CN112614372B - Method and device for vehicle to safely pass through crossroad - Google Patents
Method and device for vehicle to safely pass through crossroad Download PDFInfo
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- CN112614372B CN112614372B CN202011549314.9A CN202011549314A CN112614372B CN 112614372 B CN112614372 B CN 112614372B CN 202011549314 A CN202011549314 A CN 202011549314A CN 112614372 B CN112614372 B CN 112614372B
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000008569 process Effects 0.000 description 7
- 206010039203 Road traffic accident Diseases 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/584—Recognition 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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
Abstract
The application discloses a method and a device for a vehicle to safely pass through a crossroad, and belongs to the technical field of vehicle control. The method comprises the following steps: when the traffic light is in a green light state, acquiring the countdown of the green light; determining a time for the target vehicle to travel to an intersection cut-off line based on a distance between the target vehicle and the intersection cut-off line and a travel speed of the target vehicle; when the countdown of the green light is more than or equal to the sum of the time when the target vehicle runs to the intersection stop line and the first preset time, a prompt message is sent to prompt a driver that the target vehicle can safely pass through the intersection when the current running speed of the target vehicle is kept. The problem that red running phenomenon occurs due to the fact that a driver judges that the vehicle can safely pass through the crossroad in the prior art but cannot safely pass through the crossroad can be solved.
Description
Technical Field
The application relates to the field of vehicle control, in particular to a method and a device for enabling a vehicle to safely pass through a crossroad.
Background
When the vehicle runs to the crossroad with traffic lights, the driver often cannot grasp the time of the green light in front, so that the driver cannot correctly judge whether the vehicle can safely pass through, and the following problems are caused: under the condition that a driver judges that the vehicle can safely pass through the crossroad, the driver controls the vehicle to pass through the crossroad, but in the process that the vehicle passes through the crossroad, the traffic light is changed from a green light to a red light, under the condition, the vehicle can only continuously run, and then the vehicle runs through the red light, so that traffic accidents are easily caused.
Disclosure of Invention
The embodiment of the application provides a method and a device for a vehicle to safely pass through a crossroad, which can solve the problem that in the prior art, when a driver judges that the vehicle can safely pass through the crossroad, the red running phenomenon is caused under the condition that the vehicle cannot safely pass through the crossroad. The technical scheme is as follows:
in one aspect, an embodiment of the present application provides a method for a vehicle to safely pass through an intersection, where the method includes:
when the traffic light is in a green light state, acquiring the countdown of the green light;
determining a time for a target vehicle to travel to an intersection cut-off line based on a distance between the target vehicle and the intersection cut-off line and a travel speed of the target vehicle;
when the countdown of the green light is more than or equal to the sum of the time when the target vehicle runs to the intersection stop line and first preset time, sending a prompt message to prompt a driver that the target vehicle can safely pass through the intersection when the current running speed of the target vehicle is kept.
Optionally, before the time when the traffic light at the intersection is green, the method further includes:
determining first position information and a driving direction of the target vehicle;
determining a traffic light which is about to pass by the target vehicle based on the first position information and the driving direction of the target vehicle and a pre-stored navigation map;
obtaining second position information of a traffic light which is about to pass by the target vehicle;
when the distance between the first position information and the second position information is smaller than a preset value, starting a camera on the target vehicle, and shooting the front of the target vehicle to obtain an image in front of the target vehicle;
and identifying the image in front of the target vehicle, and acquiring the state of the traffic light about to pass by the target vehicle and the countdown in the state.
Optionally, after the relationship between the first location information and the second location information satisfies a preset condition, the method further includes:
sending a first acquisition request carrying the second position information to a public transportation platform, wherein the first acquisition request is used for indicating the public transportation platform to send the state of the traffic light at the second position information and the countdown under the state to the target vehicle;
and receiving the state of the traffic light sent by the public transportation platform and the countdown in the state.
Optionally, the method further includes:
when the countdown of the green light is more than or equal to the sum of the time when the target vehicle runs to the intersection cut-off line and a second preset time and is less than the sum of the time when the target vehicle runs to the intersection cut-off line and a first preset time, detecting whether a vehicle exists in front of the target vehicle;
if no vehicle exists in front of the target vehicle, calculating the time difference between the countdown of the green light and the first preset time; and calculating the minimum running speed of the target vehicle which can safely pass through the intersection according to the time difference and the distance between the target vehicle and the intersection cut-off line, and reminding the driver that the target vehicle can safely pass through the intersection under the condition that the target vehicle runs at the minimum running speed.
Optionally, the method further includes:
when the countdown of the green light is less than the sum of the time when the target vehicle runs to the intersection cut-off line and second preset time, reminding the driver that the target vehicle cannot safely pass through the intersection;
and illuminating a brake lamp of the target vehicle, wherein the brake lamp is used for indicating that the target vehicle is about to brake at a cut-off line.
In one aspect, an embodiment of the present application provides an apparatus for a vehicle to safely pass through an intersection, the apparatus including:
a first acquisition module configured to acquire a countdown of a green light when the status of the traffic light is the green light;
a determination module configured to determine a time at which a target vehicle travels to an intersection cut-off based on a distance between the target vehicle and the intersection cut-off and a travel speed of the target vehicle;
and the first reminding module is configured to send out a prompt message to prompt a driver that the target vehicle can safely pass through the intersection at the current running speed when the countdown of the green light is greater than or equal to the sum of the time when the target vehicle runs to the intersection cutoff line and a first preset time.
Optionally, the apparatus further includes a second obtaining module, configured to:
determining first position information and a driving direction of the target vehicle;
determining a traffic light which is about to pass by the target vehicle based on the first position information and the driving direction of the target vehicle and a pre-stored navigation map;
obtaining second position information of a traffic light which is about to pass by the target vehicle;
when the distance between the first position information and the second position information is smaller than a preset value, starting a camera on the target vehicle, and shooting the front of the target vehicle to obtain an image in front of the target vehicle;
and identifying the image in front of the target vehicle, and acquiring the state of the traffic light about to pass by the target vehicle and the countdown in the state.
Optionally, the apparatus further includes a third obtaining module, where the third obtaining module is configured to:
sending a first acquisition request carrying the second position information to a public transportation platform, wherein the first acquisition request is used for indicating the public transportation platform to send the state of the traffic light at the second position information and the countdown under the state to the target vehicle;
and receiving the state of the traffic light sent by the public transportation platform and the countdown in the state.
Optionally, the preset time is a first preset time;
the first reminder module is configured to:
and when the countdown of the green light is more than or equal to the sum of the time when the target vehicle runs to the intersection cut-off line and first preset time, reminding the driver that the target vehicle can safely pass through the intersection when the current running speed of the target vehicle is kept.
Optionally, the apparatus further includes a second reminding module:
when the countdown of the green light is more than or equal to the sum of the time when the target vehicle runs to the intersection cut-off line and a second preset time and is less than the sum of the time when the target vehicle runs to the intersection cut-off line and a first preset time, detecting whether a vehicle exists in front of the target vehicle;
if no vehicle exists in front of the target vehicle, calculating the time difference between the countdown of the green light and the first preset time; and calculating the minimum running speed of the target vehicle which can safely pass through the intersection according to the time difference and the distance between the target vehicle and the intersection cut-off line, and reminding the driver that the target vehicle can safely pass through the intersection under the condition that the target vehicle runs at the minimum running speed.
Optionally, the device further includes a third reminding device:
when the countdown of the green light is less than the sum of the time when the target vehicle runs to the intersection cut-off line and second preset time, reminding the driver that the target vehicle cannot safely pass through the intersection;
and illuminating a brake lamp of the target vehicle, wherein the brake lamp is used for indicating that the target vehicle is about to brake at a cut-off line.
The technical scheme provided by the embodiment of the application has the following beneficial effects:
by adopting the method provided by the embodiment of the application, the state of the traffic light can be acquired when the target vehicle is about to reach the intersection. When the traffic light is identified to be in the green light state, the countdown of the green light is obtained, the time of the target vehicle driving to the intersection cut-off line is obtained, the countdown time of the green light is compared with the time of the target vehicle driving to the intersection cut-off line, and whether the target vehicle can safely pass through the intersection is determined. And on the premise that the vehicle can safely pass through the crossroad, the driver is reminded that the target vehicle can safely pass through the crossroad. The technical scheme of this application can avoid judging among the prior art that the vehicle can pass through the crossroad safely at the navigating mate, in fact under the condition that the vehicle can not pass through the crossroad safely, because the vehicle makes a dash across the problem of traffic accident that the red light and arouse.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a method for a vehicle to safely pass through an intersection according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a device for safely passing a vehicle through an intersection according to an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
When the vehicle runs to the crossroad with traffic lights, the driver often cannot grasp the time of the green light in front, so that the driver cannot correctly judge whether the vehicle can safely pass through, and the following problems are caused: under the condition that a driver judges that the vehicle can safely pass through the crossroad, the driver controls the vehicle to pass through the crossroad, but in the process that the vehicle passes through the crossroad, the traffic light is changed from a green light to a red light, under the condition, the vehicle can only continuously run, and then the vehicle runs through the red light, so that traffic accidents are easily caused. By adopting the method provided by the embodiment of the application, the state of the traffic light can be acquired when the target vehicle is about to reach the intersection. When the traffic light is identified to be in the green light state, the countdown of the green light is obtained, the time of the target vehicle driving to the intersection cut-off line is obtained, the countdown time of the green light is compared with the time of the target vehicle driving to the intersection cut-off line, and whether the target vehicle can safely pass through the intersection is determined. And on the premise that the vehicle can safely pass through the crossroad, the driver is reminded that the target vehicle can safely pass through the crossroad. The technical scheme of this application can avoid judging among the prior art that the vehicle can pass through the crossroad safely at the navigating mate, in fact under the condition that the vehicle can not pass through the crossroad safely, because the vehicle makes a dash across the problem of traffic accident that the red light and arouse.
Fig. 1 is a flowchart of a method for a vehicle to safely pass through an intersection according to an embodiment of the present application. Referring to fig. 1, the embodiment includes:
and step 101, acquiring the countdown of the green light when the traffic light is in the green light state.
In an implementation, the countdown to green light is acquired when the target vehicle detects that the status of the traffic light is green.
Optionally, determining first position information and a driving direction of the target vehicle; determining a traffic light which is about to pass by the target vehicle based on the first position information and the driving direction of the target vehicle and a pre-stored navigation map; obtaining second position information of a traffic light which is about to pass by the target vehicle; when the distance between the first position information and the second position information is smaller than a preset value, starting a camera on the target vehicle, and shooting the front of the target vehicle to obtain an image in front of the target vehicle; and identifying an image in front of the target vehicle, and acquiring the state of a traffic light about to pass by the target vehicle and the countdown in the state.
In implementation, the position information of the target vehicle may be determined by a GPS positioning signal of the target vehicle during the travel of the target vehicle. And determining the driving direction of the target vehicle according to the position information of the target vehicle at the previous moment and the position information of the target vehicle at the current moment. And determining the traffic lights which are about to pass by the target vehicle according to the position information and the driving direction of the target vehicle and a pre-stored navigation map, and further obtaining the position information of the traffic lights on the navigation map, wherein the navigation map comprises the position information of each traffic light. And when the distance between the position information of the traffic light and the position information of the target vehicle is smaller than a preset value, controlling a camera on the target vehicle to be started, and shooting the scene in front of the target vehicle by using the camera on the target vehicle to obtain the image in front of the target vehicle. The target vehicle identifies the image in front of the target vehicle, and acquires the state of the traffic light which is about to pass by the target vehicle and the countdown under the state. When the traffic light is in a green state, a countdown of the green light is determined.
When the distance between the position information of the traffic light and the position information of the target vehicle is smaller than a preset value, the camera on the target vehicle can shoot the front of the target vehicle.
Optionally, after the distance between the first location information and the second location information is smaller than the preset value, the target vehicle may further send a first acquisition request carrying the second location information to the public transportation platform, where the first acquisition request is used to instruct the public transportation platform to send the state of the traffic light corresponding to the second location information and the countdown in the state to the target vehicle. The target vehicle receives the status of the traffic light sent by the mass transit platform and a countdown in that status.
In implementation, the target vehicle may further send a first acquisition request carrying the second location information to the public transportation platform, where the first acquisition request is used to instruct the public transportation platform to send the state of the traffic light corresponding to the second location information and the countdown under the state to the target vehicle. After the public transportation platform receives the first acquisition request of the target vehicle, the public transportation platform acquires second position information in the first acquisition request, finds the state of the traffic light corresponding to the second position information and the countdown in the state according to the second position information, and sends the state of the traffic light and the countdown in the state to the target vehicle. The target vehicle receives the status of the traffic light sent by the mass transit platform and a countdown in that status.
And if the traffic light corresponding to the second position information is not found on the public transportation platform, sending a message of acquisition failure to the target vehicle, wherein the message is used for indicating that the traffic light corresponding to the second position information is not found on the public transportation platform.
Optionally, after determining second position information of a traffic light through which the target vehicle is about to pass, the embodiment of the application may directly send a second acquisition request carrying the second position information to the public transportation platform. And the public transport platform receives a second acquisition request sent by the target vehicle and acquires second position information. And based on the second position information, searching the state of the traffic light corresponding to the second position information, the countdown time corresponding to the state and the duration of the red light and the duration of the green light of the traffic light corresponding to the second position information in the public transportation platform, and sending the data to the target vehicle. After receiving the data sent by the public transportation platform, the target vehicle can directly display the state of the traffic light and the countdown in the state on the display of the target vehicle. And when the countdown time in the current state is 0, changing the state of the traffic light, and calculating the countdown time in the state according to the duration corresponding to the state. For example, the traffic light state is green, and the countdown of the green light is 5 seconds, the duration of the green light is 10 seconds, and the duration of the red light is 12 seconds. When the countdown of the green light becomes 0 second, the state of the traffic light is changed to the red light, and at this time, the countdown of the red light is determined to be 12 seconds according to the duration of the red light.
It should be noted that, when the public transportation platform finds the countdown of the traffic light in a certain state, the public transportation platform may also send the sending time of the countdown to the target vehicle. And when the target vehicle receives the countdown time and the sending time, recording the receiving time of the target vehicle, determining the difference between the sending time and the receiving time, compensating the countdown time according to the difference between the sending time and the receiving time, and further re-determining the countdown time.
Optionally, when the target vehicle is in a driving state, the image in front of the target vehicle may be photographed in real time, the photographed image may be recognized, and whether a traffic light exists in front of the target vehicle, the state of the traffic light when the traffic light exists in front of the target vehicle, and the countdown in the state may be determined.
In implementation, the speed of the target vehicle is detected by a wheel speed sensor on the target vehicle. When the speed of the target vehicle is detected to be not 0, the target vehicle is determined to be in a running state, a camera on the target vehicle is started, and images in front of the target vehicle are periodically collected. And an image recognition module in the target vehicle recognizes the acquired image. When a traffic light is recognized on the captured image, it is determined that a traffic light exists in front of the target vehicle, and the current state of the traffic light and the countdown in that state are determined. When no traffic light is recognized on the captured image, it is determined that no traffic light exists in front of the target vehicle.
It should be noted that the recognition of the presence or absence of a traffic light in front of the target vehicle, the recognition of the state of the traffic light, and the recognition of the countdown time in this state may be performed simultaneously.
Optionally, when the countdown of the green light or the red light cannot be recognized in the acquired image, a third acquisition request carrying the first position information of the target vehicle is sent to the public transportation platform, and the third acquisition request is used for indicating the public transportation platform to send the countdown of the green light or the red light at the position of the target vehicle to the target vehicle.
In implementation, when the countdown of the green light or the red light cannot be recognized in the acquired image, the target vehicle sends a third acquisition request carrying the first position information of the target vehicle to the public transportation platform. After receiving a third acquisition request sent by the target vehicle, the public transportation platform acquires first position information of the target vehicle, searches the state of a traffic light of an intersection closest to the target vehicle and the countdown in the state on the public transportation platform according to the first position information of the target vehicle, and sends the state of the traffic light and the countdown in the state to the target vehicle.
Wherein the target vehicle may detect the speed of the target vehicle by detecting a wheel speed sensor mounted on the target vehicle.
In implementation, a camera mounted on a target vehicle acquires an image in front of the vehicle, inputs the image into a pre-trained image recognition module, outputs a distance between the target vehicle and an intersection cut-off line, and determines a time for the target vehicle to travel to the intersection cut-off line according to the distance between the target vehicle and the intersection cut-off line and a traveling speed of the target vehicle.
It should be noted that, in the training process of the image recognition module in the above process, the vehicle may be driven to the intersection position, a sample image including the cut-off line is captured, a distance between the head of the vehicle and the cut-off line when the sample image is captured is manually measured, and the distance is used as a reference distance, so as to obtain a plurality of sample images and a reference distance corresponding to each sample image according to the above method. One sample image is randomly selected from the plurality of sample images, the sample image is input into the image recognition module, and the distance between the head of the target vehicle and the cut-off line is output. And determining loss information based on the distance, the reference distance corresponding to the sample image and a preset loss function, and further completing a training process according to the weight parameters in the image recognition module. And repeating the process until a preset training process is completed, and obtaining the pre-trained image recognition module.
And 103, when the countdown of the green light is more than or equal to the sum of the time when the target vehicle runs to the intersection stop line and the first preset time, sending a prompt message to prompt a driver that the target vehicle can safely pass through the intersection when the current running speed of the target vehicle is kept.
The prompt message may be "keep the current vehicle speed to pass through the intersection". The prompt message can be displayed on a display of the target vehicle, and can also remind the driver through voice.
In implementation, when the countdown of the green light is greater than or equal to the sum of the time when the target vehicle drives to the intersection cut-off line and the first preset time, or when the difference between the countdown time of the green light and the time when the target vehicle drives to the intersection cut-off line is greater than the preset time, the driver is reminded that the target vehicle can safely pass through the intersection while keeping the current driving speed.
Optionally, when the countdown of the green light is greater than or equal to the sum of the time when the target vehicle drives to the intersection stop line and a second preset time and is less than the sum of the time when the target vehicle drives to the intersection stop line and a first preset time, detecting whether a vehicle exists in front of the target vehicle; if no vehicle exists in front of the target vehicle, calculating the time difference between the countdown of the green light and a first preset time; and calculating the minimum running speed of the target vehicle which can safely pass through the intersection according to the time difference and the distance between the target vehicle and the intersection cut-off line, and reminding a driver that the target vehicle can safely pass through the intersection under the condition that the target vehicle runs at the minimum running speed.
Wherein the target vehicle may detect whether a vehicle exists in front of the target vehicle by the ultrasonic sensor. The second preset time is less than the first preset time. When the countdown of the green light is greater than or equal to the sum of the time when the target vehicle drives to the intersection stop line and the second preset time and is less than the sum of the time when the target vehicle drives to the intersection stop line and the first preset time, if the target vehicle cannot pass through the intersection according to the original driving speed of the target vehicle, the minimum driving speed of the target vehicle can be calculated at the moment to ensure that the target vehicle can pass through the intersection.
Optionally, when the countdown of the green light is less than the sum of the time when the target vehicle runs to the intersection stop line and a second preset time, reminding a driver that the target vehicle cannot safely pass through the intersection; and lighting a brake lamp of the target vehicle, wherein the brake lamp is used for indicating that the target vehicle is about to brake at the cut-off line.
In implementation, when the time counted down by the green light is less than the sum of the time of the target vehicle driving to the intersection cut-off line and the second preset time, or when the difference between the time counted down by the green light and the time of the target vehicle driving to the intersection cut-off line is less than the second preset time, the target vehicle can remind a driver that the target vehicle cannot safely pass through the intersection through voice, and a brake light is turned on to remind a vehicle behind the target vehicle that the target vehicle will stop at the cut-off line.
Optionally, a third preset time may also be included in the embodiment of the present application. When the difference between the green light countdown time and the time when the target vehicle travels to the intersection cutoff line is greater than a first preset time, displaying 'the vehicle can safely pass' on an instrument of the target vehicle; when the difference value between the green light countdown time and the time when the target vehicle runs to the intersection cut-off line is greater than the second preset time and less than the first preset time, displaying that the vehicle can safely pass on an instrument of the target vehicle, and carrying out voice prompt on a driver that the vehicle can safely pass; when the difference value between the green light countdown time and the time when the target vehicle runs to the intersection cut-off line is greater than the third preset time and less than the second preset time, displaying that the vehicle can safely pass on an instrument of the target vehicle, carrying out voice prompt on a driver that the vehicle can safely pass and reminding the driver that the vehicle can safely pass through the intersection by vibrating a steering wheel.
Wherein the first preset time, the second preset time and the third preset time are sequentially reduced.
By adopting the method provided by the embodiment of the application, when the target vehicle is about to reach the intersection, the target vehicle can acquire the state of the traffic light. When the traffic light is identified to be in the green light state, the countdown of the green light is obtained, the time of the target vehicle driving to the intersection cut-off line is obtained, the countdown time of the green light is compared with the time of the target vehicle driving to the intersection cut-off line, and whether the target vehicle can safely pass through the intersection is determined. And on the premise that the vehicle can safely pass through the crossroad, the driver is reminded that the target vehicle can safely pass through the crossroad. The technical scheme of this application can avoid judging among the prior art that the vehicle can pass through the crossroad safely at the navigating mate, in fact under the condition that the vehicle can not pass through the crossroad safely, because the vehicle makes a dash across the problem of traffic accident that the red light and arouse.
Fig. 2 is a schematic structural diagram of a device for safely passing a vehicle through an intersection according to an embodiment of the present application. Referring to fig. 2, the apparatus includes:
a first obtaining module 201 configured to obtain a countdown of a green light when the status of the traffic light is the green light;
a determination module 202 configured to determine a time when the target vehicle travels to the intersection cut-off line based on a distance between the target vehicle and the intersection cut-off line and a traveling speed of the target vehicle;
the first reminding module 203 is configured to send out a prompt message to prompt a driver that the target vehicle can safely pass through the intersection at the current driving speed when the countdown of the green light is greater than or equal to the sum of the time when the target vehicle drives to the intersection cutoff line and the first preset time.
Optionally, the apparatus further includes a second obtaining module configured to:
determining first position information and a driving direction of a target vehicle;
determining a traffic light which is about to pass by the target vehicle based on the position information and the driving direction of the target vehicle and a pre-stored navigation map;
obtaining second position information of a traffic light which is about to pass by the target vehicle;
when the distance between the first position information and the second position information is smaller than a preset value, starting a camera on the target vehicle, and shooting an image in front of the target vehicle to obtain an image in front of the target vehicle;
and identifying an image in front of the target vehicle, and acquiring the state of a traffic light about to pass by the target vehicle and the countdown in the state.
Optionally, the apparatus further includes a third obtaining module, where the third obtaining module is configured to:
sending a first acquisition request carrying second position information to the public transportation platform, wherein the first acquisition request is used for indicating the public transportation platform to send the state of the traffic light at the second position information and the countdown under the state to the target vehicle;
and receiving the state of the traffic light and the countdown in the state sent by the public transportation platform.
Optionally, the preset time is a first preset time;
the first reminder module is configured to:
when the countdown of the green light is more than or equal to the sum of the time when the target vehicle runs to the intersection cut-off line and the first preset time, reminding a driver that the target vehicle can safely pass through the intersection when the current running speed of the target vehicle is kept.
Optionally, the apparatus further comprises a second reminding module:
when the countdown of the green light is more than or equal to the sum of the time when the target vehicle runs to the intersection cut-off line and second preset time and is less than the sum of the time when the target vehicle runs to the intersection cut-off line and first preset time, detecting whether a vehicle exists in front of the target vehicle;
if no vehicle exists in front of the target vehicle, calculating the time difference between the countdown of the green light and the first preset time; and calculating the minimum running speed of the target vehicle safely passing through the crossroad according to the time difference and the distance between the target vehicle and the intersection cut-off line, and reminding a driver that the target vehicle runs at the minimum running speed and can safely pass through the crossroad.
Optionally, the device further comprises a third reminding device:
when the countdown of the green light is less than the sum of the time when the target vehicle runs to the intersection cut-off line and second preset time, reminding a driver that the target vehicle cannot safely pass through the intersection;
and illuminating a stop lamp of the target vehicle, wherein the stop lamp is used for indicating that the target vehicle is about to stop at the cut-off line.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present application and should not be taken as limiting, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (8)
1. A method for a vehicle to safely pass through an intersection, the method comprising:
when the traffic light is in a green light state, acquiring the countdown of the green light;
determining a time for a target vehicle to travel to an intersection cut-off line based on a distance between the target vehicle and the intersection cut-off line and a travel speed of the target vehicle;
when the countdown of the green light is more than or equal to the sum of the time when the target vehicle runs to the intersection stop line and first preset time, sending a prompt message to prompt a driver that the target vehicle can safely pass through the intersection when the current running speed of the target vehicle is kept;
before when the traffic light of the crossroad is green, the method further comprises the following steps:
determining first position information and a driving direction of the target vehicle;
determining a traffic light which is about to pass by the target vehicle based on the first position information and the driving direction of the target vehicle and a pre-stored navigation map;
acquiring second position information of a traffic light which is about to pass by the target vehicle;
when the distance between the first position information and the second position information is smaller than a preset value, sending a first acquisition request carrying the second position information to a public transportation platform, wherein the first acquisition request is used for indicating the public transportation platform to send the state of a traffic light at the second position information and the countdown under the state to the target vehicle;
receiving the state of the traffic light, the countdown and the sending time of the sending countdown in the state sent by the public transportation platform, and determining the receiving time;
and compensating the countdown according to the difference between the sending time and the receiving time, and further re-determining the countdown.
2. The method according to claim 1, wherein after the time when the distance between the first location information and the second location information is less than a preset value, the method further comprises:
starting a camera on the target vehicle, and shooting the front of the target vehicle to obtain an image in front of the target vehicle;
and identifying the image in front of the target vehicle, and acquiring the state of the traffic light about to pass by the target vehicle and the countdown in the state.
3. The method of claim 1, further comprising:
when the countdown of the green light is more than or equal to the sum of the time when the target vehicle runs to the intersection cut-off line and a second preset time and is less than the sum of the time when the target vehicle runs to the intersection cut-off line and a first preset time, detecting whether a vehicle exists in front of the target vehicle;
if no vehicle exists in front of the target vehicle, calculating the time difference between the countdown of the green light and the first preset time; and calculating the minimum running speed of the target vehicle which can safely pass through the intersection according to the time difference and the distance between the target vehicle and the intersection cut-off line, and reminding the driver that the target vehicle can safely pass through the intersection under the condition that the target vehicle runs at the minimum running speed.
4. The method of claim 3, further comprising:
when the countdown of the green light is less than the sum of the time when the target vehicle runs to the intersection cut-off line and second preset time, reminding the driver that the target vehicle cannot safely pass through the intersection;
and illuminating a brake lamp of the target vehicle, wherein the brake lamp is used for indicating that the target vehicle is about to brake at a cut-off line.
5. An apparatus for safely passing a vehicle through an intersection, the apparatus comprising:
a first acquisition module configured to acquire a countdown of a green light when the status of the traffic light is the green light;
a determination module configured to determine a time at which a target vehicle travels to an intersection cut-off based on a distance between the target vehicle and the intersection cut-off and a travel speed of the target vehicle;
the first reminding module is configured to send out a prompt message to prompt a driver that the target vehicle can safely pass through the intersection when the countdown of the green light is greater than or equal to the sum of the time when the target vehicle runs to the intersection cutoff line and a first preset time;
the apparatus further comprises a third acquisition module configured to determine first position information and a direction of travel of the target vehicle; determining a traffic light which is about to pass by the target vehicle based on the first position information and the driving direction of the target vehicle and a pre-stored navigation map; acquiring second position information of a traffic light which is about to pass by the target vehicle; when the distance between the first position information and the second position information is smaller than a preset value, sending a first acquisition request carrying the second position information to a public transportation platform, wherein the first acquisition request is used for indicating the public transportation platform to send the state of a traffic light at the second position information and the countdown under the state to the target vehicle; receiving the state of the traffic light, the countdown and the sending time of the sending countdown in the state sent by the public transportation platform, and determining the receiving time; and compensating the countdown according to the difference between the sending time and the receiving time, and further re-determining the countdown.
6. The apparatus of claim 5, further comprising a second acquisition module configured to:
starting a camera on the target vehicle, and shooting the front of the target vehicle to obtain an image in front of the target vehicle;
and identifying the image in front of the target vehicle, and acquiring the state of the traffic light about to pass by the target vehicle and the countdown in the state.
7. The apparatus of claim 5, further comprising a second reminder module configured to:
when the countdown of the green light is more than or equal to the sum of the time when the target vehicle runs to the intersection cut-off line and a second preset time and is less than the sum of the time when the target vehicle runs to the intersection cut-off line and a first preset time, detecting whether a vehicle exists in front of the target vehicle;
if no vehicle exists in front of the target vehicle, calculating the time difference between the countdown of the green light and the first preset time; and calculating the minimum running speed of the target vehicle which can safely pass through the intersection according to the time difference and the distance between the target vehicle and the intersection cut-off line, and reminding the driver that the target vehicle can safely pass through the intersection under the condition that the target vehicle runs at the minimum running speed.
8. The apparatus of claim 7, further comprising a third reminder module configured to:
when the countdown of the green light is less than the sum of the time when the target vehicle runs to the intersection cut-off line and second preset time, reminding the driver that the target vehicle cannot safely pass through the intersection;
and illuminating a brake lamp of the target vehicle, wherein the brake lamp is used for indicating that the target vehicle is about to brake at a cut-off line.
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| CN113888875B (en) * | 2021-11-09 | 2022-09-30 | 京东鲲鹏(江苏)科技有限公司 | Method and device for determining intersection traffic information, terminal equipment and storage medium |
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| CN107170262A (en) * | 2017-06-23 | 2017-09-15 | 深圳市盛路物联通讯技术有限公司 | A kind of crossing traffic lamp intelligent control method and device |
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| CN109887319A (en) * | 2019-04-09 | 2019-06-14 | 曹桂硕 | A kind of intelligent traffic light display methods based on navigation |
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