characterized in that when in described image information include limit When speed mark, judge the forward road for speed limit roadways.
6. the based reminding method of drive speed according to claim 1, which is characterized in that also further true based on electronic map Recognize whether the forward road is traffic light intersection or speed limit roadways.
7. a kind of system for prompting of drive speed is applied to car-mounted terminal, which is characterized in that including obtaining module, processing module And cue module;
The image information for obtaining module and being used to obtain the forward road of vehicle mounted imaging apparatus acquisition;
The processing module is used to judge whether the forward road is traffic light intersection or speed limit road based on described image information Road;
The cue module is used to issue prompting message when the forward road is traffic light intersection or speed limit roadways.
8. a kind of car-mounted terminal characterized by comprising processor and memory;
The memory is for storing computer program;
The processor is connected with the memory, for executing the computer program of the memory storage, so that the vehicle The based reminding method of drive speed described in any one of mounted terminal perform claim requirement 1 to 6.
9. a kind of system for prompting of drive speed, which is characterized in that including car-mounted terminal according to any one of claims 8 and vehicle-mounted pick-up Device;The vehicle mounted imaging apparatus is used to acquire the image information of forward road, and is sent to the car-mounted terminal.
10. the system for prompting of drive speed according to claim 9, which is characterized in that the vehicle mounted imaging apparatus uses Vehicle-mounted camera or automobile data recorder.
CN201810471960.4A 2018-05-17 2018-05-17 A kind of based reminding method of drive speed, system and car-mounted terminal Pending CN110503844A (en)

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CN112849144A (en) * 2021-02-01 2021-05-28 知行汽车科技(苏州)有限公司 Vehicle control method, device and storage medium
CN113212300A (en) * 2021-05-10 2021-08-06 首约科技(北京)有限公司 Vehicle-mounted traffic light identification system

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