CN113313948B - Vehicle driving track prompting method and device - Google Patents
Vehicle driving track prompting method and device Download PDFInfo
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- CN113313948B CN113313948B CN202110603479.8A CN202110603479A CN113313948B CN 113313948 B CN113313948 B CN 113313948B CN 202110603479 A CN202110603479 A CN 202110603479A CN 113313948 B CN113313948 B CN 113313948B
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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
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Abstract
The invention provides a vehicle driving track prompting method and device, wherein the method comprises the following steps: if the target vehicle is positioned at the intersection, acquiring a pre-judged running track of the target vehicle passing through the intersection; determining a region to be detected according to the pre-judged driving track; detecting whether potential safety hazards exist in the region to be detected, if the potential safety hazards exist in the region to be detected, determining projection position information according to real-time running information of a target vehicle and/or a pre-judged running track; and adjusting the projection equipment according to the projection position information and the position information of the projection equipment, and controlling the projection equipment to project the warning image. The area of waiting to detect is the area that the target vehicle will pass through when passing through the crossing, if detect the potential safety hazard in waiting to detect the area, through projecting warning image to the position that the target vehicle is about to pass through, can warn pedestrian and vehicle, avoid other vehicles or pedestrian to reach the position that the target vehicle is about to pass through and produce the accident.
Description
Technical Field
The invention relates to the technical field of safe driving of motor vehicles, in particular to a method and a device for prompting a vehicle driving track.
Background
At the crossroad, the complexity of traffic flow and pedestrian flow is increased, and traffic accidents such as collision, scratch and the like are easy to generate. When the vehicle passes through the crossroad, the vehicle behind can be informed of the driving path through the turn signal lamp, thereby avoiding rear-end collision accidents, but when the vehicle passes through the crossroad, pedestrians can not accurately estimate the driving track of the vehicle, and certain collision risks exist.
Disclosure of Invention
Therefore, the technical problem to be solved by the present invention is to overcome the defect in the prior art that pedestrians cannot accurately estimate the driving track of a vehicle, so as to provide a method and a device for prompting the driving track of the vehicle.
The invention provides a vehicle driving track prompting method in a first aspect, which comprises the following steps: if the target vehicle is positioned at the intersection, acquiring a pre-judged running track of the target vehicle passing through the intersection; determining a region to be detected according to the pre-judged driving track; detecting whether potential safety hazards exist in the region to be detected, if the potential safety hazards exist in the region to be detected, determining projection position information according to real-time running information of a target vehicle and/or a pre-judged running track; and adjusting the projection equipment according to the projection information and the position information of the projection equipment, and controlling the projection equipment to project the warning image.
Optionally, in the method for prompting a vehicle driving track provided by the present invention, obtaining a pre-determined driving track of a target vehicle passing through an intersection includes: and if the target vehicle has a preset route from the source position to the target position and the preset route has a path point corresponding to the current position of the target vehicle, determining the running route passing through the intersection in the preset route as the pre-judged running track of the target vehicle passing through the intersection.
Optionally, in the method for prompting a vehicle driving track provided by the present invention, obtaining a pre-determined driving track of a target vehicle passing through an intersection includes: if the target vehicle does not have a preset route from the source position to the target position, or a path point corresponding to the current position of the target vehicle does not exist in the preset route, determining a lane where the target vehicle is located according to the current position of the target vehicle, and determining a pre-judged driving track of the target vehicle according to the lane attribute of the lane where the target vehicle is located.
Optionally, in the method for prompting a vehicle driving track provided by the present invention, the intersection is formed by crossing at least two roads, a crossing line is formed at the road crossing, and the area to be detected is determined according to the pre-determined driving track, including: determining a cross line which is required to pass when the target vehicle passes through the intersection according to the pre-judged running track; if the target vehicle passes through the two crossed lines and the two crossed lines through which the target vehicle passes are parallel, determining an area surrounded by all the crossed lines in the intersection as an area to be detected; if the target vehicle passes through the two crossed lines and the two crossed lines to be passed by the target vehicle have intersection points, determining an area defined by the crossed line to be passed by the target vehicle and a connecting line of end points of the crossed line to be passed by the target vehicle as an area to be detected.
Optionally, in the method for prompting a vehicle driving track provided by the present invention, detecting whether a potential safety hazard exists in a region to be detected includes: acquiring image information of a region to be detected; and judging whether vehicles or pedestrians exist in the region to be detected according to the image information, and if the vehicles or the pedestrians exist in the region to be detected, judging that potential safety hazards exist in the region to be detected.
Optionally, in the vehicle driving track prompting method provided by the present invention, the real-time driving information of the target vehicle includes a current vehicle speed of the target vehicle, and the determining of the projection position information according to the real-time driving information of the target vehicle and the predicted driving track includes: if the target vehicle is determined to pass through the intersection in a straight way according to the pre-judged running track, calculating the distance between the warning image and the target vehicle according to the current speed of the target vehicle; and determining the projection position information according to the current position information of the target vehicle and the distance between the warning image and the target vehicle.
Optionally, in the method for prompting a vehicle driving track provided by the present invention, determining the projection position information according to the real-time driving information and the predicted driving track of the target vehicle includes: if the target vehicle is determined to turn to pass through the intersection according to the pre-judged running track, calculating the predicted track information of the target vehicle according to the real-time running information of the target vehicle and the operation information of the target vehicle; and determining projection position information according to the predicted track information of the target vehicle.
Optionally, in the method for prompting a driving track of a vehicle provided by the present invention, adjusting the projection device according to the projection information and the position information of the projection device includes: calculating the yaw angle and the pitch angle of the projection equipment according to the projection position information and the position information of the projection equipment; and adjusting the projection equipment according to the yaw angle and the pitch angle of the projection equipment.
A second aspect of the present invention provides a vehicle travel track presentation device, including: the pre-judgment running track acquisition module is used for acquiring a pre-judgment running track of the target vehicle passing through the intersection if the target vehicle is positioned at the intersection; the to-be-detected area acquisition module is used for determining an area to be detected according to the pre-judged driving track; the safety detection module is used for detecting whether potential safety hazards exist in the region to be detected; the projection position information determining module is used for determining projection position information according to real-time running information of a target vehicle and/or a pre-judged running track if potential safety hazards exist in the region to be detected; and the projection module is used for adjusting the projection equipment according to the projection information and the position information of the projection equipment and controlling the projection equipment to project the warning image.
A third aspect of the present invention provides a computer apparatus comprising: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to perform the vehicle driving track prompting method according to the first aspect of the invention.
A fourth aspect of the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the vehicle travel track prompting method according to the first aspect of the present invention.
The technical scheme of the invention has the following advantages:
when a target vehicle is about to pass through an intersection, determining a to-be-detected area according to a pre-judged driving track of the target vehicle, detecting whether potential safety hazards exist in the to-be-detected area, determining projection position information according to real-time driving information of the vehicle and/or the pre-judged driving track when the potential safety hazards exist in the to-be-detected area, adjusting projection equipment according to the projection position information, and controlling the projection equipment to project a warning image. The area of waiting to detect is the area that the target vehicle will pass through when passing through the crossing, if detect the potential safety hazard in waiting to detect the area, through projecting warning image to the position that the target vehicle is about to pass through, can warn pedestrian and vehicle, avoid other vehicles or pedestrian to reach the position that the target vehicle is about to pass through and produce the accident.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a specific example of a vehicle travel track prompting method according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a target vehicle traveling straight through an intersection in accordance with an embodiment of the present invention;
FIG. 3 is a schematic illustration of a target vehicle turning right through an intersection in an embodiment of the present invention;
FIG. 4 is a schematic illustration of a target vehicle turning around through an intersection in an embodiment of the present invention;
FIG. 5 is a schematic diagram of calculating predicted trajectory information for a target vehicle in an embodiment of the present invention;
FIG. 6 is a schematic diagram of calculating yaw and pitch angles of a projection device in an embodiment of the invention;
fig. 7 is a schematic diagram of a plurality of projection devices projecting warning images to different projection positions respectively according to an embodiment of the present invention;
fig. 8 is a schematic block diagram showing a specific example of a vehicle travel track presentation device according to an embodiment of the present invention;
fig. 9 is a schematic block diagram of a specific example of a computer device in the embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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 invention.
In the description of the present invention, it should be noted that the technical features related to the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
The embodiment of the invention provides a vehicle driving track prompting method, as shown in fig. 1, comprising the following steps:
step S10: and if the target vehicle is positioned at the intersection, acquiring a pre-judged running track of the target vehicle passing through the intersection.
In an optional embodiment, the position of the target vehicle may be determined in real time, the position of the target vehicle may be mapped in a map coordinate, whether an intersection exists within a preset range of the position of the target vehicle is determined according to the position of the target vehicle in the map coordinate and the position of each intersection in the map coordinate, if so, whether the driving direction of the target vehicle is consistent with the direction of the intersection, and if an intersection exists within the preset range of the target vehicle and the driving direction of the target vehicle is consistent with the position of the intersection relative to the target vehicle, the target vehicle is determined to be located at the intersection.
In an alternative embodiment, the predicted travel path of the target vehicle is one of a straight-through intersection, a right-turn through intersection, a left-turn through intersection, or a turn-around through intersection.
Step S20: and determining the area to be detected according to the pre-judged driving track.
In an optional embodiment, the region to be detected determined according to the pre-determined driving track is a region through which the target vehicle passes when passing through the intersection, when the target vehicle passes through the intersection in different manners, the intersection regions covered by the driving paths are different, and not all the driving paths can completely cover the intersection, so that not all pedestrians and vehicles in the intersection can cause potential safety hazards in the driving process of the target vehicle.
Exemplarily, as shown in fig. 2, when a target vehicle passes through an intersection straight, a driving path covers all intersections, all vehicles and pedestrians in the intersection may affect the driving process of the target vehicle, and at this time, the complete intersection needs to be used as a region to be detected;
as shown in fig. 3, when the target vehicle turns right and passes through the intersection, the driving path does not cover the upper left corner region of the intersection, so that the movement of pedestrians and vehicles in the upper left corner region of the intersection does not affect the driving process of the target vehicle, and at this time, only the lower right corner region of the intersection needs to be used as the region to be detected, and similarly, when the target vehicle turns left and passes through the intersection, only the lower left corner region of the intersection needs to be used as the region to be detected;
as shown in fig. 4, when the target vehicle turns around at the intersection, the driving path does not cover the area above the intersection, so that the movement of pedestrians and vehicles in the area above the intersection does not affect the driving process of the target vehicle, and at this time, only the area below the intersection needs to be used as the area to be detected.
Step S30: and detecting whether potential safety hazards exist in the region to be detected, and if the potential safety hazards exist in the region to be detected, determining projection position information according to the real-time running information of the target vehicle and/or the pre-judged running track.
As can be seen from the above description in step S20, only the potential safety hazard in the area to be detected affects the driving process of the target vehicle, and therefore, in the embodiment of the present invention, only the potential safety hazard in the area to be detected needs to be detected, so that the calculation amount is reduced on the basis of ensuring the accuracy of the detection result.
In an optional embodiment, when the target vehicle passes through the intersection, the largest potential safety hazard is that the target vehicle collides with other vehicles or pedestrians, so whether the potential safety hazard exists in the region to be detected or not is detected, whether pedestrians or vehicles pass through the region to be detected or not can be detected, and when pedestrians or vehicles pass through the region to be detected, the potential safety hazard exists in the region to be detected.
In an optional embodiment, the image information in the region to be detected may be acquired, the image information is subjected to identification analysis, whether a vehicle or a pedestrian exists in the region to be detected is determined, if the vehicle or the pedestrian exists in the region to be detected, it is determined that a potential safety hazard exists in the region to be detected, and if the vehicle or the pedestrian does not exist in the region to be detected, it is determined that the potential safety hazard does not exist in the region to be detected.
In an optional embodiment, the projection position information determined according to the real-time driving information of the target vehicle and/or the pre-determined driving track may be the projection position determined according to the real-time driving information of the target vehicle and/or the pre-determined driving track, and then the position to which the target vehicle is about to arrive is determined as the projection position, and the warning image is projected on the position to which the target vehicle is about to arrive, so that the vehicle or the pedestrian can be informed that the vehicle is about to arrive at the position, and the pedestrian or the vehicle is reminded to avoid collision.
Step S40: and adjusting the projection equipment according to the projection position information and the position information of the projection equipment, and controlling the projection equipment to project the warning image.
In an alternative embodiment, the projection device may be a projection lamp disposed above the target vehicle, and adjusting the projection device includes adjusting a yaw angle and a pitch angle of the projection device.
According to the vehicle driving track prompting method provided by the embodiment of the invention, when a target vehicle is about to pass through an intersection, a region to be detected is determined according to the pre-judged driving track of the target vehicle, whether potential safety hazards exist in the region to be detected is detected, when the potential safety hazards exist in the region to be detected, projection position information is determined according to real-time driving information of the vehicle and/or the pre-judged driving track, projection equipment is adjusted according to the projection position information, and the projection equipment is controlled to project warning images. In the method provided by the embodiment of the invention, the area to be detected is the area through which the target vehicle passes when passing through the intersection, if the potential safety hazard is detected in the area to be detected, the pedestrian and the vehicle can be warned by projecting the warning image to the position through which the target vehicle is about to pass, and the accident caused when other vehicles or pedestrians reach the position through which the target vehicle is about to pass is avoided.
In an optional embodiment, the step of obtaining the predicted travel track of the target vehicle passing through the intersection in step S10 specifically includes:
and if the target vehicle has a preset route from the source position to the target position and the preset route has a path point corresponding to the current position of the target vehicle, determining the running route passing through the current intersection in the preset route as a pre-judged running track of the target vehicle passing through the current intersection.
Although the preset route includes a travel route of the target vehicle passing through each intersection, when the preset route exists, it is necessary to confirm whether the target vehicle travels along the preset route. In an optional embodiment, the preset route and the current position of the target vehicle may be mapped in the same coordinate system, and if the current position of the target vehicle coincides with the preset route, the target vehicle may be considered to travel according to the preset route, and a point in the preset route coinciding with the current position of the target vehicle is a route point corresponding to the current position of the target vehicle.
Whether the target vehicle runs according to the preset route is judged only by judging whether the preset route has the path point corresponding to the current position of the target vehicle, the calculated amount is small, and the accuracy is poor. In an optional embodiment, the driving track generated in the driving process of the target vehicle in the preset time period may be acquired, and if a continuous route matched with the driving track of the target vehicle in the preset time period exists in the preset route, it is determined that the target vehicle drives according to the preset route. The judgment result obtained by the embodiment of the invention is more reliable, but the calculation amount is larger, and in practical application, a proper mode can be selected for judgment according to the actual requirement and the hardware condition.
In an optional embodiment, the step of obtaining the predicted driving track of the target vehicle passing through the intersection in step S10 further includes:
if the target vehicle does not have a preset route from the source position to the target position, or a path point corresponding to the current position of the target vehicle does not exist in the preset route, determining a lane where the target vehicle is located according to the current position of the target vehicle, and determining a pre-judged driving track of the target vehicle according to the lane attribute of the lane where the target vehicle is located.
The lane attributes are used for limiting the driving direction of the vehicle, and the lanes can be divided into left-turn lanes, straight lanes, right-turn lanes, straight or left-turn lanes, straight or right-turn lanes and the like according to different lane attributes. When the preset route does not exist or even if the preset route exists, the pre-judging running track of the target vehicle when the target vehicle passes through the intersection cannot be determined according to the preset route when the target vehicle does not run according to the preset route, at this time, the lane where the target vehicle is located can be obtained, the pre-judging running track of the target vehicle can be determined according to the lane attribute of the lane where the target vehicle is located, for example, if the lane where the target vehicle is located is determined to be a left-turn lane according to the lane attribute of the lane where the target vehicle is located, the pre-judging running track of the target vehicle can be determined to be a left-turn, and if the lane where the target vehicle is located is determined to be a straight or right-turn lane according to the lane attribute of the lane where the target vehicle is located, both straight running and right-turning can be simultaneously used as the pre-judging running track.
In an alternative embodiment, as shown in fig. 2-4, the intersection is formed by at least two intersections of roads, where the intersections form intersection lines, and the step S20 specifically includes:
firstly, determining a cross line which is required to pass when a target vehicle passes through an intersection according to a pre-judged driving track. The intersection line through which the target vehicle passes when passing through the intersection is an intersection line intersecting the predicted travel trajectory of the target vehicle.
In an alternative embodiment, the number of the crossing lines to be passed by the target vehicle when passing through the intersection may be one or two, specifically, when the target vehicle passes through the intersection straight, turns right, and turns left, the number of the crossing lines to be passed is two, and when the target vehicle turns around to pass through the intersection, the number of the crossing lines to be passed is one.
When the target vehicle passes through the two crossed lines, the relative positions of the two crossed lines are determined, and the area to be detected is determined according to the relative positions of the two crossed lines:
if the two crossed lines through which the target vehicle passes are parallel, determining an area surrounded by all the crossed lines in the intersection as an area to be detected, as shown in fig. 2;
if there is an intersection point between two intersection lines through which the target vehicle passes, a region surrounded by the intersection line through which the target vehicle passes and a connecting line of end points of the intersection line through which the target vehicle passes is determined as a region to be detected, as shown in fig. 3. The details are described in step S20 above for the region to be detected.
When the target vehicle passes through one cross line, the end point of the cross line through which the target vehicle passes and the area surrounded by the midpoints of two cross lines adjacent to the left and right of the cross line through which the target vehicle passes are determined as the area to be detected, as shown in fig. 4.
In order to ensure that a target vehicle can safely pass through an intersection and the potential safety hazard of the intersection needs to be detected, considering that the passing area of the target vehicle does not completely cover the intersection when the target vehicle passes through the intersection, so that not all pedestrians or vehicles in the intersection can influence the safe driving of the target vehicle, based on the analysis, in the embodiment of the invention, the area to be detected is determined according to the pre-judged driving track when the target vehicle passes through the intersection, the area to be detected is the area covered by the driving path when the target vehicle passes through the intersection, only the pedestrians and vehicles in the area to be detected can influence the safe driving of the target vehicle, after the area to be detected is determined, the potential safety hazard existing when the target vehicle passes through the intersection can be determined only by detecting the potential safety hazard in the area to be detected, therefore, by implementing the embodiment of the invention, on the basis of ensuring the safe driving of the target vehicle, the calculation amount is reduced.
In an optional embodiment, the real-time traveling information of the target vehicle includes a current vehicle speed of the target vehicle, and the determining the projection position information according to the real-time traveling information and the predicted traveling track of the target vehicle in step S30 specifically includes:
firstly, determining the mode that the target vehicle passes through the intersection according to the pre-judged running track, and if the target vehicle is determined to pass through the intersection in a straight-going mode according to the pre-judged running track, determining the distance between the warning image and the target vehicle according to the current speed of the target vehicle. In an optional embodiment, the faster the current speed of the target vehicle is, the farther the distance between the warning image and the target vehicle is, so that other vehicles and pedestrians can know the position where the target vehicle is about to reach the warning image earlier, and thus the target vehicle can avoid the vehicle in advance. Conversely, the slower the current speed of the target vehicle, the closer the warning image is to the target vehicle.
And then, determining the projection position information according to the current position information of the target vehicle and the distance between the warning image and the target vehicle.
In an alternative embodiment, when the target vehicle passes through the intersection in a straight-ahead manner, the position where the target vehicle is going to pass is the position right in front of the target vehicle, so that when the target vehicle passes through the intersection in a straight-ahead manner, the position obtained by adding the distance between the warning image and the target vehicle in the vehicle driving direction based on the current position of the vehicle can be regarded as the projected position information.
In an alternative embodiment, in step S30, if the target vehicle is determined to be traveling straight through the intersection according to the predetermined traveling track, the projected position information may be obtained by adding a predetermined distance in the traveling direction of the vehicle based on the current position of the vehicle. In the embodiment of the invention, the projection position information can be determined only according to the pre-judged driving track of the target vehicle without using the real-time driving information of the target vehicle, and the preset distance can be 3m, 5m and the like.
In an alternative embodiment, in step S30, the determining the projection position information according to the real-time driving information and the predicted driving track of the target vehicle specifically includes:
firstly, determining the mode of the target vehicle passing through the intersection according to the pre-judged running track, and if the target vehicle is determined to turn to pass through the intersection according to the pre-judged running track, calculating the predicted track information of the target vehicle according to the real-time running information of the target vehicle and the operation information of the target vehicle.
In an optional embodiment, the real-time running information of the target vehicle includes a yaw angle of the target vehicle in the global coordinate system and a current running speed of the vehicle, the operation information of the target vehicle includes a yaw angle of a current steering wheel in the global coordinate system, and the predicted trajectory information of the target vehicle includes an abscissa, an ordinate and a yaw angle of the target vehicle in the global coordinate system after running for a period of time.
As shown in fig. 5, if the coordinates of the current target vehicle in the global coordinate system are x and y, the yaw angle of the target vehicle with respect to the global coordinate system is Ψ, the longitudinal velocity at the center of the rear axle is v, and the steering angle is δ, the predicted trajectory information of the target vehicle is calculated by the following formula:
where t is a preset running time, t may be a fixed value or a variable value related to the vehicle speed, the value of t is larger when the vehicle speed is lower, and the value of t is smaller when the vehicle speed is higher, for example, the value of t may be 10s, 20s, etc., x is an abscissa of a position, in the global coordinate system, reached after the preset running time, of the vehicle, and y is a position, in the global coordinate system, reached after the preset running time, of the vehicleThe ordinate of the position in the global coordinate system,
is the yaw angle of the vehicle in the global coordinate system when it arrives at (x, y), and L is the distance of the vehicle fore-aft axis.
Then, projection position information is determined based on the predicted trajectory information of the target vehicle. In an alternative embodiment, the predicted trajectory information may be determined as projection location information.
When the projection position information is calculated through the three embodiments, the mode that the target vehicle passes through the intersection is determined according to the pre-judged running track, then the prediction track information whether the target vehicle needs to be predicted or not is determined according to the mode that the target vehicle passes through the intersection, when the target vehicle passes through the intersection straightly, the prediction track information of the target vehicle does not need to be predicted, the projection position information can be determined according to the current position information of the target vehicle, when the target vehicle turns, the prediction track information of the target vehicle needs to be predicted firstly, and then the projection position information is determined according to the prediction track information. In an optional embodiment, the mode that the target vehicle passes through the intersection is not determined in advance according to the pre-determined running track, and no matter which mode the target vehicle passes through the intersection, the predicted track information of the target vehicle is calculated according to the real-time running information of the target vehicle and the operation information of the target vehicle, and then the projection position information is determined according to the predicted track information of the target vehicle.
In an optional embodiment, in step S40, the adjusting the projection device according to the projection information and the position information of the projection device specifically includes:
first, a yaw angle and a pitch angle of the projection apparatus are calculated from the projection position information and the position information of the projection apparatus.
The projection device is then adjusted according to its yaw and pitch angles.
In an alternative embodiment, since the projection device has a certain height, a three-dimensional coordinate system may be established first, and the projection position information and the position information of the projection device may be mapped into the same three-dimensional coordinate system, so as to calculate the yaw angle and the pitch angle of the projection device according to the relative positions of the projection position information and the position information of the projection device in the three-dimensional coordinate system.
For example, as shown in fig. 6, when a three-dimensional coordinate system is established with the coordinates where the projection apparatus perpendicularly intersects the ground as the origin, the yaw angle α and the pitch angle β of the projection apparatus are calculated by the following formulas:
where Xp, Yp represent projection position information in a three-dimensional coordinate system, and H represents a value of the projection apparatus in the z-axis direction.
In an alternative embodiment, a projection device may be installed above the target vehicle, the position where the target vehicle is to arrive is predicted in real time, the position where the target vehicle is to arrive is determined as a projection position, and the projection device is controlled to project the warning image at the projection position.
In an optional embodiment, a plurality of projection devices may also be installed above the target vehicle, the positions to be reached by the target vehicle at different times are predicted in real time, that is, at the current time, the positions to be reached by the target vehicle corresponding to different subsequent times are predicted, the positions to be reached by the plurality of target vehicles are respectively used as projection positions, and the projection devices are controlled to project warning images to the different projection positions respectively, as shown in fig. 7, a continuous travel track of the target vehicle within a period of time may be represented by the plurality of warning images.
An embodiment of the present invention further provides a device for prompting a driving trajectory, as shown in fig. 8, including:
the pre-determined driving trajectory obtaining module 10 is configured to, if the target vehicle is located at the intersection, obtain a pre-determined driving trajectory of the target vehicle passing through the intersection, for details, refer to the description of step S10 in the foregoing embodiment, and no further description is given here.
The to-be-detected region acquiring module 20 is configured to determine the to-be-detected region trajectory according to the pre-determined driving trajectory, for details, refer to the description of step S20 in the foregoing embodiment, and details are not repeated here.
The safety detection module 30 is configured to detect whether a potential safety hazard exists in the region to be detected, for details, refer to the description of step S30 in the foregoing embodiment, and details are not described here again.
If a potential safety hazard exists in the region to be detected, the projection position information determining module 40 is configured to determine the projection position information track according to the real-time driving information of the target vehicle and/or the predicted driving track, for details, refer to the description of step S30 in the foregoing embodiment, and are not described herein again.
The projection module 50 is configured to adjust the projection device according to the projection information and the position information of the projection device, and control the projection device to project the warning image, for details, refer to the description of step S40 in the foregoing embodiment, which is not described herein again.
According to the vehicle driving track prompting device provided by the embodiment of the invention, when a target vehicle is about to pass through an intersection, a region to be detected is determined according to the pre-judged driving track of the target vehicle, whether potential safety hazards exist in the region to be detected is detected, when the potential safety hazards exist in the region to be detected, projection position information is determined according to real-time driving information of the vehicle and/or the pre-judged driving track, projection equipment is adjusted according to the projection position information, and the projection equipment is controlled to project warning images. The area of waiting to detect is the area that the target vehicle will pass through when passing through the crossing, if detect the potential safety hazard in waiting to detect the area, through projecting warning image to the position that the target vehicle is about to pass through, can warn pedestrian and vehicle, avoid other vehicles or pedestrian to reach the position that the target vehicle is about to pass through and produce the accident.
An embodiment of the present invention provides a computer device, as shown in fig. 9, the computer device mainly includes one or more processors 61 and a memory 62, and one processor 61 is taken as an example in fig. 9.
The computer device may further include: an input device 63 and an output device 64.
The processor 61, the memory 62, the input device 63 and the output device 64 may be connected by a bus or other means, and the bus connection is exemplified in fig. 9.
The processor 61 may be a Central Processing Unit (CPU). The Processor 61 may also be other general purpose processors, 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, or combinations thereof. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The memory 62 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by use of the vehicle travel track presentation device, and the like. Further, the memory 62 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 62 may optionally include a memory remotely located from the processor 61, and these remote memories may be connected to the vehicle travel track prompting device via a network. The input device 63 may receive a calculation request (or other numerical or character information) input by a user and generate a key signal input in association with the vehicle travel track prompting device. The output device 64 may include a display device such as a display screen for outputting the calculation result.
Embodiments of the present invention provide a computer-readable storage medium, where the computer-readable storage medium stores computer instructions, and the computer-readable storage medium stores computer-executable instructions, where the computer-executable instructions may execute the vehicle travel track prompting method in any of the above method embodiments. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD) or a Solid State Drive (SSD), etc.; the storage medium may also comprise a combination of memories of the kind described above.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (10)
1. A vehicle driving track prompting method is characterized by comprising the following steps:
if the target vehicle is positioned at the intersection, acquiring a pre-judged running track of the target vehicle passing through the intersection;
determining a region to be detected according to the pre-judged driving track;
detecting whether potential safety hazards exist in the area to be detected, and if the potential safety hazards exist in the area to be detected, determining projection position information according to the real-time running information of the target vehicle and/or the pre-judged running track;
adjusting the projection equipment according to the projection position information and the position information of the projection equipment, and controlling the projection equipment to project a warning image;
the intersection is formed by crossing at least two roads, the crossing position of the roads forms a crossing line,
determining the area to be detected according to the pre-judged driving track, comprising the following steps of:
determining a cross line which is required to pass by the target vehicle when the target vehicle passes through the intersection according to the pre-judged driving track;
if the target vehicle passes through the two crossed lines and the two crossed lines to be passed by the target vehicle are parallel, determining an area surrounded by all the crossed lines in the intersection as an area to be detected;
and if the target vehicle passes through the two crossed lines and the two crossed lines through which the target vehicle passes have intersection points, determining an area defined by the crossed line through which the target vehicle passes and the connecting line of the end points of the crossed line through which the target vehicle passes as an area to be detected.
2. The method of claim 1, wherein obtaining a predicted travel trajectory of a target vehicle through the intersection comprises:
and if the target vehicle has a preset route from a source position to a target position and the preset route has a path point corresponding to the current position of the target vehicle, determining a running route passing through the intersection in the preset route as a pre-judged running track of the target vehicle passing through the intersection.
3. The method according to claim 1 or 2, wherein obtaining a predicted travel trajectory of a target vehicle through the intersection comprises:
if the target vehicle does not have a preset route from a source position to a target position, or if no path point corresponding to the current position of the target vehicle exists in the preset route,
and determining the lane where the target vehicle is located according to the current position of the target vehicle, and determining the pre-judging running track of the target vehicle according to the lane attribute of the lane where the target vehicle is located.
4. The method according to claim 1, wherein detecting whether a potential safety hazard exists in the area to be detected comprises:
acquiring image information of the area to be detected;
and judging whether vehicles or pedestrians exist in the region to be detected according to the image information, and if vehicles or pedestrians exist in the region to be detected, judging that potential safety hazards exist in the region to be detected.
5. The method of claim 1, wherein the real-time travel information of the target vehicle includes a current vehicle speed of the target vehicle, and the determining of the projected location information from the real-time travel information of the target vehicle and the predicted travel trajectory includes:
if the target vehicle is determined to pass through the intersection in a straight-going manner according to the pre-determined running track, determining the distance between the warning image and the target vehicle according to the current speed of the target vehicle;
and determining the projection position information according to the current position information of the target vehicle and the distance between the warning image and the target vehicle.
6. The method of claim 1, wherein determining projected location information based on the real-time travel information of the target vehicle and the predicted travel trajectory comprises:
if the target vehicle turns to pass through the intersection according to the pre-judged running track, calculating predicted track information of the target vehicle according to the real-time running information of the target vehicle and the operation information of the target vehicle;
and determining the projection position information according to the predicted track information of the target vehicle.
7. The method of claim 1, 5 or 6, wherein adjusting the projection device based on the projection information and location information of the projection device comprises:
calculating the yaw angle and the pitch angle of the projection equipment according to the projection position information and the position information of the projection equipment;
and adjusting the projection equipment according to the yaw angle and the pitch angle of the projection equipment.
8. A vehicle travel track presentation device, comprising:
the device comprises a pre-judgment running track acquisition module, a pre-judgment running track acquisition module and a judgment module, wherein the pre-judgment running track acquisition module is used for acquiring a pre-judgment running track of a target vehicle passing through an intersection if the target vehicle is positioned at the intersection;
the to-be-detected area acquisition module is used for determining an area to be detected according to the pre-judged driving track;
the safety detection module is used for detecting whether potential safety hazards exist in the to-be-detected area;
the projection position information determining module is used for determining projection position information according to the real-time running information of the target vehicle and/or the pre-judged running track if the potential safety hazard exists in the region to be detected;
the projection module is used for adjusting the projection equipment according to the projection information and the position information of the projection equipment and controlling the projection equipment to project a warning image;
the intersection is formed by crossing at least two roads, the crossing position of the roads forms a crossing line,
determining the area to be detected according to the pre-judged driving track, comprising the following steps of:
determining a cross line which is required to pass by the target vehicle when the target vehicle passes through the intersection according to the pre-judged driving track;
if the target vehicle passes through the two crossed lines and the two crossed lines to be passed by the target vehicle are parallel, determining an area surrounded by all the crossed lines in the intersection as an area to be detected;
and if the target vehicle passes through the two crossed lines and the two crossed lines through which the target vehicle passes have intersection points, determining an area defined by the crossed line through which the target vehicle passes and the connecting line of the end points of the crossed line through which the target vehicle passes as an area to be detected.
9. A computer device, comprising:
at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to perform the vehicle travel track prompting method of any of claims 1-7.
10. A computer-readable storage medium storing computer instructions for causing a computer to execute a vehicle travel track prompting method according to any one of claims 1 to 7.
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| CN114333369A (en) * | 2021-11-30 | 2022-04-12 | 合众新能源汽车有限公司 | Vehicle driving safety prompting method and device for suburb road and electronic equipment |
| CN114241763A (en) * | 2021-12-14 | 2022-03-25 | 中国电信股份有限公司 | Traffic behavior warning method and device, electronic equipment and computer readable medium |
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| CN207106337U (en) * | 2017-04-10 | 2018-03-16 | 江苏车视杰电子有限公司 | A kind of vehicle blind zone early warning system |
| CN109263541A (en) * | 2018-09-30 | 2019-01-25 | 京东方科技集团股份有限公司 | A kind of vehicle-mounted early warning system, vehicle-mounted method for early warning and computer storage medium |
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