CN113450571A - Traffic intersection-based driving direction reminding method and device and storage medium - Google Patents
Traffic intersection-based driving direction reminding method and device and storage medium Download PDFInfo
- Publication number
- CN113450571A CN113450571A CN202111021440.1A CN202111021440A CN113450571A CN 113450571 A CN113450571 A CN 113450571A CN 202111021440 A CN202111021440 A CN 202111021440A CN 113450571 A CN113450571 A CN 113450571A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- driving
- driving direction
- lane
- traffic intersection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
-
- 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
Abstract
The application provides a traffic intersection-based driving direction reminding method, a traffic intersection-based driving direction reminding device and a storage medium, wherein the method comprises the following steps: acquiring a first road image containing a current driving lane where a vehicle is located according to the intersection prompt information; according to the first road image, identifying a direction indication mark in the current driving lane, and determining a first driving direction corresponding to the current driving lane according to the identification result; acquiring a second driving direction when the vehicle reaches the middle position of the traffic intersection, and determining whether the first driving direction is matched with the second driving direction; and if the first driving direction is not matched with the second driving direction, generating direction reminding information according to the first driving direction, and outputting the direction reminding information. The driving direction of the vehicle at the traffic intersection is reminded, and the vehicle is prevented from driving along the direction indicated by the direction indicating mark.
Description
Technical Field
The application relates to the technical field of intelligent traffic, in particular to a traffic intersection-based driving direction reminding method and device and a storage medium.
Background
The traffic intersection is an intersection point of different roads and is also the scene with the most complex environment in a road network. Because the road conditions of the traffic intersection are complex and changeable, the collected traffic flow is numerous, and the vehicles and pedestrians are distributed more densely, more traffic conflicts and potential safety hazards exist at the traffic intersection. According to data statistics, the traffic accident that the traffic intersection is easy to collide with a third party is taken as a place where people and vehicles densely intersect.
According to the relevant regulations of traffic safety management, when a vehicle arrives at a traffic intersection, the vehicle needs to run according to the drawn direction indicator on the lane, and the vehicle which does not run according to the direction indicator is penalized and deducted. Because the categories of the traffic intersections are disordered, the citizens have great care when driving on the lanes of the traffic intersections, and the occurrence of the event of driving against the direction indication marks is avoided, so that the normal driving order of other vehicles is hindered, and traffic accidents are caused. Therefore, how to effectively remind the vehicle driving direction at the traffic intersection becomes a problem which needs to be solved urgently.
Disclosure of Invention
The application mainly aims to provide a driving direction reminding method, a driving direction reminding device and a storage medium based on a traffic intersection, and aims to remind the driving direction of a vehicle at the traffic intersection so as to avoid the occurrence of an event that the vehicle runs against a direction indicator of a lane.
In a first aspect, the present application provides a driving direction reminding method, including:
acquiring intersection prompting information, wherein the intersection prompting information is used for indicating that a traffic intersection exists in front of a vehicle;
acquiring a first road image containing a current driving lane where the vehicle is located according to the intersection prompt information;
according to the first road image, identifying a direction indication mark in the current driving lane, and determining a first driving direction corresponding to the current driving lane according to an identification result;
acquiring a second driving direction when the vehicle reaches the middle position of the traffic intersection, and determining whether the first driving direction is matched with the second driving direction;
and if the first driving direction is not matched with the second driving direction, generating direction reminding information according to the first driving direction, and outputting the direction reminding information.
In a second aspect, the present application further provides a driving direction reminding device, which includes a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the driving direction reminding method are implemented.
In a third aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the driving direction reminding method as described above.
The application provides a traffic intersection-based driving direction reminding method, a traffic intersection-based driving direction reminding device and a storage medium, and acquires a first road image containing a current driving lane where a vehicle is located according to intersection reminding information; according to the first road image, identifying a direction indication mark in the current driving lane, and determining a first driving direction corresponding to the current driving lane according to the identification result; acquiring a second driving direction when the vehicle reaches the middle position of the traffic intersection, and determining whether the first driving direction is matched with the second driving direction; and if the first driving direction is not matched with the second driving direction, generating direction reminding information according to the first driving direction, and outputting the direction reminding information. The driving direction of the vehicle at the traffic intersection is reminded, so that the event that the vehicle runs against the direction indication mark of the lane is avoided, economic loss or accidents caused by the fact that the vehicle runs according to the wrong direction are avoided, and the safety and the experience of driving the vehicle are improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a driving direction reminding method according to an embodiment of the present application;
fig. 2 is a schematic diagram of a first road image provided in the embodiment;
fig. 3 is a schematic diagram of a plurality of direction indicators provided in the embodiment;
FIG. 4 is a flow chart illustrating sub-steps of the driving direction reminding method of FIG. 1;
FIG. 5 is a schematic view of a traffic intersection according to the present embodiment;
FIG. 6 is another schematic diagram of a traffic intersection provided in the present embodiment;
fig. 7 is a schematic block diagram of a structure of a driving direction reminding device according to an embodiment of the present application.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. 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 flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
The embodiment of the application provides a traffic intersection-based driving direction reminding method and device and a storage medium. The driving direction reminding method can be applied to a driving direction reminding device, the driving direction reminding device can be installed on a motor vehicle, and for example, the driving direction reminding device is a vehicle-mounted intelligent terminal.
It should be noted that the driving direction reminding method can also be applied to a motor vehicle, for example, the motor vehicle obtains intersection reminding information, and the intersection reminding information is used for indicating that a traffic intersection exists in front of the vehicle; acquiring a first road image containing a current driving lane where a vehicle is located according to the intersection prompt information; according to the first road image, identifying a direction indication mark in the current driving lane, and determining a first driving direction corresponding to the current driving lane according to the identification result; acquiring a second driving direction when the vehicle reaches the middle position of the traffic intersection, and determining whether the first driving direction is matched with the second driving direction; and if the first driving direction is not matched with the second driving direction, generating direction reminding information according to the first driving direction, and outputting the direction reminding information.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a driving direction reminding method according to an embodiment of the present application.
As shown in fig. 1, the driving direction reminding method includes steps S101 to S105.
And S101, acquiring intersection prompt information, wherein the intersection prompt information is used for indicating that a traffic intersection exists in front of a vehicle.
The road conditions of the traffic intersection are complex and changeable, the collected traffic flow is numerous, and the vehicles and pedestrians are distributed more densely, so that more traffic conflicts and potential safety hazards exist at the traffic intersection. Therefore, in some cases, when there is a traffic intersection in front of the vehicle, the in-vehicle smart terminal may acquire intersection prompt information indicating that there is a traffic intersection in front of the vehicle.
In one embodiment, intersection prompt information is obtained from the navigation information. When the vehicle uses the navigation function, road information in front of the vehicle is acquired in real time through the navigation system. When the navigation system detects that a traffic intersection exists in front of the vehicle, for example, when the distance between the vehicle and the traffic intersection is smaller than or equal to a preset distance, the navigation system updates the navigation information of the vehicle and acquires intersection prompt information from the navigation information. The preset distance is 200 meters, for example, and the intersection prompting information is that a traffic intersection exists 200 meters ahead of the vehicle, for example, please take care of driving.
In one embodiment, a plurality of road surface image data ahead of a vehicle along a driving route is acquired; determining whether a traffic intersection exists in front of the vehicle according to the plurality of road surface image data; and if the traffic intersection is determined to exist in front of the vehicle, generating intersection prompt information. Specifically, whether a target intersection mark appears in front of the vehicle is determined according to the plurality of road surface image data, if the target intersection mark appears, a traffic intersection is determined to exist in front of the vehicle, wherein the intersection mark comprises a pedestrian crossing mark, a pedestrian crossing forenotice mark, an intersection deceleration line mark and a guide arrow mark.
Exemplarily, a plurality of road surface image data in front of a vehicle are acquired in real time through a vehicle-mounted intelligent terminal with a camera unit inside; inputting a plurality of road surface image data into a preset traffic identification recognition model, and outputting a recognition result of an intersection identification; and determining whether the vehicle is about to arrive at or drive away from the traffic intersection according to the identification result of the intersection identifier. The traffic sign recognition model is used for recognizing the crossing signs, the traffic sign recognition model is obtained by performing iterative training by taking a road surface image set including crossing sign features as a training sample set, the road surface image set includes feature road surface images including the crossing signs under different weather or illumination conditions, and the recognition results include the presence of the crossing signs and the absence of the crossing signs.
In one embodiment, after the intersection prompting information is obtained, the intersection prompting information is output, for example, the intersection prompting information is output in a voice broadcast mode. Illustratively, the intersection prompting information is as follows: there is a traffic intersection in front of the vehicle, please note. It should be noted that, when it is determined that the vehicle is about to arrive at the traffic intersection, intersection prompt information is output to remind the driver, so that the driver has more sufficient time to observe the road condition, and timely perform operations such as deceleration and parking, thereby improving driving safety and effectively reducing the occurrence rate of driving accidents at the traffic intersection.
And S102, acquiring a first road image containing a current driving lane where the vehicle is located according to the intersection prompt information.
And after the intersection prompting information is received, acquiring a first road image containing a current driving lane where the vehicle is located according to the intersection prompting information. The first road image is obtained through a camera device, the first road image can be one or more, and the camera device is a preset camera or a vehicle data recorder, for example. When the number of the first road images is plural, the first road images of the vehicle may be captured at intervals of a preset time, which is not particularly limited in the present embodiment.
For example, when the method is applied to traffic intersection identification, the camera device can be hung above a front windshield in a vehicle, such as on one side of a vehicle traveling data recorder. The driving direction reminding device can also be connected with a preset camera or an automobile data recorder, the preset camera or the automobile data recorder assists the driving direction reminding device to obtain a first road image containing a current driving lane where the vehicle is located, and the driving direction reminding device can be installed at a proper position in the vehicle and can be designed according to practical application scenes.
In one embodiment, an image capturing instruction is generated according to the intersection prompt information; and intercepting a plurality of first road images from the driving record video shot by the driving recorder according to the image intercepting instruction, wherein each first road image comprises a current driving lane where the vehicle is located.
In one embodiment, after intersection prompt information is received, a camera device is started, and a first road image is acquired through the camera device; and after receiving the intersection passing prompt information, turning off the camera device. Avoiding continuously starting the camera device, saving electric energy and prolonging the service life of the camera device.
Illustratively, as shown in fig. 2, fig. 2 is a schematic diagram of a first road image, which includes a first lane 11 and a second lane 12, wherein the second lane 12 is a current driving lane where the vehicle is located.
And S103, identifying the direction indication mark in the current driving lane according to the first road image, and determining a first driving direction corresponding to the current driving lane according to the identification result.
In the first road image, identifying the direction indication mark in the current driving lane to obtain an identification result, wherein the identification result comprises the type information of the direction indication mark in the current driving lane; and determining a first driving direction corresponding to the current driving lane according to the recognition result, for example, determining at least one first driving direction corresponding to the type information according to the type information of the direction indicator. Wherein the first direction of travel includes at least one of a left turn, a right turn, a straight travel, and a turn.
The direction indicating mark comprises a left turning indicating mark, a right turning indicating mark, a straight-going indicating mark and a turning indicating mark; the direction indication marks also comprise indication marks of left turning and straight going, indication marks of right turning and straight going, indication marks of left turning and right turning, and indication marks of left turning and turning around; the direction indicating marks also comprise indicating marks of left turning, straight going and right turning, indicating marks of left turning, straight going and turning, indicating marks of running on a right road and the like.
Illustratively, as shown in fig. 3, the direction indicators include a straight indicator 21, a right-turn and straight indicator 22, a left-turn indicator 23, a left-turn and right-turn indicator 24, a right-turn indicator 25, and an indicator 26 for traveling on the right road. The first running direction corresponding to the straight running indicator 21 is straight running, the first running direction corresponding to the indicator 22 for right turning and straight running is right turning and straight running, the first running direction corresponding to the indicator 23 for left turning is left turning, the first running direction corresponding to the indicator 24 for left turning and right turning is left turning and right turning, the first running direction corresponding to the indicator 25 for right turning is right turning, and the first running direction corresponding to the indicator 26 for running on the right road is straight running.
In one embodiment, as shown in fig. 4, the step of recognizing the direction indicator in the current driving lane according to the first road image includes substeps S1031 to substep S1033.
And a substep S1031 of recognizing a plurality of traveling lanes at the traffic intersection from the first road image.
The first road image comprises an image of a current driving road where the vehicle is located, a traffic intersection is arranged in front of the vehicle, the current driving road where the vehicle is located comprises a plurality of driving lanes at an entrance of the traffic intersection, and one driving lane of the plurality of driving lanes is the current driving lane where the vehicle is located. Accordingly, a plurality of traveling lanes at the traffic intersection are recognized from the first road image, so that the current traveling lane of the vehicle can be determined from the plurality of traveling lanes.
In one embodiment, lane line recognition is carried out on the first road image to obtain a plurality of lane lines at a traffic intersection; and dividing a plurality of driving lanes from the first road image according to every two adjacent lane lines. Specifically, lane line recognition is carried out on a first road image according to a preset lane line condition, and a plurality of lane lines at a traffic intersection are recognized in the first road image; and forming a driving lane by every two adjacent lane lines in the first road image to obtain a plurality of driving lanes.
The preset lane line conditions may include the number of lane lines, the distance between lane lines, a broken line feature, a solid line feature, a color, and the like. It should be noted that every two adjacent lane lines form a lane, and a plurality of driving lanes are divided in the first road image according to every two adjacent lane lines, so that the plurality of driving lanes at the traffic intersection can be accurately identified.
For example, a lane should at least include two lane lines, i.e., a left lane line and a right lane line, and if only the left lane line or the right lane line is detected or no lane line is detected, it indicates that the detection result does not meet the preset lane line condition. For another example, the distance between two lane lines, i.e., the lane width, should meet a criterion, such as 3 meters per lane width of a multi-lane road with more than three levels of traffic, according to which another lane line can be retrieved on the opposite side. For another example, the lane line may have a solid line, a broken line, and a yellow or white color, and the lane line may be more accurately detected from the image based on the solid line feature, the broken line feature, the yellow or white color feature.
In an embodiment, after the lane line recognition is performed on the first road image according to the preset lane line condition, the method further includes: if the recognition result does not accord with the preset lane line condition, generating a corresponding virtual lane line according to the preset lane line condition; and generating a virtual right lane line along the right road edge in the driving direction, and sequentially generating virtual left lane lines on the opposite sides spaced by a preset lane width. Wherein, the detection result is not in line with the condition of the preset lane line and includes: and identifying according to the distance between two lane lines, the solid line characteristic, the dotted line characteristic, the color characteristic and the like of the preset lane line condition, and only detecting the condition of one lane line or not detecting any lane line.
Exemplarily, as shown in fig. 2, lane line recognition is performed on the first road image according to a preset lane line condition, so as to obtain a first lane line 111, a second lane line 112, and a third lane line 113 at the traffic intersection; two driving lanes, namely a first lane 11 and a second lane 12, are divided from the first road image according to every two adjacent lane lines.
And a substep S1032 of determining a current driving lane of the vehicle from the plurality of driving lanes.
The current driving road where the vehicle is located comprises a plurality of driving lanes, and one driving lane in the plurality of driving lanes is the current driving lane where the vehicle is located. The current driving lane of the vehicle is determined from the multiple driving lanes, so that the direction indicator in the current driving lane can be identified, and the first driving direction corresponding to the direction indicator in the current driving lane is determined.
In one embodiment, the absolute value of the slope of each lane line in the first road image is determined, and when the absolute values of the slopes of two adjacent lane lines meet a first preset condition, a target lane formed by the two adjacent lane lines is determined to be a current driving lane of the vehicle. The first preset condition includes that the absolute values of the slopes of two adjacent lane lines are both larger than or equal to a first preset threshold, or two lane lines with the largest absolute values of the slopes are adjacent. It should be noted that, since the field of view and the angle of view of the camera are different, the current driving lane of the vehicle can be accurately determined from the plurality of driving lanes by the slopes of the two adjacent lane lines.
In one embodiment, a center line of each lane in the first road image is generated, and an absolute value of a slope of the center line of each lane is determined; and when the slope absolute value of the center line of the lane meets a second preset condition, determining that the target lane corresponding to the slope absolute value is the current driving lane of the vehicle. The second preset condition comprises that the slope absolute values of the center lines of the lanes are all larger than or equal to a second preset threshold value, or the slope absolute values of the center lines of the lanes are maximum values. It should be noted that, because the field of view and the angle of view of the photographing device are different, the first preset threshold and the second preset threshold may be determined according to actual situations, and are not specifically limited herein.
Exemplarily, as shown in fig. 2, lane line recognition is performed on the first road image according to a preset lane line condition, so as to obtain a first lane line 111, a second lane line 112, and a third lane line 113 at the traffic intersection; two driving lanes, namely a first lane 11 and a second lane 12, are divided from the first road image according to every two adjacent lane lines. The slope of the second center line of the second lane 12 is greater than the slope of the second center line of the first lane 11, and thus the second lane 12 is determined as the current driving lane of the vehicle.
And a substep S1033 of detecting a pattern shape in the current driving lane and determining a direction indication sign in the current driving lane according to the pattern shape.
After the current driving lane is determined, the pattern shape in the current driving lane is detected from the first road image, and the direction indicator in the current driving lane is determined according to the pattern shape, so that the direction indicator drawn on the current driving lane can be accurately determined.
In one embodiment, a thermodynamic diagram of a current driving lane in a first road image is acquired; determining at least one multilateral pattern in a current driving lane through thermodynamic diagrams; and carrying out perspective transformation on each polygonal pattern to obtain a pattern shape corresponding to each polygonal pattern. The current driving lane includes at least one polygon pattern, which is a direction indicator under the view angle of the camera, such as a left turn indicator and a right turn indicator in fig. 2, and the direction indicator under the view angle of the camera can be converted into a direction indicator under the overlooking view angle as shown in fig. 3 only by performing perspective transformation on the polygon pattern, so as to more clearly identify the pattern shape corresponding to the polygon pattern after the perspective transformation.
In an embodiment, the thermodynamic diagram of the current driving lane may be predicted through a full convolution encoding-decoding network, for example, image data of the current driving lane is intercepted from the first road image, and the intercepted image data of the current driving lane is input to the full convolution encoding-decoding network for feature extraction of pixel points, so as to obtain the thermodynamic diagram of the current driving lane. It should be noted that the full convolutional encoding-decoding network includes at least one of a convolutional neural network CNN, a cyclic neural network RNN, a deep belief network DBN, or a generation countermeasure network GAN, such as a classification network AlexNet.
In one embodiment, determining the direction indicator in the current driving lane according to the pattern shape comprises: matching the pattern shapes corresponding to the polygonal patterns with a preset direction indication identifier library; and determining the target direction indicator with the highest matching degree as the direction indicator in the current driving lane. The direction indicator library is pre-stored in a plurality of direction indicators, and the plurality of direction indicators are different in indication type. For example, the direction indicator library includes a straight indicator 21, a right turn and straight indicator 22, a left turn indicator 23, a left turn and right turn indicator 24, a right turn indicator 25, an indicator 26 for traveling on the right road, and the like as shown in fig. 3.
In one embodiment, after the direction indicator in the current driving lane is recognized, the first driving direction corresponding to the current driving lane is determined according to the recognition result. The recognition result comprises type information of the direction indication mark in the current driving lane; and determining a first driving direction corresponding to the current driving lane according to the recognition result, for example, determining at least one first driving direction corresponding to the type information according to the type information of the direction indicator. Wherein the first direction of travel includes at least one of a left turn, a right turn, a straight travel, and a turn.
And step S104, acquiring a second driving direction when the vehicle reaches the middle position of the traffic intersection, and determining whether the first driving direction is matched with the second driving direction.
When the vehicle reaches a traffic intersection, the vehicle needs to run according to the direction indication mark drawn on the lane, and the vehicle which does not run according to the direction indication mark is penalized and deducted. Based on the method, the second driving direction when the vehicle reaches the middle position of the traffic intersection is obtained, and whether the first driving direction is matched with the second driving direction or not is determined, so that whether the vehicle runs against the direction indication mark of the lane or not is verified.
Wherein the first driving direction includes at least one of left turning, right turning, straight running, and turning, and the second driving direction includes left turning, right turning, straight running, parking, or turning. If the first driving direction is matched with the second driving direction, determining that the vehicle does not violate the direction indication mark of the lane to drive; if the first driving direction is not matched with the second driving direction, the direction indicating mark of the vehicle which violates the lane is determined to drive, and the driver in the vehicle can be reminded when the vehicle drives in the direction indicating mark of the lane which violates the lane, so that economic loss or accidents caused by the fact that the vehicle drives in the wrong direction are avoided.
In one embodiment, when a vehicle arrives at a traffic intersection, a traffic light exists at the traffic intersection, and when the color of the traffic light displayed by the traffic light corresponding to the current driving lane is red or yellow, the vehicle needs to stop behind a stop line to wait. Therefore, when the parking action of the vehicle is detected and the starting operation is detected, the vehicle is determined to reach the middle position of the traffic intersection after the preset time; the method includes acquiring operation data of a steering wheel of the vehicle, and determining a second driving direction of the vehicle according to the operation data. It should be noted that the preset time can be flexibly set, for example, the preset time is 5 seconds.
In one embodiment, a plurality of second road images of the vehicle are acquired; determining whether the vehicle reaches the middle position of the traffic intersection or not according to the plurality of second road images; and when the vehicle reaches the middle position of the traffic intersection, acquiring the operation data of the vehicle steering wheel, and determining the second driving direction of the vehicle according to the operation data. The middle position of the traffic intersection can be a rectangular area which is formed by a plurality of zebra stripes or parking loops at the intersection. It should be noted that when the vehicle reaches the middle position of the traffic intersection, the second driving direction of the vehicle is determined according to the operation data of the vehicle steering wheel, so that the actual driving direction of the vehicle is determined, and illegal driving caused by disorder of the types of the traffic intersections is avoided.
Illustratively, after the first driving direction corresponding to the current driving lane is determined, continuously acquiring a plurality of second road images of the current driving lane of the vehicle through the shooting device, and determining whether the vehicle reaches the middle position of the traffic intersection according to the plurality of second road images. When the vehicle reaches the middle position of the traffic intersection, the operation data of the vehicle steering wheel is obtained, and the second driving direction of the vehicle is determined according to the operation data, so that the actual driving direction of the vehicle is determined, economic loss or accidents caused by the fact that the vehicle drives in the wrong direction are avoided, and the safety and the experience of driving the vehicle are improved.
In one embodiment, a target road mark is arranged at an entrance of a traffic intersection; determining whether the vehicle reaches the middle position of the traffic intersection according to the plurality of second road images, comprising: carrying out target detection on each second road image to obtain a target detection result of each second road image; determining the position change information of the vehicle relative to the target road mark according to the target detection result of each second road image; and when the position change information is that the vehicle passes through the target road mark, determining that the vehicle reaches the middle position of the traffic intersection.
The target road sign is arranged at an entrance of a traffic intersection, and is, for example, a zebra crossing, a stop line of the intersection, a pedestrian signal indicator lamp, and the like. It should be noted that, with the target road identifier as a detection target, target detection is performed on each second road image, and the target detection result includes that the second road image includes the target road identifier or that the second road image does not include the target road identifier. According to the target detection result of each second road image, the position change information of the vehicle relative to the target road mark can be determined; when the position change information is that the vehicle passes through the target road mark, determining that the vehicle reaches the middle position of the traffic intersection; and when the position change information indicates that the vehicle does not pass through the target road mark, determining that the vehicle does not reach the middle position of the traffic intersection.
In one embodiment, after determining whether the vehicle reaches the middle position of the traffic intersection according to the plurality of second road images, the method further comprises: when the vehicle reaches the middle position of the traffic intersection, determining the motion information of the vehicle according to the plurality of second road images and a preset optical flow algorithm; and determining a second driving direction of the vehicle according to the motion information of the vehicle. The motion information comprises leftward motion, rightward motion, straight running, stopping motion and turning motion, and the second driving direction of the vehicle can be determined according to the motion information of the vehicle, corresponds to the motion information, and can be determined quickly and accurately.
In one embodiment, determining the motion information of the vehicle according to the plurality of second road images and the preset optical flow algorithm comprises: acquiring the characteristic objects from the plurality of second road images, and acquiring auxiliary information for assisting in determining the relative displacement of the vehicle; determining the relative movement speed between the vehicle and the characteristic object according to the characteristic object and the auxiliary information in the second road images; and determining the motion information of the vehicle according to the motion direction and the absolute value of the relative motion speed. Wherein the features include, but are not limited to: traffic signs, street lights, trees, houses or pedestrians; the auxiliary information comprises the frame speed of the camera, the displacement of the characteristic object in the image, the placing angle of the camera and the driving speed of the vehicle. The relative motion speed of the feature relative to the vehicle to be detected can be obtained through the feature and the auxiliary information, if the absolute value of the relative motion speed is larger than or equal to the preset speed, the motion information of the vehicle is the motion direction of the relative motion speed, and if the absolute value of the relative motion speed is smaller than the preset speed, the motion information of the vehicle is stopped.
On one hand, in the mode of acquiring the feature from the plurality of second road images, the shape of the feature, traffic signs, street lamps, trees and the like have specific shapes, and the region where the feature is located can be judged according to the shape; on the other hand, the color of the feature, traffic signs, trees and the like have relatively fixed colors, and the feature type can be determined by combining the detected regions of the feature. By presetting an optical flow algorithm and according to the features and the auxiliary information in the plurality of second road images, the relative movement speed between the vehicle and the features can be accurately determined.
In an embodiment, it is determined whether the first direction of travel and the second direction of travel match. The first driving direction corresponds to a direction indication mark in the current driving lane, and the first driving direction comprises at least one of left turning, right turning, straight driving and turning; the second driving direction is the driving direction when the vehicle reaches the middle position of the traffic intersection, and the second driving direction comprises left turning, right turning, straight driving, parking or turning around. If the second driving direction of the vehicle corresponds to at least one first driving direction corresponding to the direction indication mark in the current driving lane, determining that the first driving direction is matched with the second driving direction; and if the second driving direction of the vehicle does not correspond to each first driving direction corresponding to the direction indication mark in the current driving lane, determining that the first driving direction is not matched with the second driving direction.
Illustratively, as shown in fig. 5, fig. 5 includes a first travel lane 31, a second travel lane 32, and a third travel lane 33. If the current driving lane of the vehicle is the first driving lane 31, the direction indicator in the first driving lane 31 is identified through the first road image, the direction indicator in the first driving lane 31 can be determined as the straight-going direction indicator, the first driving direction corresponding to the straight-going direction indicator is determined as the straight-going direction, and if the vehicle continues to drive forwards until the vehicle reaches the middle position 30 of the traffic intersection, the second driving direction of the vehicle is determined as the left turn, the first driving direction (straight-going) is determined not to be matched with the second driving direction (left turn). If the vehicle continues to travel forward until the vehicle reaches the intersection intermediate position 30, it is determined that the second direction of travel of the vehicle is also straight, then it is determined that the first direction of travel matches the second direction of travel.
Illustratively, as shown in fig. 6, the first travel lane 41 is the leftmost travel lane, the second travel lane 42 is the middle travel lane, and the third travel lane 43 is the rightmost travel lane. It is assumed that the direction indicators in the first driving lane 41 are left-turn and straight indicators, the direction indicators in the second driving lane 42 are straight indicators, and the direction indicators in the third driving lane 43 are right-turn and straight indicators. If the current driving lane of the vehicle is the first driving lane 41, the first driving direction is determined to be left turning and straight driving through the first road image, and when the position change information of the vehicle relative to the zebra crossing 44 (target road mark) is determined that the vehicle passes through the zebra crossing 44, the vehicle is determined to arrive at the middle position 40 of the traffic intersection. If the second driving direction of the vehicle is straight, it is determined that the first driving direction (left turn and straight) matches the second driving direction (straight).
For example, as shown in fig. 6, assuming that the direction indicator in the first driving lane 41 is a left turn and turn indicator, and the current driving lane of the vehicle is the first driving lane 41, the first driving direction is a left turn and turn, and if the second driving direction of the vehicle is a straight line, it is determined that the first driving direction (the left turn and the turn) does not match the second driving direction (the straight line).
It can be understood that, the above example is explained by taking three lanes of a traffic intersection for one-way driving as an example, and the embodiment of the present application may also be applied to a scene of a traffic intersection with two lanes, four lanes, five lanes, more lanes, or fewer lanes, which is not described again in this embodiment.
And S105, if the first driving direction is not matched with the second driving direction, generating direction reminding information according to the first driving direction, and outputting the direction reminding information.
And if the first driving direction is not matched with the second driving direction, generating direction reminding information according to the first driving direction, and outputting the direction reminding information. The direction reminding information is used for reminding a driver of the vehicle that the vehicle running direction (second running direction) does not accord with the direction (first running direction) indicated by the direction indication mark, and the output mode of the direction reminding information comprises voice broadcasting, display screen display, preset light change and the like. It should be noted that, the driving direction of the vehicle at the traffic intersection is reminded, so that the event that the vehicle runs against the direction indication mark of the lane is avoided, economic loss or accidents caused by the fact that the vehicle runs in the wrong direction are avoided, and the safety and the experience of driving the vehicle are improved.
For example, as shown in fig. 5, if the current driving lane of the vehicle is the first driving lane 31, the first driving direction corresponding to the first driving lane 31 is straight, and the second driving direction of the vehicle is left turn, it is determined that the first driving direction does not match the second driving direction, then direction reminding information is generated according to the first driving direction, and the direction reminding information is: the current lane can only run straight, please keep running straight. And this direction reminding information is exported through voice broadcast's mode to remind the driver of vehicle in time to go according to the straight driving direction that first driving lane 31 corresponds, avoid the vehicle to go economic loss or accident that cause according to wrong direction, promoted the security and the experience nature of driving the vehicle.
For example, as shown in fig. 6, assuming that the direction indicator in the first driving lane 41 is a left-turn and turn indicator, and the current driving lane of the vehicle is the first driving lane 41, the first driving direction is left-turn and turn, and if the second driving direction of the vehicle is straight, it is determined that the first driving direction (left-turn and turn) does not match the second driving direction (straight), direction reminding information is generated according to the first driving direction and the second driving direction, and the direction reminding information is: the current lane can turn left and turn around, does not go straight ahead. The direction reminding information is output in a voice broadcasting and preset light flickering mode, so that a driver of the vehicle is reminded of not continuing to drive according to the straight driving direction, the event that the vehicle runs against the direction indication mark of the lane is avoided, and the safety and the experience of driving the vehicle are improved.
According to the driving direction reminding method provided by the embodiment, the first road image containing the current driving lane where the vehicle is located is obtained according to the intersection reminding information; according to the first road image, identifying a direction indication mark in the current driving lane, and determining a first driving direction corresponding to the current driving lane according to the identification result; acquiring a second driving direction when the vehicle reaches the middle position of the traffic intersection, and determining whether the first driving direction is matched with the second driving direction; and if the first driving direction is not matched with the second driving direction, generating direction reminding information according to the first driving direction, and outputting the direction reminding information. The driving direction of the vehicle at the traffic intersection is reminded, so that the event that the vehicle runs against the direction indication mark of the lane is avoided, economic loss or accidents caused by the fact that the vehicle runs according to the wrong direction are avoided, and the safety and the experience of driving the vehicle are improved.
Referring to fig. 7, fig. 7 is a schematic block diagram illustrating a structure of a driving direction reminding device according to an embodiment of the present application.
As shown in fig. 7, the driving direction reminding apparatus 300 includes a processor 302 and a memory 303 connected by a system bus 301, wherein the memory 303 may include a nonvolatile storage medium and an internal memory.
The non-volatile storage medium may store a computer program. The computer program includes program instructions that, when executed, cause the processor 302 to perform any of the driving direction alert methods.
Processor 302 is used to provide computational and control capabilities to support the operation of the overall driving direction reminder device.
The internal memory provides an environment for running a computer program in the non-volatile storage medium, and the computer program, when executed by the processor 302, may cause the processor 302 to execute any one of the driving direction reminding methods.
The driving direction reminder device 300 may also include a communication interface for communicating, such as sending assigned tasks. Those skilled in the art will appreciate that the configuration shown in fig. 7 is a block diagram of only a portion of the configuration associated with the present application, and does not constitute a limitation on the driving direction warning device to which the present application is applied, and a particular driving direction warning device may include more or less components than those shown in the drawings, or may combine some components, or have a different arrangement of components.
It should be understood that the Processor 302 may be a Central Processing Unit (CPU), and that the Processor 302 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, etc. Where a general purpose processor may be a microprocessor, or the processor 302 may be any conventional processor or the like.
Wherein, in one embodiment, the processor 302 is configured to run a computer program stored in the memory 303 to implement the steps of:
acquiring intersection prompting information, wherein the intersection prompting information is used for indicating that a traffic intersection exists in front of a vehicle;
acquiring a first road image containing a current driving lane where the vehicle is located according to the intersection prompt information;
according to the first road image, identifying a direction indication mark in the current driving lane, and determining a first driving direction corresponding to the current driving lane according to an identification result;
acquiring a second driving direction when the vehicle reaches the middle position of the traffic intersection, and determining whether the first driving direction is matched with the second driving direction;
and if the first driving direction is not matched with the second driving direction, generating direction reminding information according to the first driving direction, and outputting the direction reminding information.
In one embodiment, the processor 302, in implementing the recognizing of the direction indicator in the current driving lane according to the first road image, is configured to implement:
identifying a plurality of driving lanes at the traffic intersection from the first road image;
determining a current driving lane of the vehicle from a plurality of driving lanes;
detecting the shape of the pattern in the current driving lane, and determining the direction indication mark in the current driving lane according to the shape of the pattern.
In one embodiment, the processor 302, in enabling the identifying of the plurality of driving lanes in front of the vehicle from the first road image, is configured to enable:
carrying out lane line identification on the first road image to obtain a plurality of lane lines at the traffic intersection;
and dividing a plurality of driving lanes from the first road image according to every two adjacent lane lines.
In one embodiment, the processor 302, in implementing the detecting the pattern shape in the current driving lane, is configured to implement:
acquiring a thermodynamic diagram of the current driving lane in the first road image;
determining at least one multilateral pattern in the current driving lane through the thermodynamic diagram;
and carrying out perspective transformation on each polygonal pattern to obtain a pattern shape corresponding to each polygonal pattern.
In one embodiment, the processor 302, in implementing the obtaining a second driving direction of the vehicle when reaching the middle position of the traffic intersection, is configured to implement:
acquiring a plurality of second road images of the vehicle;
determining whether the vehicle reaches the middle position of the traffic intersection according to the second road images;
and when the vehicle reaches the middle position of the traffic intersection, acquiring the operation data of the vehicle steering wheel, and determining a second driving direction of the vehicle according to the operation data.
In one embodiment, a target road mark is arranged at an entrance of the traffic intersection; the processor 302, in implementing the determining whether the vehicle reaches the intermediate location of the traffic intersection from the plurality of second road images, is configured to implement:
carrying out target detection on each second road image to obtain a target detection result of each second road image;
determining position change information of the vehicle relative to the target road mark according to a target detection result of each second road image;
and when the position change information indicates that the vehicle passes through the target road mark, determining that the vehicle reaches the middle position of the traffic intersection.
In one embodiment, the processor 302, after implementing the determining whether the vehicle reaches the intermediate position of the traffic intersection from the plurality of second road images, is further configured to implement:
when the vehicle reaches the middle position of the traffic intersection, determining the motion information of the vehicle according to the plurality of second road images and a preset optical flow algorithm;
and determining a second driving direction of the vehicle according to the motion information of the vehicle.
In one embodiment, the first direction of travel includes at least one of a left turn, a right turn, a straight travel, and a turn, and the second direction of travel includes a left turn, a right turn, a straight travel, a stop, or a turn.
It should be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the driving direction reminding device described above may refer to the corresponding process in the foregoing driving direction reminding method embodiment, and is not described herein again.
According to the embodiment of the application, a first road image containing a current driving lane where a vehicle is located is obtained according to intersection prompt information; according to the first road image, identifying a direction indication mark in the current driving lane, and determining a first driving direction corresponding to the current driving lane according to the identification result; acquiring a second driving direction when the vehicle reaches the middle position of the traffic intersection, and determining whether the first driving direction is matched with the second driving direction; and if the first driving direction is not matched with the second driving direction, generating direction reminding information according to the first driving direction, and outputting the direction reminding information. The driving direction of the vehicle at the traffic intersection is reminded, so that the event that the vehicle runs against the direction indication mark of the lane is avoided, economic loss or accidents caused by the fact that the vehicle runs according to the wrong direction are avoided, and the safety and the experience of driving the vehicle are improved.
The embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, where the computer program includes program instructions, and a method implemented when the program instructions are executed may refer to various embodiments of the driving direction reminding method of the present application.
The computer-readable storage medium may be an internal storage unit of the driving direction reminding device described in the foregoing embodiment, for example, a hard disk or a memory of the driving direction reminding device. The computer readable storage medium may also be an external storage device of the driving direction reminding device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the driving direction reminding device.
It is to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items. It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments. While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A driving direction reminding method based on a traffic intersection is characterized by comprising the following steps:
acquiring intersection prompting information, wherein the intersection prompting information is used for indicating that a traffic intersection exists in front of a vehicle;
acquiring a first road image containing a current driving lane where the vehicle is located according to the intersection prompt information;
according to the first road image, identifying a direction indication mark in the current driving lane, and determining a first driving direction corresponding to the current driving lane according to an identification result;
acquiring a second driving direction when the vehicle reaches the middle position of the traffic intersection, and determining whether the first driving direction is matched with the second driving direction;
and if the first driving direction is not matched with the second driving direction, generating direction reminding information according to the first driving direction, and outputting the direction reminding information.
2. The driving direction reminding method according to claim 1, wherein the recognizing the direction indicator in the current driving lane according to the first road image comprises:
identifying a plurality of driving lanes at the traffic intersection from the first road image;
determining a current driving lane of the vehicle from a plurality of driving lanes;
detecting the shape of the pattern in the current driving lane, and determining the direction indication mark in the current driving lane according to the shape of the pattern.
3. The driving direction reminding method according to claim 2, wherein the recognizing a plurality of driving lanes in front of the vehicle from the first road image comprises:
carrying out lane line identification on the first road image to obtain a plurality of lane lines at the traffic intersection;
and dividing a plurality of driving lanes from the first road image according to every two adjacent lane lines.
4. The driving direction notification method according to claim 2, wherein the detecting a pattern shape in the current driving lane includes:
acquiring a thermodynamic diagram of the current driving lane in the first road image;
determining at least one multilateral pattern in the current driving lane through the thermodynamic diagram;
and carrying out perspective transformation on each polygonal pattern to obtain a pattern shape corresponding to each polygonal pattern.
5. The driving direction reminding method according to any one of claims 1 to 4, wherein the obtaining of the second driving direction of the vehicle when reaching the middle position of the traffic intersection comprises:
acquiring a plurality of second road images of the vehicle;
determining whether the vehicle reaches the middle position of the traffic intersection according to the second road images;
and when the vehicle reaches the middle position of the traffic intersection, acquiring the operation data of the vehicle steering wheel, and determining a second driving direction of the vehicle according to the operation data.
6. The driving direction reminding method according to claim 5, wherein a target road sign is provided at an entrance of the traffic intersection; the determining whether the vehicle reaches the middle position of the traffic intersection according to the plurality of second road images comprises:
carrying out target detection on each second road image to obtain a target detection result of each second road image;
determining position change information of the vehicle relative to the target road mark according to a target detection result of each second road image;
and when the position change information indicates that the vehicle passes through the target road mark, determining that the vehicle reaches the middle position of the traffic intersection.
7. The driving direction reminding method according to claim 5, wherein after determining whether the vehicle reaches the middle position of the traffic intersection according to the plurality of second road images, the method further comprises:
when the vehicle reaches the middle position of the traffic intersection, determining the motion information of the vehicle according to the plurality of second road images and a preset optical flow algorithm;
and determining a second driving direction of the vehicle according to the motion information of the vehicle.
8. The driving direction notification method according to any one of claims 1 to 4, wherein the first driving direction includes at least one of a left turn, a right turn, a straight line, and a turn, and the second driving direction includes a left turn, a right turn, a straight line, a parking, or a turn.
9. A driving direction reminding device, characterized in that the driving direction reminding device comprises a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein the computer program, when executed by the processor, implements the steps of the driving direction reminding method according to any one of claims 1 to 8.
10. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the driving direction reminding method according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111021440.1A CN113450571B (en) | 2021-09-01 | 2021-09-01 | Traffic intersection-based driving direction reminding method and device and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111021440.1A CN113450571B (en) | 2021-09-01 | 2021-09-01 | Traffic intersection-based driving direction reminding method and device and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113450571A true CN113450571A (en) | 2021-09-28 |
| CN113450571B CN113450571B (en) | 2021-11-30 |
Family
ID=77819365
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111021440.1A Active CN113450571B (en) | 2021-09-01 | 2021-09-01 | Traffic intersection-based driving direction reminding method and device and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113450571B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115273456A (en) * | 2022-06-14 | 2022-11-01 | 北京车网科技发展有限公司 | Method and system for judging illegal driving of two-wheeled electric vehicle and storage medium |
| CN115534980A (en) * | 2022-12-01 | 2022-12-30 | 腾讯科技（深圳）有限公司 | Traffic information indicating method, device, computer equipment and storage medium |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102941851A (en) * | 2011-07-26 | 2013-02-27 | 现代摩比斯株式会社 | System for improving the reliability of the recognition of traffic lane and method thereof |
| CN106373415A (en) * | 2016-10-20 | 2017-02-01 | 深圳市元征科技股份有限公司 | Lane guiding method and apparatus |
| CN109141464A (en) * | 2018-09-30 | 2019-01-04 | 百度在线网络技术（北京）有限公司 | Navigate lane change reminding method and device |
| CN110379172A (en) * | 2019-07-17 | 2019-10-25 | 浙江大华技术股份有限公司 | The generation method and device of traffic rules, storage medium, electronic device |
| CN110375764A (en) * | 2019-07-16 | 2019-10-25 | 中国第一汽车股份有限公司 | Lane change reminding method, system, vehicle and storage medium |
| CN111192466A (en) * | 2018-11-15 | 2020-05-22 | 长城汽车股份有限公司 | Intersection guiding method and device |
| CN111353471A (en) * | 2020-03-17 | 2020-06-30 | 北京百度网讯科技有限公司 | Safe driving monitoring method, device, equipment and readable storage medium |
| CN112001235A (en) * | 2020-07-13 | 2020-11-27 | 浙江大华汽车技术有限公司 | Vehicle traffic information generation method and device and computer equipment |
| CN112781600A (en) * | 2020-12-25 | 2021-05-11 | 深圳市万集科技有限公司 | Vehicle navigation method, device and storage medium |
| CN113033497A (en) * | 2021-04-30 | 2021-06-25 | 平安科技（深圳）有限公司 | Lane line recognition method, device, equipment and computer-readable storage medium |
| CN113256974A (en) * | 2021-05-11 | 2021-08-13 | 前海七剑科技(深圳)有限公司 | Vehicle violation early warning method, device, equipment and storage medium |
-
2021
- 2021-09-01 CN CN202111021440.1A patent/CN113450571B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102941851A (en) * | 2011-07-26 | 2013-02-27 | 现代摩比斯株式会社 | System for improving the reliability of the recognition of traffic lane and method thereof |
| CN106373415A (en) * | 2016-10-20 | 2017-02-01 | 深圳市元征科技股份有限公司 | Lane guiding method and apparatus |
| CN109141464A (en) * | 2018-09-30 | 2019-01-04 | 百度在线网络技术（北京）有限公司 | Navigate lane change reminding method and device |
| CN111192466A (en) * | 2018-11-15 | 2020-05-22 | 长城汽车股份有限公司 | Intersection guiding method and device |
| CN110375764A (en) * | 2019-07-16 | 2019-10-25 | 中国第一汽车股份有限公司 | Lane change reminding method, system, vehicle and storage medium |
| CN110379172A (en) * | 2019-07-17 | 2019-10-25 | 浙江大华技术股份有限公司 | The generation method and device of traffic rules, storage medium, electronic device |
| CN111353471A (en) * | 2020-03-17 | 2020-06-30 | 北京百度网讯科技有限公司 | Safe driving monitoring method, device, equipment and readable storage medium |
| CN112001235A (en) * | 2020-07-13 | 2020-11-27 | 浙江大华汽车技术有限公司 | Vehicle traffic information generation method and device and computer equipment |
| CN112781600A (en) * | 2020-12-25 | 2021-05-11 | 深圳市万集科技有限公司 | Vehicle navigation method, device and storage medium |
| CN113033497A (en) * | 2021-04-30 | 2021-06-25 | 平安科技（深圳）有限公司 | Lane line recognition method, device, equipment and computer-readable storage medium |
| CN113256974A (en) * | 2021-05-11 | 2021-08-13 | 前海七剑科技(深圳)有限公司 | Vehicle violation early warning method, device, equipment and storage medium |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115273456A (en) * | 2022-06-14 | 2022-11-01 | 北京车网科技发展有限公司 | Method and system for judging illegal driving of two-wheeled electric vehicle and storage medium |
| CN115273456B (en) * | 2022-06-14 | 2023-08-29 | 北京车网科技发展有限公司 | Method, system and storage medium for judging illegal running of two-wheeled electric vehicle |
| CN115534980A (en) * | 2022-12-01 | 2022-12-30 | 腾讯科技（深圳）有限公司 | Traffic information indicating method, device, computer equipment and storage medium |
| CN115534980B (en) * | 2022-12-01 | 2023-03-14 | 腾讯科技（深圳）有限公司 | Traffic information indicating method, device, computer equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113450571B (en) | 2021-11-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109334566B (en) | Method, device, equipment and storage medium for providing feedback outside vehicle | |
| US10296794B2 (en) | On-demand artificial intelligence and roadway stewardship system | |
| AU2019235551B2 (en) | On-demand artificial intelligence and roadway stewardship system | |
| CN113450571B (en) | Traffic intersection-based driving direction reminding method and device and storage medium | |
| US8543254B1 (en) | Vehicular imaging system and method for determining roadway width | |
| JP2015022499A (en) | Driving characteristic determination system | |
| US11607994B2 (en) | Vehicle, object warning apparatus and method | |
| CN110634324A (en) | Vehicle-mounted terminal based reminding method and system for courtesy pedestrians and vehicle-mounted terminal | |
| KR102526583B1 (en) | Deep learning-based intersection object detection and automatic alarm system | |
| JP2008257635A (en) | Vehicle warning device | |
| CN107554422A (en) | The method of alarm for safety of car and automobile safety alarm | |
| US20220292686A1 (en) | Image processing apparatus, image processing method, and computer-readable storage medium storing program | |
| CN113715827A (en) | Driving reminding method and device, electronic equipment and storage medium | |
| JP7255706B2 (en) | Traffic light recognition method and traffic light recognition device | |
| CN115471999A (en) | Method, marking device and system | |
| JP2019012308A (en) | Image processing device and image processing method | |
| JP2015022124A (en) | Driving characteristic determination system | |
| CN113593253A (en) | Method and device for monitoring red light running of vehicle | |
| Prajwal | Vehicle detection and collision avoidance in hairpin curves | |
| CN114078318A (en) | Vehicle violation detection system | |
| KR102618451B1 (en) | Traffic system capable of verifying display of enforcement standard information and method for providing verification information | |
| CN110789449A (en) | Overtaking avoidance reminding method and system based on image recognition technology and vehicle-mounted terminal | |
| KR102645077B1 (en) | Deep learning-based intersection object detection and automatic alarm method | |
| JP7432198B2 (en) | Situation awareness estimation system and driving support system | |
| JP6681044B2 (en) | Reverse running detection system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |