CN113256989B - Driving warning method and device, vehicle-mounted terminal and storage medium - Google Patents
Driving warning method and device, vehicle-mounted terminal and storage medium Download PDFInfo
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- CN113256989B CN113256989B CN202110764782.6A CN202110764782A CN113256989B CN 113256989 B CN113256989 B CN 113256989B CN 202110764782 A CN202110764782 A CN 202110764782A CN 113256989 B CN113256989 B CN 113256989B
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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
- G08G1/0125—Traffic data processing
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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
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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
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
- G08G1/133—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams within the vehicle ; Indicators inside the vehicles or at stops
- G08G1/137—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams within the vehicle ; Indicators inside the vehicles or at stops the indicator being in the form of a map
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
Abstract
The application discloses a driving warning method, a driving warning device, a vehicle-mounted terminal and a storage medium. The method comprises the following steps: acquiring state information of a target vehicle; determining a target road marking pressed by a target vehicle according to the state information and the position attribute of each road marking in the high-precision map; displaying a warning line corresponding to the target road marking in a first mode in the high-precision map; displaying the road marking in a second style in the high-precision map; the first pattern is different from the second pattern. According to the technical scheme, the line pressing prompt in the high-precision map is realized, a driver can be assisted to better know the running condition of the self vehicle or other vehicles, and further, the response measures are taken, so that the driving safety is greatly improved, good driving assistance is realized, and the user experience is good.
Description
Technical Field
The application relates to the technical field of intelligent driving, in particular to a driving warning method, a driving warning device, a vehicle-mounted terminal and a storage medium.
Background
In the car networking scenario, ensuring driving safety has always been one of the main goals of product design. Compared with navigation maps of previous generations, the high-precision map contains more road information and has higher precision, and is gradually used in the scene of the internet of vehicles, but cannot play a sufficient warning role for a plurality of driving conditions in the driving process.
Disclosure of Invention
The embodiment of the application provides a driving warning method, a driving warning device, a vehicle-mounted terminal and a storage medium, so that driving safety under a scene of a vehicle networking is further improved, and a better driving assistance effect is achieved.
The embodiment of the application adopts the following technical scheme:
in a first aspect, an embodiment of the present application provides a driving warning method, executed by a vehicle-mounted terminal, including: acquiring state information of a target vehicle; determining a target road marking pressed by a target vehicle according to the state information and the position attribute of each road marking in the high-precision map; displaying a warning line corresponding to the target road marking in a first mode in the high-precision map; displaying the road marking in a second style in the high-precision map; the first pattern is different from the second pattern.
In some embodiments, the status information includes vehicle size and vehicle location.
In some embodiments, determining the target road marking pressed by the target vehicle based on the status information and the location attributes of each road marking in the high-precision map comprises: generating a vehicle identification frame matched with the size of a vehicle by taking the position of the vehicle as a center; and screening out target road marking lines which are intersected and/or close to the vehicle identification frame according to the position attributes of the road marking lines.
In some embodiments, centering on the vehicle position, generating the vehicle identification frame matching the vehicle size includes: selecting a vehicle model matched with the size of the vehicle from a vehicle model library; generating a vehicle instance according to the vehicle model, and determining the position attribute of the vehicle instance according to the vehicle position; and taking the projection of the vehicle instance on the road surface as a vehicle identification frame.
In some embodiments, the target vehicle is a vehicle other than the vehicle in which the in-vehicle terminal is located, and the acquiring the state information of the target vehicle includes: acquiring an image of a target vehicle acquired by a vehicle-mounted camera; identifying the image, determining the relative position relationship between the target vehicle and the vehicle where the vehicle-mounted terminal is located, and determining the size of the target vehicle; and determining the vehicle position of the target vehicle according to the vehicle position of the vehicle where the vehicle-mounted terminal is located and the relative position relationship.
In some embodiments, the target vehicle is a vehicle where the vehicle-mounted terminal is located, and acquiring the state information of the target vehicle includes: reading a vehicle size of the target vehicle from the storage area; acquiring initial positioning information of a target vehicle and acquiring an environment image acquired by a vehicle-mounted camera; determining road characteristics according to the environment image, wherein the road characteristics comprise lane line characteristics and peripheral road characteristics; and obtaining a local high-precision map in the designated area according to the preliminary positioning information, and matching the road characteristics with the local high-precision map to obtain final positioning information of the target vehicle, wherein the final positioning information is used as the vehicle position of the target vehicle.
In some embodiments, displaying the warning lines corresponding to the target road markings in the high-precision map in the first pattern comprises: determining a starting point of a warning line according to the position of the vehicle; and determining a warning line according to the starting point and the preset first length.
In some embodiments, the color attributes of the first style are different from the color attributes of the second style.
In some embodiments, the first pattern is displayed blinking in a first color; the second pattern is displayed continuously in a second color.
In a second aspect, an embodiment of the present application further provides a driving warning device, which is applied to a vehicle-mounted terminal, and is used for implementing any one of the above driving warning methods.
In some embodiments, the traffic warning device includes: an acquisition unit configured to acquire state information of a target vehicle; the determining unit is used for determining a target road marking pressed by a target vehicle according to the state information and the position attribute of each road marking in the high-precision map; the display unit is used for displaying the warning line corresponding to the target road marking in a first mode in the high-precision map; and displaying the road marking in a second style in the high-precision map; the first pattern is different from the second pattern.
In some embodiments, the status information includes vehicle size and vehicle location.
In some embodiments, the determining unit is configured to generate a vehicle identification frame matching the size of the vehicle, with the position of the vehicle as a center; and screening out target road marking lines which are intersected and/or close to the vehicle identification frame according to the position attributes of the road marking lines.
In some embodiments, the determining unit is configured to select a vehicle model matching the vehicle size from a vehicle model library; generating a vehicle instance according to the vehicle model, and determining the position attribute of the vehicle instance according to the vehicle position; and taking the projection of the vehicle instance on the road surface as a vehicle identification frame.
In some embodiments, the system includes an acquisition unit for acquiring an image of a target vehicle acquired by an onboard camera; identifying the image, determining the relative position relationship between the target vehicle and the vehicle where the vehicle-mounted terminal is located, and determining the size of the target vehicle; and determining the vehicle position of the target vehicle according to the vehicle position of the vehicle where the vehicle-mounted terminal is located and the relative position relationship.
In some embodiments, the target vehicle is a vehicle in which the in-vehicle terminal is located, and the obtaining unit is configured to read a vehicle size of the target vehicle from the storage area; acquiring initial positioning information of a target vehicle and acquiring an environment image acquired by a vehicle-mounted camera; determining road characteristics according to the environment image, wherein the road characteristics comprise lane line characteristics and peripheral road characteristics; and obtaining a local high-precision map in the designated area according to the preliminary positioning information, and matching the road characteristics with the local high-precision map to obtain final positioning information of the target vehicle, wherein the final positioning information is used as the vehicle position of the target vehicle.
In some embodiments, the display unit is used for determining a starting point of the warning line according to the position of the vehicle; and determining a warning line according to the starting point and the preset first length.
In some embodiments, the color attributes of the first style are different from the color attributes of the second style.
In some embodiments, the first pattern is displayed blinking in a first color; the second pattern is displayed continuously in a second color.
In a third aspect, an embodiment of the present application further provides a vehicle-mounted terminal, including: a processor; and a memory arranged to store computer executable instructions that, when executed, cause the processor to perform a method of traffic warning as any one of the above.
In a fourth aspect, the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores one or more programs, and when the one or more programs are executed by a vehicle-mounted terminal including a plurality of application programs, the vehicle-mounted terminal is caused to execute the driving warning method as described above.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects: after the state information of the target vehicle is acquired, the target road marking pressed by the target vehicle can be judged according to the position attribute of each road marking in the high-precision map, and warning lines and road markings are further displayed in different styles, so that line pressing prompt in the high-precision map is realized, a driver can be assisted to better know the running condition of the vehicle or other vehicles, and further response measures are made, the driving safety is greatly improved, good driving assistance is realized, and the user experience is good.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a flow chart illustrating a traffic warning method according to an embodiment of the present application;
FIG. 2 illustrates a traffic warning diagram according to one embodiment of the present application;
fig. 3 is a schematic structural diagram of a traffic warning device according to an embodiment of the present application;
fig. 4 shows a schematic structural diagram of a vehicle-mounted terminal according to an embodiment of the application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 shows a flow chart of a driving warning method according to an embodiment of the present application, where the method may be executed by a vehicle-mounted terminal, and specifically includes the following steps:
in step S110, the state information of the target vehicle is acquired.
The target vehicle may be a vehicle in which the vehicle-mounted terminal is located, that is, a self-vehicle, or may be another vehicle.
In some embodiments, the status information may include vehicle size and vehicle location.
The state information of the vehicle obtained in the prior art may include a vehicle position, but the vehicle position is usually described by a coordinate point, which is not accurate when performing line pressing judgment, that is, determining a target road marking pressed by a target vehicle. The size of the vehicle is further obtained in the technical scheme, and the two are combined to realize line pressing judgment. Specifically, the state information of the target vehicle may be obtained in a vehicle networking manner, for example, from a cloud platform, a road side device, or a vehicle-mounted terminal of another vehicle, and the like, which is not limited in the present application.
And step S120, determining the target road marking pressed by the target vehicle according to the state information and the position attribute of each road marking in the high-precision map.
In the embodiment of the application, the road marking may be a lane marking such as a white solid line, a white dotted line, a yellow solid line, or other types of road markings such as a diversion line, and is preferably a lane marking. It should be noted that the pressing lines of the present application are not particularly limited to illegal behaviors, for example, other vehicles may press the white dotted lines when changing lanes, which is a normal driving, but the following vehicles also need to pay attention.
In the high-precision map, various elements such as road marking lines have different attributes, and the line pressing judgment is realized by utilizing the position attributes of the road marking lines.
In step S130, a warning line corresponding to the target road marking is displayed in a first pattern in the high-precision map, and the road marking is displayed in a second pattern. The first pattern is different from the second pattern.
Wherein, the warning line can cover at least part of target road marking to can distinguish with the second style, the road marking that also normally shows, just so formed the prominent display of being pressed the road marking, can play the warning effect to driver or passenger.
Therefore, the method shown in fig. 1 realizes line pressing prompting in a high-precision map, can assist a driver to better know the running condition of a self vehicle or other vehicles, further makes countermeasures, greatly improves the driving safety, realizes good driving assistance, and has good user experience.
In some embodiments, determining the target road marking pressed by the target vehicle based on the status information and the location attributes of each road marking in the high-precision map comprises: generating a vehicle identification frame matched with the size of a vehicle by taking the position of the vehicle as a center; and screening out target road marking lines which are intersected and/or close to the vehicle identification frame according to the position attributes of the road marking lines.
In these embodiments, the vehicle position, the vehicle size, and the position attribute of the road marking are finally unified in the same coordinate system, and if different coordinate systems are used before, coordinate transformation can be performed according to actual requirements.
When the line pressing judgment is carried out, the height attribute does not bring influence, so that only the plane coordinate needs to be considered, and the generated vehicle identification frame can be a plane figure, such as a rectangle or a polygon. For example, the coordinates of the vehicle position are
The size of the vehicle is
The coordinates of four vertexes of the vehicle identification frame are respectively
，
，
，
. The position attribute of a road marking is typically the coordinates of some point orThe target road marking is an expression of a curve, and accordingly, the target road marking which is intersected with and/or close to the vehicle identification frame can be screened out. In some embodiments, a threshold may be set that is considered to be similar when the minimum distance of the road-marking line from the vehicle identification box is less than the threshold.
In some embodiments, centering on the vehicle position, generating the vehicle identification frame matching the vehicle size includes: selecting a vehicle model matched with the size of the vehicle from a vehicle model library; generating a vehicle instance according to the vehicle model, and determining the position attribute of the vehicle instance according to the vehicle position; and taking the projection of the vehicle instance on the road surface as a vehicle identification frame.
In a scenario where a high-precision map is used, a vehicle instance opposite to an actual vehicle may be shown in the high-precision map in order to conveniently display the current road environment. When the vehicle instances are drawn, the vehicle models in the vehicle model library can be used for instantiation, and specifically, the matched vehicle models can be selected according to the sizes of the vehicles, and the position attributes of the vehicle instances can be determined according to the positions of the vehicles. According to the description of the foregoing embodiment, we only need the coordinates of the vehicle in the plane coordinate system, and then only need the projection of the vehicle instance on the road surface as the vehicle identification frame.
In some embodiments, the target vehicle is a vehicle other than the vehicle in which the in-vehicle terminal is located, and the acquiring the state information of the target vehicle includes: acquiring an image of a target vehicle acquired by a vehicle-mounted camera; identifying the image, determining the relative position relationship between the target vehicle and the vehicle where the vehicle-mounted terminal is located, and determining the size of the target vehicle; and determining the vehicle position of the target vehicle according to the vehicle position of the vehicle where the vehicle-mounted terminal is located and the relative position relationship.
When the target vehicle is another vehicle (non-own vehicle), the periphery of the target vehicle can be shot by the vehicle-mounted camera of the own vehicle, so that an image of the target vehicle is obtained, then the target vehicle can be identified from the image through a plurality of vehicle identification algorithms which can be realized in the prior art, and further the relative position relation with the own vehicle and the vehicle size of the target vehicle can be determined. The vehicle position of the target vehicle can be further obtained by combining the vehicle position determined by means of GPS and the like.
In some embodiments, the target vehicle is a vehicle where the vehicle-mounted terminal is located, and acquiring the state information of the target vehicle includes: reading a vehicle size of the target vehicle from the storage area; acquiring initial positioning information of a target vehicle and acquiring an environment image acquired by a vehicle-mounted camera; determining road characteristics according to the environment image, wherein the road characteristics comprise lane line characteristics and peripheral road characteristics; and obtaining a local high-precision map in the designated area according to the preliminary positioning information, and matching the road characteristics with the local high-precision map to obtain final positioning information of the target vehicle, wherein the final positioning information is used as the vehicle position of the target vehicle.
In these embodiments, a manner is provided in which the own vehicle position can be acquired with higher accuracy. Firstly, the initial positioning information of the self-vehicle can be obtained through a GPS and other modes; secondly, the vehicle-mounted camera shoots an environment image, road characteristics can be further extracted through a pre-trained characteristic extraction model, and matching is carried out in a local high-precision map according to the road characteristics, so that high-precision positioning at least at a lane level is realized.
For the size of the vehicle, when the vehicle-mounted terminal is used, the vehicle type and other information can be input in advance by a vehicle owner, so that the information is prestored in the storage area; alternatively, the vehicle may be obtained from another vehicle and stored in the storage area in a vehicle networking manner.
In some embodiments, displaying the warning lines corresponding to the target road markings in the high-precision map in the first pattern comprises: determining a starting point of a warning line according to the position of the vehicle; and determining a warning line according to the starting point and the preset first length.
The preset first length can be positively correlated with the speed of a specified vehicle, such as another vehicle pressing a line or a vehicle. Considering that in the actual driving process, the range which can be influenced by one vehicle is usually limited, and one road marking can be long in duration, when the warning is carried out, the whole road marking is not necessary to be highlighted. Therefore, a warning line may be provided for a target road marking ahead of the target vehicle by a predetermined length, and the warning line may be highlighted. For another example, in a scene such as an intersection, the road marking may have reached the end, and if only the road marking is relied on for warning, the prompting area may be small; the warning line is confirmed through the mode of predetermineeing first length this moment, can realize the "extension" of lane line in the vision, and warning effect is better.
In particular, in some embodiments, the color attributes of the first style are different from the color attributes of the second style. For example, the color attribute of the second pattern is the original color of the road marking, specifically, white and yellow; and the color attribute of the first style is red.
Specifically, the first pattern may be blinking-displayed in a first color; the second pattern may be displayed continuously in the second color. Therefore, the warning function can be achieved, and the user can conveniently check the type of the target road marking.
For example, fig. 2 shows a traffic warning diagram according to an embodiment of the present application, in the high-precision map shown in fig. 2, three vehicles are shown as examples of the three vehicles, wherein the rearmost vehicle is a self vehicle and is also a target vehicle and is driving while pressing a line, and it can be seen that the primary side of the pressed road marking is displayed by a white dotted line, but due to the pressing of the line, a dark warning line is displayed to cover a part of the original road marking.
In a second aspect, an embodiment of the present application further provides a driving warning device, which is applied to a vehicle-mounted terminal, and is used for implementing any one of the above driving warning methods.
Fig. 3 shows a schematic structural diagram of a traffic warning device according to an embodiment of the present application. As shown in fig. 3, the driving warning device 300 includes:
an obtaining unit 310 is used for obtaining the state information of the target vehicle.
And the determining unit 320 is used for determining the target road marking pressed by the target vehicle according to the state information and the position attribute of each road marking in the high-precision map.
The display unit 330 is used for displaying the warning line corresponding to the target road marking in a first mode in the high-precision map; and displaying the road marking in a second style in the high-precision map; the first pattern is different from the second pattern.
In some embodiments, the status information includes vehicle size and vehicle location.
In some embodiments, the determining unit 320 is configured to generate a vehicle identification frame matching the size of the vehicle, with the vehicle position as the center; and screening out target road marking lines which are intersected and/or close to the vehicle identification frame according to the position attributes of the road marking lines.
In some embodiments, the determining unit 320 is configured to select a vehicle model matching the vehicle size from a vehicle model library; generating a vehicle instance according to the vehicle model, and determining the position attribute of the vehicle instance according to the vehicle position; and taking the projection of the vehicle instance on the road surface as a vehicle identification frame.
In some embodiments, the acquiring unit 310 is configured to acquire an image of the target vehicle acquired by the onboard camera; identifying the image, determining the relative position relationship between the target vehicle and the vehicle where the vehicle-mounted terminal is located, and determining the size of the target vehicle; and determining the vehicle position of the target vehicle according to the vehicle position of the vehicle where the vehicle-mounted terminal is located and the relative position relationship.
In some embodiments, the target vehicle is a vehicle in which the in-vehicle terminal is located, and the obtaining unit 310 is configured to read a vehicle size of the target vehicle from the storage area; acquiring initial positioning information of a target vehicle and acquiring an environment image acquired by a vehicle-mounted camera; determining road characteristics according to the environment image, wherein the road characteristics comprise lane line characteristics and peripheral road characteristics; and obtaining a local high-precision map in the designated area according to the preliminary positioning information, and matching the road characteristics with the local high-precision map to obtain final positioning information of the target vehicle, wherein the final positioning information is used as the vehicle position of the target vehicle.
In some embodiments, the display unit 330 is configured to determine a starting point of the warning line according to the vehicle position; and determining a warning line according to the starting point and the preset first length.
In some embodiments, the color attributes of the first style are different from the color attributes of the second style.
In some embodiments, the first pattern is displayed blinking in a first color; the second pattern is displayed continuously in a second color.
It can be understood that, the driving warning device can implement the steps of the driving warning method executed by the vehicle-mounted terminal provided in the foregoing embodiment, and the relevant explanations about the driving warning method are applicable to the driving warning device, and are not repeated here.
Fig. 4 shows a schematic structural diagram of a vehicle-mounted terminal according to an embodiment of the application. Referring to fig. 4, in a hardware level, the vehicle-mounted terminal includes a processor, and optionally further includes an internal bus, a network interface, and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the in-vehicle terminal may also include hardware required for other services.
The processor, the network interface, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 4, but that does not indicate only one bus or one type of bus.
And the memory is used for storing programs. In particular, the program may include program code including computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.
The processor reads the corresponding computer program from the nonvolatile memory to the memory and then runs the computer program to form the driving warning device on the logic level. The processor is used for executing the program stored in the memory and is specifically used for executing the following operations:
acquiring state information of a target vehicle, wherein the state information comprises the size and the position of the vehicle; determining a target road marking pressed by a target vehicle according to the state information and the position attribute of each road marking in the high-precision map; displaying a warning line corresponding to the target road marking in a first mode in the high-precision map; the road markings are displayed in a second pattern in the high-precision map.
The method executed by the driving warning device according to the embodiment shown in fig. 1 of the present application may be applied to or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
The vehicle-mounted terminal can also execute the method executed by the driving warning device in fig. 1, and realize the functions of the driving warning device in the embodiment shown in fig. 3, which is not described herein again in this application embodiment.
An embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores one or more programs, where the one or more programs include instructions, and when the instructions are executed by a vehicle-mounted terminal including multiple application programs, the vehicle-mounted terminal is capable of causing the vehicle-mounted terminal to perform the method performed by the driving warning apparatus in the embodiment shown in fig. 1, and is specifically configured to perform:
acquiring state information of a target vehicle, wherein the state information comprises the size and the position of the vehicle; determining a target road marking pressed by a target vehicle according to the state information and the position attribute of each road marking in the high-precision map; displaying a warning line corresponding to the target road marking in a first mode in the high-precision map; the road markings are displayed in a second pattern in the high-precision map.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (8)
1. A driving warning method is characterized in that the driving warning method is executed by a vehicle-mounted terminal and comprises the following steps:
acquiring state information of a target vehicle, wherein the state information comprises the size and the position of the vehicle;
determining a target road marking pressed by the target vehicle according to the state information and the position attribute of each road marking in the high-precision map;
displaying a warning line corresponding to the target road marking in the high-precision map in a first mode;
displaying road markings in the high-precision map in a second pattern; the first pattern is different from the second pattern;
the displaying of warning lines corresponding to target road markings in the high-precision map in a first pattern comprises:
determining a starting point of the warning line according to the position of the vehicle;
determining the warning line according to the starting point and a preset first length, wherein the warning line is used for line pressing reminding during lane changing of the vehicle and line pressing reminding during line pressing driving of the vehicle;
the target vehicle is a vehicle other than the vehicle where the vehicle-mounted terminal is located, and the acquiring of the state information of the target vehicle includes:
acquiring an image of a target vehicle acquired by a vehicle-mounted camera;
identifying the image, determining the relative position relationship between the target vehicle and the vehicle where the vehicle-mounted terminal is located, and determining the size of the target vehicle;
and determining the vehicle position of the target vehicle according to the vehicle position of the vehicle where the vehicle-mounted terminal is located and the relative position relationship.
2. The method of claim 1, wherein the status information includes vehicle size and vehicle location;
the determining the target road marking pressed by the target vehicle according to the state information and the position attribute of each road marking in the high-precision map comprises:
generating a vehicle identification frame matched with the size of the vehicle by taking the position of the vehicle as a center;
and screening out target road marking lines which are intersected with and/or close to the vehicle identification frame according to the position attributes of the road marking lines.
3. The method of claim 2, wherein the generating a vehicle identification frame that matches the vehicle size centered on the vehicle location comprises:
selecting a vehicle model matched with the size of the vehicle in a vehicle model library;
generating a vehicle instance according to the vehicle model, and determining the position attribute of the vehicle instance according to the vehicle position;
and taking the projection of the vehicle instance on the road surface as the vehicle identification frame.
4. The method of claim 1, wherein the status information includes vehicle size and vehicle location; the target vehicle is a vehicle where the vehicle-mounted terminal is located, and the acquiring of the state information of the target vehicle includes:
reading a vehicle size of the target vehicle from a storage area;
acquiring initial positioning information of the target vehicle and acquiring an environment image acquired by a vehicle-mounted camera;
determining road characteristics according to the environment image, wherein the road characteristics comprise lane line characteristics and peripheral road characteristics;
and acquiring a local high-precision map in a designated area according to the preliminary positioning information, and matching the road characteristics with the local high-precision map to obtain final positioning information of the target vehicle, wherein the final positioning information is used as the vehicle position of the target vehicle.
5. The method of claim 1, wherein the color attributes of the first style are different from the color attributes of the second style;
and/or the presence of a gas in the gas,
the first pattern is displayed in a first color in a flashing mode; the second pattern is displayed continuously in a second color.
6. A driving warning device, which is applied to a vehicle-mounted terminal and is used for implementing the driving warning method of any one of claims 1 to 5.
7. An in-vehicle terminal comprising:
a processor; and
a memory arranged to store computer executable instructions which, when executed, cause the processor to perform the method of traffic warning according to any one of claims 1 to 5.
8. A computer-readable storage medium storing one or more programs that, when executed by a vehicle-mounted terminal including a plurality of application programs, cause the vehicle-mounted terminal to execute the driving warning method according to any one of claims 1 to 5.
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| CN202110764782.6A CN113256989B (en) | 2021-07-07 | 2021-07-07 | Driving warning method and device, vehicle-mounted terminal and storage medium |
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| CN115808179A (en) * | 2021-09-14 | 2023-03-17 | 华为技术有限公司 | Traffic information acquisition method, device and storage medium |
| CN114427858B (en) * | 2022-01-29 | 2024-04-16 | 智道网联科技(北京)有限公司 | Map guide belt generation method, device and equipment |
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| CN105599765A (en) * | 2015-12-11 | 2016-05-25 | 上海卓易科技股份有限公司 | Lane departure judging and early warning method |
| CN107045789A (en) * | 2017-04-05 | 2017-08-15 | 北京易华录信息技术股份有限公司 | A kind of vehicle line ball traveling prompt system and method based on vehicle electron identifying |
| CN109540157B (en) * | 2018-11-12 | 2021-02-02 | 广东星舆科技有限公司 | Vehicle-mounted navigation system and control method |
| CN111223331B (en) * | 2018-11-26 | 2022-10-18 | 华为云计算技术有限公司 | Vehicle early warning method and related device |
| CN210852235U (en) * | 2019-08-22 | 2020-06-26 | 中国第一汽车股份有限公司 | Vehicle window display and interaction system |
| CN110775063B (en) * | 2019-09-25 | 2021-08-13 | 华为技术有限公司 | Information display method and device of vehicle-mounted equipment and vehicle |
| CN110979350A (en) * | 2019-12-18 | 2020-04-10 | 奇瑞汽车股份有限公司 | AR navigation based on automobile data recorder |
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