CN111640316B

CN111640316B - Method and device for determining prompting duration based on artificial intelligence and electronic equipment

Info

Publication number: CN111640316B
Application number: CN202010482155.9A
Authority: CN
Inventors: 侯琛
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2020-05-29
Filing date: 2020-05-29
Publication date: 2024-04-19
Anticipated expiration: 2040-05-29
Also published as: CN111640316A

Abstract

The embodiment of the invention provides a method and a device for determining prompt duration based on artificial intelligence and electronic equipment. The method comprises the following steps: acquiring a space parameter and a driving state parameter, wherein the space parameter comprises a first distance between a target vehicle and a speed limit sign, and the driving state parameter comprises the current speed, acceleration and reaction time of the target vehicle; obtaining the forced speed of each state contained in the speed limit sign; searching a first forced speed of the current state of the speed limit sign in the forced speeds of all states contained in the speed limit sign, and determining the residual duration of the speed limit sign in the current state, wherein the residual duration is a time period for switching the speed limit sign from the current state to the next state; and determining the prompting time length of the speed limit sign according to the space parameter, the driving state parameter, the residual time length and the first forced speed. By implementing the embodiment of the invention, the prompting time length can be reasonably determined, the resources of a control system are saved, and the safety of public transportation is improved.

Description

Method and device for determining prompting duration based on artificial intelligence and electronic equipment

Technical Field

The invention relates to the technical field of internet, in particular to a method and a device for determining prompt duration based on artificial intelligence and electronic equipment.

Background

In the field of artificial intelligence, a speed limit sign is an important way for maintaining public traffic safety, so that prompting of the speed limit sign is particularly important, and particularly prompting time of the speed limit sign is directly related to user experience, vehicle traffic safety and road traffic efficiency.

In the prior art, as long as a speed limit sign is arranged in front of a road where a vehicle is located, the vehicle is frequently prompted without considering the duration of the prompting time, if the prompting time is too long, the resources of a control system are wasted, the driving experience of a driver is not facilitated, and if the prompting time is too short, the prompting effect cannot be achieved, so that how to reasonably determine the prompting time of the speed limit sign is an important problem to be solved currently.

Disclosure of Invention

The embodiment of the invention provides a method and a device for determining prompt duration based on artificial intelligence and electronic equipment, which can reasonably determine the prompt duration, save resources of a control system and improve the safety of public transportation.

The embodiment of the invention provides a method for determining prompt duration based on artificial intelligence, which comprises the following steps:

Acquiring a space parameter and a driving state parameter, wherein the space parameter comprises a first distance between a target vehicle and a speed limit sign, and the driving state parameter comprises the current speed, acceleration and reaction time of the target vehicle;

obtaining the forced speed of each state contained in the speed limit sign;

Searching a first forced speed of a current state of the speed limit sign from forced speeds of all states contained in the speed limit sign, and determining the residual duration of the speed limit sign in the current state, wherein the residual duration is a time period for switching the speed limit sign from the current state to a next state;

And determining the prompting time length of the speed limit sign according to the space parameter, the running state parameter, the residual time length and the first forced speed.

The embodiment of the invention provides a device for determining the prompting time length based on artificial intelligence, which has the function of realizing the method for determining the prompting time length based on artificial intelligence. The functions may be implemented by hardware, or may be implemented by hardware executing corresponding software. The hardware or software includes:

The system comprises an acquisition module, a speed limiting module and a speed limiting module, wherein the acquisition module is used for acquiring space parameters and driving state parameters, the space parameters comprise a first distance between a target vehicle and a speed limiting sign, and the driving state parameters comprise the current speed, acceleration and reaction time of the target vehicle;

the acquisition module is also used for acquiring the forced speed of each state contained in the speed limit sign;

The processing module is used for searching a first forced speed of the current state of the speed limit sign from the forced speeds of all the states contained in the speed limit sign, and determining the residual duration of the speed limit sign in the current state, wherein the residual duration is a time period for switching the speed limit sign from the current state to the next state;

and the determining module is used for determining the prompting time length of the speed limit sign according to the space parameter, the running state parameter, the residual time length and the first forced speed.

The embodiment of the invention provides electronic equipment, which comprises a processor, an input device, an output device and a memory, wherein the processor, the input device, the output device and the memory are mutually connected, the memory is used for storing a computer program, the computer program comprises program instructions, and the processor is configured to call the program instructions and is used for executing the operations related to the method for determining the prompting duration based on artificial intelligence.

An embodiment of the present invention provides a computer readable storage medium for storing computer program instructions for a terminal device, which includes a program for executing the above-mentioned method for determining an artificial intelligence-based reminder duration.

By implementing the embodiment of the invention, the electronic equipment dynamically adjusts the duration of the early warning prompt, namely the prompt duration, in combination with the historical congestion rate and the traffic accident rate of the speed-limiting road section where the speed-limiting sign is located, specifically, the electronic equipment corrects the forced speed of the target vehicle when the target vehicle passes through the speed-limiting sign according to the historical congestion rate and the traffic accident rate, and finally reasonably determines the prompt duration by combining the corrected forced speed, thereby ensuring the safety of the vehicle passing through the speed-limiting sign, reducing the resource waste of a control system and improving the safety of public transportation.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a system architecture according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a traffic light monitoring system according to an embodiment of the present invention;

FIG. 3 is a flowchart of a method for determining a prompting duration based on artificial intelligence according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a framework for determining a speed limit sign information prompt according to an embodiment of the present invention;

FIG. 5 is a flowchart of another method for determining a prompting duration based on artificial intelligence according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of another embodiment of a frame for determining a speed limit sign information prompt;

FIG. 7 is a schematic structural diagram of an artificial intelligence based prompt duration determining apparatus according to an embodiment of the present invention;

Fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Artificial intelligence (ARTIFICIAL INTELLIGENCE, AI) is the theory, method, technique, and application system that simulates, extends, and extends human intelligence using a digital computer or a machine controlled by a digital computer, perceives the environment, obtains knowledge, and uses the knowledge to obtain optimal results. In other words, artificial intelligence is an integrated technology of computer science that attempts to understand the essence of intelligence and to produce a new intelligent machine that can react in a similar way to human intelligence. Artificial intelligence, i.e. research on design principles and implementation methods of various intelligent machines, enables the machines to have functions of sensing, reasoning and decision.

The artificial intelligence technology is a comprehensive subject, and relates to the technology with wide fields, namely the technology with a hardware level and the technology with a software level. Artificial intelligence infrastructure technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, mechatronics, and the like. The artificial intelligence software technology mainly comprises a computer vision technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and other directions.

With research and progress of artificial intelligence technology, research and application of artificial intelligence technology are developed in various fields, such as common smart home, smart wearable devices, virtual assistants, smart speakers, smart marketing, unmanned, automatic driving, safe auxiliary driving, smart travel, smart highway, unmanned aerial vehicle, robot, smart medical treatment, smart customer service, etc., and it is believed that with the development of technology, artificial intelligence technology will be applied in more fields and of increasingly important value. The scheme provided by the embodiment of the application mainly relates to the related technologies of safe auxiliary driving, intelligent traveling and intelligent highway of artificial intelligence, and is specifically described by the following embodiment.

In the field of artificial intelligence, a speed limit sign is an important way for maintaining public traffic safety, so that prompting of the speed limit sign is particularly important, and particularly prompting time of the speed limit sign is directly related to user experience, vehicle traffic safety and road traffic efficiency. In the prior art, if a speed limit sign is arranged in front of a road where a vehicle is located, the vehicle is frequently prompted without considering the duration of the prompting time, if the prompting time is too long, resources of a control system are wasted, driving experience of a driver is not facilitated, and if the prompting time is too short, the prompting effect cannot be achieved, so that the embodiment of the invention provides a prompting time determining method based on artificial intelligence, which specifically comprises the following steps: acquiring a space parameter and a driving state parameter, wherein the space parameter comprises a first distance between a target vehicle and a speed limit sign, and the driving state parameter comprises the current speed, acceleration and reaction time of the target vehicle; obtaining the forced speed of each state contained in the speed limit sign; searching a first forced speed of the current state of the speed limit sign in the forced speeds of all states contained in the speed limit sign, and determining the residual duration of the speed limit sign in the current state, wherein the residual duration is a time period for switching the speed limit sign from the current state to the next state; and determining the prompting time length of the speed limit sign according to the space parameter, the driving state parameter, the residual time length and the first forced speed. The method provided by the embodiment of the invention can reasonably determine the prompting time length of the speed limiting sign, saves the resources of a control system and improves the safety of public transportation.

In order to better understand the method for determining the prompting time based on artificial intelligence provided by the embodiment of the invention, a system architecture diagram applicable to the embodiment of the invention is described below.

Referring to fig. 1, fig. 1 is a schematic diagram of a system architecture according to an embodiment of the invention. As shown in fig. 1, the system architecture diagram includes: traffic management cloud platform 110, vehicle 120, and speed limit sign 130.

Wherein, the traffic management cloud platform 110 stores state information of a speed limit sign of a speed limit road section, wherein the state information includes: at least one state, a duration of each state, and an initial forcing speed of each state. The traffic management cloud platform 110 also stores parameters such as a historical congestion rate and a historical traffic accident rate of the speed-limited road section.

The vehicle 120 may obtain, from the traffic management cloud platform 110, state information, parameters such as a historical congestion rate and a historical traffic accident rate, which are included in a speed limit sign of a speed limit road section where the vehicle 120 is located.

The speed limit sign 130 may be a traffic light, for example, the traffic light may be in red light, yellow light and green light, the speed limit sign 130 may also be a traffic police, for example, a gesture of the traffic police may be used as the state of the speed limit sign 130, and speed limit management is performed on the vehicle 120 according to the gesture made by the traffic police.

In one implementation, the speed limit sign 130 is a traffic light, please refer to fig. 2, and fig. 2 is a schematic structural diagram of a traffic light monitoring system according to an embodiment of the present invention. As shown in fig. 2, in the traffic light monitoring system, the state of the speed limit sign of each speed limit section may be displayed. For example, the speed limit sign of the speed limit road section with the north direction has three states of red light, yellow light and green light, and the state of the speed limit sign of the speed limit road section can be the red light state; the speed limiting sign of the speed limiting road section in the western direction has three states of red light, yellow light and green light, and at the moment, the state of the speed limiting sign of the speed limiting road section can be the yellow light state; the speed limiting sign of the speed limiting road section with the south direction has three states of a red light, a yellow light and a green light, and the state of the speed limiting sign of the speed limiting road section can be the green light state; the speed limit sign of the speed limit road section with the east direction has three states of red light, yellow light and green light, and the state of the speed limit sign of the speed limit road section can be the red light state.

It should be noted that the invention can be applied to intelligent travel, intelligent road and safety auxiliary driving. The usage scenario of the present invention is a scenario in which the vehicle 120 needs to be informed in advance, and the speed limit sign 130, that is, conditions that need to be satisfied: the speed of the vehicle 120 passing the speed limit sign 130 may be adjusted to be less than the forced speed of the corrected speed limit sign 130, and in particular, embodiments of the present invention may be embedded in the vehicle, such as in a Tencel map or a WeChat applet.

It may be understood that the schematic diagram of the system architecture described in the embodiment of the present invention is for more clearly describing the technical solution of the embodiment of the present invention, and does not constitute a limitation on the technical solution provided by the embodiment of the present invention, and those skilled in the art can know that, with the evolution of the system architecture and the appearance of a new service scenario, the technical solution provided by the embodiment of the present invention is equally applicable to similar technical problems.

Referring to fig. 3, fig. 3 is a flowchart of a method for determining a prompting duration based on artificial intelligence according to an embodiment of the present invention. The method may be performed by an electronic device, including, but not limited to, steps S310-S340 as follows:

step S310: the electronic device obtains a space parameter and a driving state parameter, wherein the space parameter comprises a first distance between a target vehicle and a speed limit sign, and the driving state parameter comprises the current speed, acceleration and reaction time of the target vehicle.

The electronic device may be a cloud server, and specifically, the cloud server sends the prompt duration to the vehicle after determining the prompt duration; the electronic device may also be a vehicle-mounted device installed in the vehicle, for example, the vehicle-mounted device may be a vehicle-mounted computer, etc., which is specifically implemented in such a way that the vehicle may first obtain the speed limit sign information from the server and then determine the prompting time period by itself.

In one implementation, the electronic device obtains the first distance between the target vehicle and the speed limit sign by: the electronic equipment acquires a global positioning system (Global Positioning System, GPS) of the speed limit sign from the traffic management cloud platform, acquires the GPS of the target vehicle, and calculates according to the acquired GPS of the speed limit sign and the GPS of the target vehicle to obtain a first distance between the target vehicle and the speed limit sign. The method for the electronic device to calculate the first distance according to the GPS of the speed limit sign and the GPS of the target vehicle may specifically be that the electronic device determines the longitude and latitude of the speed limit sign and the longitude and latitude of the target vehicle by acquiring the GPS of the speed limit sign and the GPS of the target vehicle, and then calculates the first distance between the speed limit sign and the target vehicle by using Java codes or a longitude and latitude calculation formula.

For example, assuming that the longitude and Latitude of the target vehicle is (LonA, latA), the longitude and Latitude of the speed limit sign is (LonB, latB), the east longitude takes a positive value of longitude (Longitude), the west longitude takes a negative value (-Longitude), the north Latitude takes a 90-Latitude value (90-latitide), and the south Latitude takes a 90+ Latitude value (90+latitide), the coordinates of the target vehicle and the speed limit sign after the above processing are respectively calculated as (MLonA, MLatA) and (MLonB, MLatB). Then, from the trigonometric derivation, a first distance between the speed limit sign and the target vehicle can be obtained:

C＝sin(MLatA)*sin(MLatB)*cos(MLonA-MLonB)+cos(MLatA)*cos(MLatB)

Distance＝R*Arccos(C)*Pi/180

In one implementation, the electronic device may directly measure the first distance between the target vehicle and the speed limit sign through high power infrared devices within the target vehicle. The infrared device may be a laser range finder, an infrared range finder, an ultrasonic range finder, etc., and the present invention is not limited herein. In specific implementation, the time when the infrared device sends out infrared rays is recorded as t1, the time when the infrared device receives the infrared rays reflected by the speed limit sign is recorded as t2, and the electronic device calculates to obtain a first distance between the target vehicle and the speed limit sign according to the time t1 and t2, the light speed c= 299792458m/s and the atmospheric refractive index n.

In one implementation, the electronic device may obtain the reaction time of the driver in the target vehicle by: the electronic equipment performs face recognition on the driver through a face recognition system in the target vehicle to obtain the category of the driver, and compares the category of the driver in a preset database according to the category of the driver to determine the response time of the driver in the target vehicle. The preset database may be a traffic management database, where historical statistics of response times of drivers in each of the preset categories are stored.

For example, assume that the preset categories are young men, young women, middle-aged men, middle-aged women, and the like. The definition of "young" and "middle-aged" may be adjusted regularly, for example, the age range is 18 to 30, the age range is 30 to 45, and the invention is not limited herein.

In one implementation, further, the preset categories of drivers may be more finely divided, specifically, the drivers in the "young men" category may be further divided into "professional men's drivers" and "non-professional men's drivers"; drivers in the "young women" category are further classified into "professional drivers" and "non-professional drivers", etc., and the present invention is not limited herein. The definition of the professional driver and the non-professional driver can be that the drivers which are registered in the related public transportation professional platform and have related practice certificates are professional drivers, and can be specifically taxi drivers, bus drivers, etc. For example, the electronic device identifies that the class of the driver in the target vehicle is a "professional man driver" through the face recognition system of the vehicle-mounted device, and searches the traffic management database for the historical statistic value of the response time corresponding to the "professional man driver", and if the historical statistic value is 0.5s, the electronic device determines that the response time of the driver in the target vehicle is 0.5s.

In one implementation, the data stored in the preset database may be updated periodically, specifically, the historical statistics of the response time corresponding to each category in the traffic management database is updated according to the traffic flow and the traffic flow of the road where the speed limit sign is located.

Step S320: the electronic device obtains the forced speed of each state contained in the speed limit sign.

In one implementation, an electronic device obtains state information for a speed limit sign, the state information including at least one state included in the speed limit sign, a duration of each state, and an initial forced speed for each state.

For example, the electronic device obtains from the traffic management cloud platform the status information of traffic lights of the speed-limit road segment where the target vehicle is located. Assuming n states, respectively recorded as s ₁,s₂,...,s_n, recorded as d ₁,d₂,...,d_n, and recorded as w ₁,w₂,...,w_n, the limitation degree of the states on the vehicle satisfies w ₁≥w₂≥...≥w_n; the greater the restriction on the vehicle means that the speed of the vehicle when passing through the speed-limiting section in this state must be smaller. For example, if the speed limit sign is a traffic light, then it has 3 states: red, yellow, green. Wherein the red limit is highest, the vehicle must be stopped, i.e. the vehicle speed is 0; the yellow limit degree is moderate, and the vehicle can be started by striking fire; the green limit degree is the lowest, and the vehicle can pass through the speed-limiting road section according to the original speed. The electronic equipment obtains initial forced vehicle speeds when the vehicle reaches below the speed limit sign under the limitation of w ₁,w₂,...,w_n from the traffic management cloud platform, and v ₁,v₂,...,v_n is recorded respectively. For example, if the speed limit sign is a traffic light and it is in a red light state, then the speed of the vehicle when it reaches below the speed limit sign must be 0.

In one implementation, the electronic device corrects the initial forcing speed of each state according to the correction factor to obtain the forcing speed of each state.

For example, if the more severe the traffic congestion, the higher the historical traffic accident rate, the speed of the vehicle when it reaches under the speed limit sign is not just the speed that the speed limit sign forces, i.e. the initial forced speed, but is related to the congestion situation and the historical accident rate. Specifically, the more severe the congestion, the higher the historical accident rate, and the lower the speed at which the vehicle reaches below the speed limit sign. Therefore, the smaller the initial forced speed should be when the vehicle reaches below the speed limit sign. The electronic device corrects the initial forced speed of each state according to the correction factor, and the forced speed of each state is v₁/(1+p₁)(1+p₂),v₂/(1+p₁)(1+p₂),...,v_n/(1+p₁)(1+p₂),, wherein 1/(1+p ₁)(1+p₂) is the correction factor.

In one implementation, the electronic device corrects the initial forced speed of each state according to the correction factor, and before obtaining the forced speed of each state, the electronic device obtains the historical traffic jam rate and the historical traffic accident rate of the road where the speed limit sign is located, and the electronic device obtains the correction factor according to the historical traffic jam rate and the historical traffic accident rate.

For example, the electronic device obtains a historical congestion rate of a front road speed limit section where the target vehicle is located from the traffic management cloud platform, denoted as p ₁, and the electronic device obtains a historical traffic accident rate of a front road speed limit section where the target vehicle is located from the traffic management cloud platform, denoted as p ₂; the electronic device obtains the correction factor according to p ₁ and p ₂, where the correction factor is specifically a decreasing function of p ₁ and p ₂, and for example, the correction factor may be: 1/(1+p ₁)(1+p₂), the correction factor may also beThe specific form of the correction factor is not limited in the present invention, as long as it is a decreasing function of p ₁ and p ₂.

Step S330: the electronic equipment searches the first forced speed of the current state of the speed limit sign in the forced speeds of all the states contained in the speed limit sign, and determines the residual duration of the speed limit sign in the current state, wherein the residual duration is the time period for switching the speed limit sign from the current state to the next state.

In specific implementation, the electronic device acquires the current state of the speed limit sign from the traffic management cloud platform and how long the state is finished, namely how long the current state can last. For example, the current state of the speed limit flag is s _i, which can also last for a time Δd _i.

Step S340: and the electronic equipment determines the prompting time length of the speed limit sign according to the space parameter, the running state parameter, the residual time length and the first forced speed.

As shown in fig. 4, fig. 4 is a schematic diagram of a framework for determining a speed limit sign information prompt according to an embodiment of the present invention. The electronic equipment determines an early warning decision of the electronic equipment about the speed limit sign according to the historical congestion rate, the historical traffic accident rate, the first distance between the vehicle and the speed limit sign, the running state parameter of the vehicle, the state information of the speed limit sign, the current state of the speed limit sign and other parameters, namely the electronic equipment sends a speed limit sign information prompt to the target vehicle, and particularly the prompt duration of the speed limit sign sent to the target vehicle by the electronic equipment can be ensured.

In one implementation manner, the electronic device calculates a first transformation duration according to the driving state parameter and the first forced speed, where the first transformation duration is used to indicate a time for transforming the target vehicle from the current speed of the target vehicle to the first forced speed, and it is to be noted that the current speed is greater than the first forced speed. The electronic device calculates a second distance according to the driving state parameter, the first forced speed and the first transformation duration, wherein the second distance is used for indicating the distance of the target vehicle driving in the first transformation duration.

For example, assuming that the current speed v of the target vehicle is the acceleration a and the reaction time is t _response, the electronic device calculates the time taken for the target vehicle to transform from the current speed v of the target vehicle to the first forced speed v _i/(1+p₁)(1+p₂) through the basic equation of motion, to obtain a first transformation duration Δt _i; further, the electronic device calculates a second distance Δl _i according to the current speed v, the acceleration a, the reaction time t _response, and the first transformation duration Δt _i.

In one implementation, the determining, by the electronic device, a prompting duration of the speed limit sign according to the first transformation duration, the remaining duration, the second distance, and the first distance includes: if the second distance is smaller than the first distance and the first transformation duration is smaller than the remaining duration, the electronic device takes a first difference value between the remaining duration and the first transformation duration as a first time period, and after the target vehicle is decelerated from the current speed and passes through the first difference value time period, the electronic device determines that the prompting duration of the speed limit sign is the first transformation duration.

For example, the electronic device compares the second distance Δl _i with the first distance L, if the electronic device determines that the second distance Δl _i is smaller than the first distance L, the electronic device compares the first transformation duration Δt _i with the remaining duration Δd _i, and if the electronic device determines that the first transformation duration Δt _i is smaller than the remaining duration Δd _i, the electronic device takes Δd _i-Δt_i as the first time period. That is, after the target vehicle is decelerated from the current speed v and the period of Δd _i-Δt_i passes, the electronic device determines that the prompting time length of the speed limit sign is the first conversion time length Δt _i, and the electronic device prompts the target vehicle, where the prompting information may include that the state of the speed limit sign is s _i and the prompting time length is Δt _i. Specifically, assuming that Δl _i＝10,L＝20,Δt_i＝5s,Δd_i =10s, the speed limit sign is a traffic light, and the current state of the traffic light is a red light, the electronic device carries out 5s information prompt on the target vehicle after 5s from the time when the target vehicle starts to decelerate, and the prompt information may be that the state of the road traffic light in front is a red light state.

Referring to fig. 5, fig. 5 is a flowchart of another method for determining a prompting duration based on artificial intelligence according to an embodiment of the present invention. The method may be performed by an electronic device, including, but not limited to, the following steps S510-S550:

Step S510: the electronic device obtains a space parameter and a driving state parameter, wherein the space parameter comprises a first distance between a target vehicle and a speed limit sign, and the driving state parameter comprises the current speed, acceleration and reaction time of the target vehicle.

Step S520: the electronic device obtains the forced speed of each state contained in the speed limit sign.

Step S530: the electronic equipment searches the first forced speed of the current state of the speed limit sign in the forced speeds of all the states contained in the speed limit sign, and determines the residual duration of the speed limit sign in the current state, wherein the residual duration is the time period for switching the speed limit sign from the current state to the next state.

It should be noted that, the execution process of steps S510 to S530 in the embodiment of the present application may be specifically referred to the execution process of steps S310 to S330 in the above embodiment, and the embodiment of the present application is not repeated.

Step S540: the electronic equipment acquires state information of the next state of the speed limit sign, wherein the state information of the next state comprises duration time of the next state and a second forced speed, and the duration time is used for indicating the longest sustainable time period of the next state.

In one implementation, the determining, by the electronic device, a prompting duration of the speed limit sign according to the first transformation duration, the remaining duration, the second distance, and the first distance includes: if the second distance is smaller than the first distance and the first transformation time length is greater than or equal to the remaining time length, the electronic device obtains state information of a next state of the speed limit sign, wherein the state information of the next state comprises a duration time length of the next state and a second forced speed, and the duration time length is used for indicating a sustainable longest time period of the next state.

For example, the electronic device compares the second distance Δl _i with the first distance L, if the electronic device determines that the second distance Δl _i is smaller than the first distance L, the electronic device compares the first transformation duration Δt _i with the remaining duration Δd _i, and if the electronic device determines that the first transformation duration Δt _i is greater than or equal to the remaining duration Δd _i, the electronic device obtains the status information of the next status of the speed limit sign. That is, after the target vehicle is decelerated from the current speed v and the period of Δd _i-Δt_i passes, the electronic device determines that the prompting time length of the speed limit sign is the first conversion time length Δt _i, and the electronic device prompts the target vehicle, where the prompting information may include that the state of the speed limit sign is s _i and the prompting time length is Δt _i. Specifically, assuming Δl _i＝10,L＝20,Δt_i＝7s,Δd_i =5 s, the speed limit sign is a traffic light, the current state of the traffic light is a red light, and the electronic device determines that 7s are required for the target vehicle in the current red light state to reduce the current speed of the target vehicle to the forced speed in the red light state, and since the red light state can only last for 5s at this time, the electronic device acquires the state information of the next state of the speed limit sign.

Fig. 6 is a schematic diagram of another frame for determining a speed limit sign information prompt according to an embodiment of the present invention. The electronic device determines an early warning decision of the electronic device on the speed limit sign according to the historical congestion rate, the historical traffic accident rate, the first distance between the vehicle and the speed limit sign, the running state parameter of the vehicle, the state information of the speed limit sign, the current state of the speed limit sign, the next state of the speed limit sign and the like, namely the electronic device sends the speed limit sign information prompt to the target vehicle, and particularly the prompt duration of the electronic device sending the speed limit sign to the target vehicle can be ensured.

In one implementation manner, the electronic device calculates a second transformation duration according to the driving state parameter and a second forced speed, where the second transformation duration is used to indicate a time for transforming the target vehicle from the current speed of the target vehicle to the second forced speed, and it is to be noted that the current speed is greater than the second forced speed. And the electronic device calculates a third distance according to the running state parameter, the second forced speed and the second transformation duration, wherein the third distance is used for indicating the distance of the target vehicle running in the second transformation duration.

For example, assuming that the current speed v of the target vehicle is the acceleration a and the reaction time is t _response, the electronic device calculates the time taken for the target vehicle to transform from the current speed v of the target vehicle to the second forced speed v _j/(1+p₁)(1+p₂) through the basic equation of motion, to obtain a second transformation duration Δt _j; further, the electronic device calculates a third distance Δl _j according to the current speed v, the acceleration a, the reaction time t _response, and the second transformation duration Δt _j.

In one implementation, the determining, by the electronic device, the prompting duration of the speed limit sign according to the second transformation duration, the remaining duration, the third distance, and the first distance includes: the electronic equipment obtains a second difference value between the second transformation duration and the residual duration; if the third distance is smaller than the first distance and the second difference is smaller than the duration, the electronic device takes the third difference between the duration and the second difference as a second time period; after a second difference time period from the start of the deceleration of the target vehicle from the current speed, the electronic device determines that the prompting time length of the speed limit sign is a second transformation time length.

For example, assuming that Δl _j＝10,L＝20,Δt_j＝10s,Δd_i＝9s,d_j =3s, the speed limit sign is a traffic light, the electronic device determines that the third distance is smaller than the first distance, that is Δl _j < L, then the electronic device obtains that the second difference between the second transformation duration Δt _j and the remaining duration Δd _i is 1s, the electronic device compares the second difference with the duration, that is, the electronic device determines that the size between 1s and 3s, then the electronic device determines that the second difference is smaller than the duration, the electronic device uses the third difference between 3s and 1s as the second time period, that is, the second time period is 2s, after 2s from the time when the target vehicle starts to slow down, the electronic device only carries out information prompt on the target vehicle for 10s, and the prompt information may be that the state of the road traffic light in front is a yellow light state, and the duration of the yellow light is 3s.

In one implementation, the determining, by the electronic device, the prompting duration of the speed limit sign according to the second transformation duration, the remaining duration, the third distance, and the first distance includes: the electronic equipment obtains a second difference value between the second transformation duration and the residual duration; if the third distance is smaller than the first distance and the second difference is greater than or equal to the duration, the electronic device obtains state information of a next state of the speed limit sign, wherein the state information of the next state comprises the duration of the next state and a third strengthening speed, and the duration is used for indicating a sustainable longest period of time of the next state.

In one implementation manner, the electronic device calculates a third transformation duration according to the driving state parameter and the third strengthening speed, where the third transformation duration is used to indicate a time for transforming the target vehicle from the current speed of the target vehicle to the third strengthening speed, and it is to be noted that the current speed is greater than the third strengthening speed. And the electronic equipment calculates a fourth distance according to the running state parameter, the third strengthening speed and the third transformation duration, wherein the fourth distance is used for indicating the distance of the target vehicle running in the third transformation duration.

For example, assuming that the current speed v of the target vehicle is the acceleration a and the reaction time is t _response, the electronic device calculates the time taken for the target vehicle to transform from the current speed v of the target vehicle to the first forced speed v _k/(1+p₁)(1+p₂) through the basic equation of motion, to obtain a third transformation duration Δt _k; further, the electronic device calculates a fourth distance Δl _k according to the current speed v, the acceleration a, the reaction time t _response, and the third transformation duration Δt _k.

In one implementation, the determining, by the electronic device, the prompting duration of the speed limit sign according to the third transformation duration, the remaining duration, the duration of the next state, the fourth distance, and the first distance includes: the electronic equipment obtains the sum value of the duration time and the residual time of the next state, and further obtains the difference value between the fourth transformation time and the sum value as a fourth difference value; if the fourth distance is smaller than the first distance and the fourth difference is smaller than the duration of the next state, the electronic device takes a fifth difference between the duration of the next state and the fourth difference as a third time period; after a third difference time period from the start of the deceleration of the target vehicle from the current speed, the electronic device determines that the prompting time length of the speed limit sign is a third transformation time length.

For example, assuming that Δl _j＝10,L＝20,Δt_k＝10s,Δd_i＝5s,d_j＝3s,d_k =6s, the speed limit sign is a traffic light, the electronic device determines that the third distance is smaller than the first distance, that is Δl _j < L, then the electronic device obtains the sum value between the duration d _j of the next state and the remaining duration Δd _i as 8s, further, the electronic device obtains the difference value between the third transition duration Δt _k and the sum value as 2s, the electronic device compares the fourth difference value with the duration of the next state, that is, the electronic device determines that the magnitude between 6s and 2s, then the electronic device determines that the fourth difference value is smaller than the duration of the next state, then the electronic device uses the fifth difference value between the duration 6s of the next state and the fourth difference value 2s as a third time period, that is, then the third time period is 4s, after 4s starts to pass from the time when the target vehicle starts decelerating, the electronic device carries out information prompt on the target vehicle for 10s, the prompt information may be that the state of the traffic light in front is the green light, and the duration of the green light is 6s.

If any one of Δl _i<L,ΔL_j<L,ΔL_k < L in the above embodiment provided by the present invention is not satisfied, it means that the target vehicle is close to the speed limit sign, and the speed of the target vehicle when passing the speed limit sign must be greater than the forced speed of the corrected speed limit sign, and in this case, the present invention cannot be applied. It does not meet the "early warning" purpose of this scheme: the speed limit sign information is given to the target vehicle only when the target vehicle is far away from the speed limit sign. Namely, the running state of the target vehicle in the embodiment provided by the invention needs to satisfy: the speed of the target vehicle when passing the speed limit sign may be adjusted to be less than the forced speed of the corrected speed limit sign.

Further, the simulation experiment was repeated 10 times for the present example, and the experimental results are shown in table 1. It is understood from table 1 that the performance of the prior art is not as good as the technology provided by the present example.

Table 1 experimental results

Experimental order of steps	Ratio of accuracy of speed limit sign information provided to a vehicle by the present invention to the prior art
		First experiment	0.71
Second experiment	0.72
		Third experiment	0.74
Fourth experiment	0.78
		Fifth experiment	0.72
Sixth experiment	0.75
		Seventh experiment	0.77
Eighth experiment	0.73
		Ninth experiment	0.79
Tenth experiment	0.76

By implementing the embodiment of the invention, under the condition that the target vehicle cannot decelerate the current speed to the forced speed of the current state within the residual duration of the current state of the speed limit sign, the electronic equipment reasonably and dynamically adjusts the duration of the early warning prompt, namely the prompt duration, and particularly determines the prompt duration through the state information of the current state of the speed limit sign and the state information of the next state of the speed limit sign, thereby ensuring the safety of the vehicle passing through the speed limit sign, reducing the resource waste of a control system and improving the safety of public transportation.

Referring to fig. 7, fig. 7 is a schematic structural diagram of an apparatus for determining a prompting duration based on artificial intelligence according to an embodiment of the present invention. The determining device based on the prompting time length of the artificial intelligence is used for executing the steps executed by the electronic equipment in the method embodiments corresponding to fig. 3 to 6, and the determining device based on the prompting time length of the artificial intelligence may include:

An acquisition module 710, configured to acquire a spatial parameter and a driving state parameter, where the spatial parameter includes a first distance between a target vehicle and a speed limit sign, and the driving state parameter includes a current speed, an acceleration, and a reaction time of the target vehicle;

The obtaining module 710 is further configured to obtain a forced speed of each state included in the speed limit sign;

the processing module 720 is configured to find a first forcing speed of a current state of the speed limit sign from forcing speeds of respective states included in the speed limit sign, and determine a remaining duration of the speed limit sign in the current state, where the remaining duration is a time period for the speed limit sign to switch from the current state to a next state;

The determining module 730 is configured to determine a prompting duration of the speed limit sign according to the space parameter, the driving state parameter, the remaining duration, and the first forced speed.

In one implementation, the determining device based on the prompting time length of the artificial intelligence further includes: a calculation module 740.

The calculating module 740 is configured to calculate a first transformation duration according to the driving state parameter and a first forced speed, where the first transformation duration is used to indicate a time for transforming the target vehicle from the current speed of the target vehicle to the first forced speed, and the current speed is greater than the first forced speed;

The calculation module 740 calculates a second distance according to the running state parameter, the first forced speed and the first transformation duration, wherein the second distance is used for indicating the distance of the target vehicle running in the first transformation duration;

The determining module 730 determines a prompting duration of the speed limit sign according to the first transformation duration, the remaining duration, the second distance, and the first distance.

In one implementation, the determining module 730 determines the prompting duration of the speed limit sign according to the first transformation duration, the remaining duration, the second distance, and the first distance, including:

If the second distance is smaller than the first distance and the first transformation duration is smaller than the residual duration, taking a first difference value between the residual duration and the first transformation duration as a first time period;

after a first difference period has elapsed since the target vehicle was decelerated from the current speed, the determination module 730 determines the prompting duration of the speed limit indicator as the first transition duration.

In one implementation, the obtaining module 710, the determining module 730, and the calculating module 740 determine the prompting duration of the speed limit sign according to the first transformation duration, the remaining duration, the second distance, and the first distance, including:

If the second distance is smaller than the first distance and the first transition time period is longer than or equal to the remaining time period, the obtaining module 710 obtains state information of a next state of the speed limit sign, where the state information of the next state includes a duration of the next state and a second forced speed, and the duration is used to indicate a longest sustainable time period of the next state;

The calculation module 740 calculates a second transformation duration according to the driving state parameter and the second forced speed, wherein the second transformation duration is used for indicating the time for transforming the target vehicle from the current speed of the target vehicle to the second forced speed, and the current speed is greater than the second forced speed;

The calculation module 740 calculates a third distance according to the running state parameter, the second forced speed and the second transformation duration, wherein the third distance is used for indicating the distance of the target vehicle running in the second transformation duration;

The determining module 730 determines a prompting duration of the speed limit sign according to the second transformation duration, the remaining duration, the third distance, and the first distance.

In one implementation, the obtaining module 710, the determining module 730, and the processing module 720 determine the prompting duration of the speed limit sign according to the second transformation duration, the remaining duration, the third distance, and the first distance, including:

The obtaining module 710 obtains a second difference between the second transformed duration and the remaining duration;

If the third distance is smaller than the first distance and the second difference is smaller than the duration, the processing module 720 takes the third difference between the duration and the second difference as the second time period;

after a second difference period has elapsed since the target vehicle was decelerated from the current speed, the determination module 730 determines the prompting duration of the speed limit indicator to be a second transition duration.

In one implementation, the obtaining module 710 obtains the forced speed of each state included in the speed limit sign, including:

The acquiring module 710 acquires state information of the speed limit sign, where the state information includes duration of each state included in the speed limit sign and initial forced speed of each state;

The determining module 730 corrects the initial forcing speed of each state according to the correction factor to obtain the forcing speed of each state.

In one implementation, the determining module 730 corrects the initial forcing speed of each state according to the correction factor, and before obtaining the forcing speed of each state, the determining module further includes:

The acquisition module 710 acquires a historical traffic jam rate and a historical traffic accident rate of a road where the speed limit sign is located;

The determination module 730 obtains a correction factor based on the historical traffic congestion rate and the historical traffic accident rate.

By implementing the embodiment of the invention, the determining device based on the artificial intelligence prompting time length dynamically adjusts the duration of the early warning prompt by combining the historical congestion rate and the traffic accident rate of the speed-limiting road section where the speed-limiting sign is positioned, namely the prompting time length, specifically, the determining device based on the artificial intelligence prompting time length corrects the forced speed of the target vehicle when the target vehicle passes through the speed-limiting sign by the historical congestion rate and the traffic accident rate, and finally reasonably determines the prompting time length by combining the corrected forced speed, thereby ensuring the safety of the vehicle passing through the speed-limiting sign, reducing the resource waste of a control system and improving the safety of public transportation.

Referring to fig. 8, fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, where the electronic device is configured to execute steps executed by the electronic device in an embodiment of a method corresponding to fig. 3 to 6, and the electronic device includes: one or more processors 810; one or more input devices 820, one or more output devices 830, and a memory 840. The processor 810, input device 820, output device 830, and memory 840 are connected by a bus 850. The memory 820 is used for storing a computer program comprising program instructions, and the processor 810, the input device 820 are used for executing the program instructions stored in the memory 840, performing the following operations:

the processor 810 acquires a spatial parameter including a first distance between the target vehicle and the speed limit sign, and a driving state parameter including a current speed, acceleration, and reaction time of the target vehicle;

input device 820 obtains the forced speed of each state contained in the speed limit sign;

The processor 810 searches the forced speed of each state included in the speed limit sign for the first forced speed of the current state of the speed limit sign, and determines the remaining duration of the speed limit sign in the current state, wherein the remaining duration is the time period for the speed limit sign to switch from the current state to the next state;

Based on the space parameter, the travel state parameter, the remaining time period, and the first forced speed, input device 820 determines a hint time period of the speed limit sign.

In one implementation, the processor 810 determines a hint duration of the speed limit sign based on the space parameter, the travel state parameter, the remaining duration, and the first forced speed, including:

The processor 810 calculates a first transformation duration according to the running state parameter and a first forced speed, wherein the first transformation duration is used for indicating the time for transforming the target vehicle from the current speed of the target vehicle to the first forced speed, and the current speed is greater than the first forced speed;

The processor 810 calculates a second distance according to the driving state parameter, the first forced speed and the first transformation duration, wherein the second distance is used for indicating the distance of the target vehicle driving in the first transformation duration;

the processor 810 determines a hint duration of the speed bump based on the first length of time of the transformation, the remaining length of time, the second distance, and the first distance.

In one implementation, the processor 810 determines a hint duration of the speed limit sign based on the first transformation duration, the remaining duration, the second distance, and the first distance, including:

If the second distance is less than the first distance and the first transition period is less than the remaining period, the processor 810 takes a first difference between the remaining period and the first transition period as a first period;

After a first difference period of time has elapsed since the target vehicle was decelerated from the current speed, the processor 810 determines the prompting duration of the speed limit indicator to be a first transition duration.

if the second distance is less than the first distance and the first transition time period is greater than or equal to the remaining time period, the input device 820 obtains state information of a next state of the speed limit sign, the state information of the next state including a duration of the next state and a second forced speed, the duration being used to indicate a longest period of time for which the next state is sustainable;

the processor 810 calculates a second transformation duration according to the running state parameter and a second forced speed, wherein the second transformation duration is used for indicating the time for transforming the target vehicle from the current speed of the target vehicle to the second forced speed, and the current speed is greater than the second forced speed;

The processor 810 calculates a third distance according to the running state parameter, the second forced speed and the second transformation duration, wherein the third distance is used for indicating the distance of the target vehicle running in the second transformation duration;

The processor 810 determines a hint duration of the speed bump flag based on the second alternate duration, the remaining duration, the third distance, and the first distance.

In one implementation, the processor 810 determines the prompting duration of the speed limit indicator based on the second transformation duration, the remaining duration, the third distance, and the first distance, including:

The input device 820 obtains a second difference between the second transformed duration and the remaining duration;

If the third distance is less than the first distance and the second difference is less than the duration, the processor 810 takes the third difference between the duration and the second difference as the second time period;

After a second difference period of time has elapsed since the target vehicle was decelerated from the current speed, the processor 810 determines the prompting duration of the speed limit indicator to be a second transition duration.

In one implementation, input device 820 obtains a forced speed for each state contained in the speed limit sign, including:

Input device 820 obtains state information for the speed limit markers, the state information including duration of each state contained in the speed limit markers and initial forced speed of each state;

The processor 810 corrects the initial forcing speed of each state according to the correction factor to obtain the forcing speed of each state.

In one implementation, the processor 810 corrects the initial forcing speed of each state according to the correction factor, and before obtaining the forcing speed of each state, the method further includes:

input device 820 obtains a historical traffic congestion rate and a historical traffic accident rate for the road where the speed limit sign is located;

processor 810 obtains correction factors based on the historical traffic congestion rates and the historical traffic accident rates.

An embodiment of the present invention further provides a computer readable storage medium, where a computer program is stored, where the computer program includes program instructions, where the program instructions, when executed by a processor, may perform the steps performed by the electronic device in the foregoing embodiment.

Those skilled in the art will appreciate that implementing all or part of the above-described embodiment methods may be accomplished by computer programs, which may be stored on a computer readable storage medium, and which when executed may include the above-described embodiment methods of determining a hint duration based on artificial intelligence. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), a random-access memory (Random Access Memory, RAM), or the like.

The above disclosure is only a few examples of the present invention, and it is not intended to limit the scope of the present invention, but it is understood by those skilled in the art that all or a part of the above embodiments may be implemented and equivalents thereof may be modified according to the scope of the present invention.

Claims

1. A method for determining a hint duration based on artificial intelligence, the method comprising:

acquiring space parameters and driving state parameters, wherein the space parameters comprise a first distance between a target vehicle and a speed limit sign, the driving state parameters comprise the current speed, acceleration and reaction time of the target vehicle, the speed limit sign is a traffic light, and the traffic light comprises three states of a red light, a yellow light and a green light;

obtaining the forced speed of each state contained in the speed limit sign;

calculating a first transformation duration according to the running state parameter and a first forced speed, wherein the first transformation duration is used for indicating time for transforming the target vehicle from the current speed of the target vehicle to the first forced speed, and the current speed is greater than the first forced speed;

Calculating a second distance according to the running state parameter, the first forced speed and the first transformation duration, wherein the second distance is used for indicating the distance of the target vehicle running in the first transformation duration;

If the second distance is smaller than the first distance and the first transformation time period is longer than or equal to the residual time period, acquiring state information of a next state of the speed limit sign, wherein the state information of the next state comprises duration time of the next state and a second forced speed, and the duration time is used for indicating a sustainable longest time period of the next state;

calculating a second transformation duration according to the running state parameter and a second forced speed, wherein the second transformation duration is used for indicating time for transforming the target vehicle from the current speed of the target vehicle to the second forced speed, and the current speed is greater than the second forced speed;

calculating a third distance according to the running state parameter, the second forced speed and the second transformation duration, wherein the third distance is used for indicating the distance of the target vehicle running in the second transformation duration;

acquiring a second difference value between a second transformation duration and the remaining duration;

If the third distance is smaller than the first distance and the second difference value is larger than or equal to the duration of the next state, acquiring state information of the next state of the speed limit sign, wherein the state information of the next state comprises the duration of the next state and a third strengthening speed;

Calculating a third transformation duration according to the running state parameter and a third strengthening speed, wherein the third transformation duration is used for indicating time for transforming the target vehicle from the current speed of the target vehicle to the third strengthening speed, and the current speed is greater than the third strengthening speed;

Calculating a fourth distance according to the running state parameter, the third strengthening speed and the third transformation duration, wherein the fourth distance is used for indicating the distance of the target vehicle running in the third transformation duration;

acquiring a sum value between the duration time and the residual time of the next state;

Obtaining a difference value between the fourth transformation duration and the sum value as a fourth difference value; if the fourth distance is smaller than the first distance and the fourth difference value is smaller than the duration of the next state, taking a fifth difference value between the duration of the next state and the fourth difference value as a third time period; and after a third time period from the start of the deceleration of the target vehicle by the current speed, determining the prompting time length of the speed limit sign as a third transformation time length.

2. The method of claim 1, wherein if the second distance is less than the first distance and the first transition period is less than the remaining period, then taking a first difference between the remaining period and the first transition period as a first period of time;

and after the target vehicle starts to decelerate from the current speed and passes through the first difference time period, determining the prompting time length of the speed limit sign as the first transformation time length.

3. The method of claim 1, wherein if the third distance is less than the first distance and the second difference is less than the duration, then taking a third difference between the duration and the second difference as a second time period;

And after the target vehicle starts to decelerate from the current speed and passes the second time period, determining the prompting time length of the speed limit sign as the second transformation time length.

4. The method of claim 1, wherein said obtaining the forced speed of each state contained in said speed limit indicator comprises:

Acquiring state information of the speed limit sign, wherein the state information comprises duration time of each state contained in the speed limit sign and initial forced speed of each state;

And correcting the initial forced speed of each state according to the correction factors to obtain the forced speed of each state.

5. The method of claim 4, wherein said correcting the initial forcing speed of each state according to the correction factor, before obtaining the forcing speed of each state, further comprises:

acquiring the historical traffic jam rate and the historical traffic accident rate of the road where the speed limit sign is located;

And obtaining the correction factor according to the historical traffic jam rate and the historical traffic accident rate.

6. An artificial intelligence based prompt duration determining device, comprising:

The system comprises an acquisition module, a speed limiting module and a control module, wherein the acquisition module is used for acquiring space parameters and driving state parameters, the space parameters comprise a first distance between a target vehicle and a speed limiting sign, the driving state parameters comprise the current speed, acceleration and reaction time of the target vehicle, the speed limiting sign is a traffic light, and the traffic light comprises three states of a red light, a yellow light and a green light;

The determining module is used for determining the prompting time length of the speed limit sign according to the space parameter, the running state parameter, the residual time length and the first forced speed;

The calculation module is used for calculating a first transformation duration according to the running state parameters and a first forced speed, wherein the first transformation duration is used for indicating time for transforming the target vehicle from the current speed of the target vehicle to the first forced speed, and the current speed is larger than the first forced speed; calculating a second distance according to the running state parameter, the first forced speed and the first transformation duration, wherein the second distance is used for indicating the distance of the target vehicle running in the first transformation duration;

If the second distance is smaller than the first distance and the first transformation time period is longer than or equal to the remaining time period, acquiring state information of a next state of the speed limit sign through an acquisition module, wherein the state information of the next state comprises duration time of the next state and a second forced speed, and the duration time is used for indicating a sustainable longest time period of the next state;

The calculation module is further configured to calculate a second transformation duration according to the driving state parameter and a second forced speed, where the second transformation duration is used to indicate a time for transforming the target vehicle from a current speed of the target vehicle to the second forced speed, and the current speed is greater than the second forced speed; the third distance is used for indicating the distance of the target vehicle in the second transformation duration;

the determining module is further configured to obtain a second difference between the second transformation duration and the remaining duration;

If the third distance is smaller than the first distance and the second difference value is larger than or equal to the duration of the next state, acquiring state information of the next state of the speed limit sign through the acquisition module, wherein the state information of the next state comprises the duration of the next state and a third strengthening speed;

the calculation module is further configured to calculate a third transformation duration according to the driving state parameter and a third strengthening speed, where the third transformation duration is used to indicate a time for transforming the target vehicle from a current speed of the target vehicle to the third strengthening speed, and the current speed is greater than the third strengthening speed; the fourth distance is calculated according to the running state parameter, the third strengthening speed and the third transformation duration, and is used for indicating the distance of the target vehicle running in the third transformation duration;

The acquisition module is further used for acquiring the sum value between the duration time and the residual duration time of the next state; and the difference value between the fourth transformation duration and the sum value is used as a fourth difference value;

the determining module is further configured to, if the fourth distance is smaller than the first distance and the fourth difference is smaller than the duration of the next state, take a fifth difference between the duration of the next state and the fourth difference as a third time period; and after a third time period from the start of the deceleration of the target vehicle by the current speed, determining the prompting time length of the speed limit sign as a third transformation time length.

7. An electronic device comprising a memory storing a set of program code and a processor invoking the program code stored in the memory for performing any of operations 1-5.

8. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the method of any of claims 1-5.