CN114694394B - Special vehicle intelligent prompting method and device - Google Patents
Special vehicle intelligent prompting method and device Download PDFInfo
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- CN114694394B CN114694394B CN202210282660.8A CN202210282660A CN114694394B CN 114694394 B CN114694394 B CN 114694394B CN 202210282660 A CN202210282660 A CN 202210282660A CN 114694394 B CN114694394 B CN 114694394B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/087—Override of traffic control, e.g. by signal transmitted by an emergency vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
Abstract
The invention relates to an intelligent prompting method and device for a special vehicle, comprising the following steps: acquiring sound information and vehicle image information within a certain range of an intersection, identifying the position and the running direction of a special vehicle by utilizing the sound information, and identifying the position of a vehicle windshield by utilizing the vehicle image information; determining an area needing lane changing and yielding or parking and yielding on a lane where the special vehicle is located according to map information of the intersection, position information of the special vehicle and the driving direction; judging whether the position of the vehicle windshield coincides with a lane change yielding or parking yielding area; if the two areas overlap, a prompt message of lane change and yielding or parking and yielding is sent to a set area of the vehicle windshield. According to the particularity of the alarm sound of the special vehicle, the alarm sound sent by the special vehicle is identified and positioned, and prompt information is projected to the cab glass in a remote projection mode to remind the driver of timely avoiding.
Description
Technical Field
The invention relates to the technical field of traffic facilities, in particular to an intelligent prompting method and device for special vehicles.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
When a special vehicle (such as fire protection, first aid and the like) passes through an urban road, other surrounding vehicles are reminded to give way by sending out specific alarm sounds and light rays, the urban road is high in vehicle density, surrounding buildings are dense, the acoustic environment is complex and noise is high, the vehicle is more and more perfect in order to cope with the tightness and sound insulation performance of the noise, the alarm sounds sent out by the special vehicle when the special vehicle performs tasks are difficult to hear by a driver, or the alarm sounds are heard but the sight lines are disturbed by the surrounding vehicles more, so that the driver cannot timely avoid the special vehicle which needs to pass through preferentially due to the fact that the lane in which direction the special vehicle runs is unclear.
Disclosure of Invention
In order to solve the technical problems in the background technology, the invention provides an intelligent prompting method and device for special vehicles, at least one group of prompting devices are arranged at intersections of urban roads, the positions of the prompting devices are acquired by utilizing special warning sounds of the special vehicles, vehicles needing lane changing to give way or parking to give way on the current lanes are determined based on map information of the current intersections and position information of the special vehicles, projection projecting lamps in the prompting devices are utilized to a specific area of an affected vehicle driving window, and projection with prompting information is emitted, so that drivers are prompted to give way or parking to give way for the special vehicles.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the first aspect of the invention provides an intelligent prompting method for a special vehicle, which comprises the following steps:
acquiring sound information and vehicle image information within a certain range of an intersection, identifying the position and the running direction of a special vehicle by utilizing the sound information, and identifying the position of a vehicle windshield by utilizing the vehicle image information;
determining an area needing lane changing and yielding or parking and yielding on a lane where the special vehicle is located according to map information of the intersection, position information of the special vehicle and the driving direction;
judging whether the position of the vehicle windshield coincides with a lane change yielding or parking yielding area; if the two types of information are overlapped, a projection spotlight is used for sending prompt information of lane changing and giving way or parking and giving way to a set area of a vehicle windshield.
The vehicle windshield setting area for receiving the presentation information is a right lower area of the cab front windshield with respect to the driver's view angle.
The prompt information comprises special vehicle type information and avoidance operation information which is needed to be executed by the current vehicle.
Identifying the position and the driving direction of the special vehicle by utilizing the sound information comprises identifying the position and the driving direction of the special vehicle based on the trained model by utilizing the acquired acoustic characteristics of the alarm sound of the special vehicle and the arrival time difference of the sound.
The method comprises the steps of preprocessing vehicle image information, carrying out edge detection on the preprocessed image, and obtaining a windshield contour by searching pixels with the change exceeding a set value; and eliminating the area of the pixels below the set value in the contour information, and identifying and positioning the windshield position of the vehicle on the current picture.
Determining a lane where the special vehicle is located in a region where lane change and yielding or parking and yielding are required according to map information of the intersection, position information of the special vehicle and driving direction, wherein the two-dimensional meshing of the road position of the current intersection forms meshed map information, the position information of the special vehicle and the driving direction are led into the meshed map information, and the lane change and yielding or parking and yielding region of the current intersection is obtained.
The second aspect of the invention provides a device for realizing the method, which comprises a microphone array, an image recognition module and a stepping motor which are connected on a shell, wherein an output shaft of the stepping motor is connected with a projection lamp, the shell is internally connected with a control module, and the control module is connected with a memory, the image recognition module and the stepping motor.
The microphone array and the image recognition module respectively acquire sound information and vehicle image information within a certain range of the intersection, and the position, the driving direction and the position of a vehicle windshield of the special vehicle are recognized through the control module;
the control module determines an area needing lane changing and yielding or parking and yielding on a lane where the special vehicle is positioned according to map information of the intersection, position information of the special vehicle and the driving direction, and judges whether the position of a vehicle windshield is overlapped with the area needing lane changing and yielding or parking and yielding; if the two areas are overlapped, the stepping motor drives the projection spotlight to move, and a prompt message of lane changing and giving way or parking and giving way is sent to a set area of the windshield of the vehicle
Compared with the prior art, the above technical scheme has the following beneficial effects:
1. according to the particularity of the alarm sound of the special vehicle, the alarm sound sent by the special vehicle is identified and positioned, the remote projection mode is utilized to project prompt information to the cab glass, so that the driver is reminded of timely avoiding, the problem that the driver cannot judge the position of the special vehicle because the driver does not hear the alarm sound of the special vehicle or hears the alarm sound for various reasons is effectively avoided, and accordingly the avoidance operation is carried out timely according to the prompt information, and the method is simple, convenient, safe and timely.
2. Because the alarm sounds of the characteristic vehicles are very different sounds compared with the sound environments of the intersections, and the scenes of the intersections are fixed and the position information is simple, the recognition accuracy requirement is low, and only the condition that whether the characteristic vehicles are special vehicles or not is judged according to the sound characteristics and the plane positions and the running directions of the characteristic vehicles are determined.
3. Because vehicles at the intersection enter the solid line and the special conditions are less common in the condition of illegal lane change, the lane position where the special vehicle passes can be rapidly determined after the position information of the special vehicle is obtained; meanwhile, the position of the vehicle at the intersection changes slowly or even is unchanged, the position of the vehicle does not need to be tracked in real time, and the position of the windshield of the vehicle can be obtained in a still picture identification mode, so that quick judgment is realized in a low-cost mode.
4. The shape fixing structure of the vehicle windshield is simple and easy to identify, and the image features of the vehicle windshield are information with larger difference compared with the scene of the intersection, so that the position of the windshield can be quickly positioned, the position of the lane where the vehicle is located is also determined after the position of the windshield is determined, and the process of judging whether the vehicle needs to be allowed or not by using the position of the lane is more rapid.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a schematic diagram of a prompting device provided by one or more embodiments of the present invention for storing a map of a current intersection;
FIG. 2 is a schematic diagram of a prompting device according to one or more embodiments of the present invention for defining a "lane change yield" or "parking yield" area based on a specific vehicle location and map information;
FIG. 3 is a schematic diagram of a prompt device according to one or more embodiments of the present invention for sending a prompt message to a vehicle based on a delimited area;
FIG. 4 is a schematic diagram of a prompting device according to one or more embodiments of the present invention;
FIG. 5 is a schematic diagram of a reminder device according to one or more embodiments of the present invention projecting a reminder message to a location of a driving window of a vehicle;
FIG. 6 is a combination of hints provided by one or more embodiments of the invention;
in the figure: 1. microphone array 2, memory, 3, image recognition module, 4, step motor, 5, projection shot-light, 6, vehicle, 7, instruction information.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Special vehicles, such as ambulances, fire-fighting vehicles, police vehicles, engineering rescue vehicles, military supervision vehicles, etc., with special signs or special vehicle models, which serve as special service and hang special vehicle license plates, are provided with alarms and sign lamps.
As described in the background art, urban road vehicles have high density, surrounding buildings are dense, acoustic environments have complex noise, the tightness and sound insulation performance of the vehicles are more and more perfect for coping with the noise, meanwhile, as smart phones become an indispensable component of daily life, more and more people are used to talk in the vehicles or play music through the mobile phones and the vehicle-mounted sound equipment, the above conditions can make the alarm sound sent by the special vehicles difficult to be heard by the drivers when the special vehicles execute tasks, or the alarm sound is heard but the surrounding vehicles are more, the interference vision leads to unclear driving of the special vehicles from lanes in which directions, and therefore the drivers cannot timely avoid the special vehicles needing to pass through preferentially.
Therefore, the following embodiment provides an intelligent prompting method and device for a special vehicle, which acquire the position of the special vehicle by utilizing the special alarm sound of the special vehicle, determine the vehicle needing lane changing and yielding or parking and yielding on the current lane based on the map information of the current intersection and the position information of the special vehicle, and transmit projection with prompting information to the specific area of the affected vehicle driving window by utilizing the projection spotlight in the prompting device, thereby prompting the driver to change lanes and yielding or parking and yielding for the special vehicle.
Embodiment one:
an intelligent prompting method for a special vehicle comprises the following steps:
acquiring sound information and vehicle image information within a certain range of an intersection, identifying the position and the running direction of a special vehicle by utilizing the sound information, and identifying the position of a vehicle windshield by utilizing the vehicle image information;
determining an area needing lane changing and yielding or parking and yielding on a lane where the special vehicle is located according to map information of the intersection, position information of the special vehicle and the driving direction;
judging whether the position of the vehicle windshield coincides with a lane change yielding or parking yielding area;
if the two areas overlap, a prompt message of lane change and yielding or parking and yielding is sent to a set area of the vehicle windshield.
The method comprises the following steps:
s1, as shown in FIG. 1, firstly, two-dimensional meshing the road position of a current intersection by means of field measurement or map transformation, and storing the two-dimensional meshing into a database;
s2, as shown in FIG. 2, after capturing the alarm sound of the special vehicle, positioning the special vehicle through a BP neural network, determining the grid position of the special vehicle, and determining the lane position of the current intersection to be cleared according to the driving direction of the special vehicle, namely dividing a zone of 'changing lanes to clear' or 'stopping to clear';
s3, as shown in FIG. 3, processing a vehicle image shot at a current intersection through OpenCV (a cross-platform computer vision and machine learning software library) and CAFFE (a convolutional neural network framework), obtaining the position of each vehicle windshield, and determining a vehicle overlapped with a 'lane change yielding' or 'parking yielding' area through simple coordinate judgment;
the position of the windshield of the vehicle represents the position of a lane where the vehicle is located, and if the position of the lane where the vehicle is located coincides with the area of 'lane changing and yielding', the vehicle is considered to need to 'lane changing and yielding'; if the lane position of the vehicle coincides with the parking giving way area, the vehicle is considered to need to be parked giving way; taking the crossroad shown in fig. 3 as an example, a special vehicle directly passes through a pair of crossroads in the crossroad, the lane in which the special vehicle is in the current running direction and an adjacent opposite lane are both the lane changing and passing areas of the vehicle, so that a space for the special vehicle to preferentially pass through is provided, and the other pair of crossroads can generate the crossing lanes for the current lane changing and passing areas and are the parking and passing areas of the vehicle, so that collision is avoided;
and S4, adjusting the remote projection lamp, and sending indication information to vehicle windshields which are in charge of the respective ranges and overlap or cross the range of the yielding area to prompt a driver to change the lane yielding or stop yielding.
The method for acquiring the position information of the special vehicle based on the sound signals by using the constructed model is not limited to a specific model and algorithm, an artificial neural network frame can be constructed in advance through a BP tool kit of MATLAB or autonomous programming, and an alarm sound sample library of the special vehicle can be acquired and built automatically to train the artificial neural network.
Taking the common level crossing situation as an example, one possible training process is as follows:
s1, creating a BP artificial neural network, selecting a proper hidden layer node number according to the number of devices arranged at an intersection, and selecting a Levenberg-Marquardt (Levenberg-Marquardt method, which is a nonlinear least square algorithm) to construct a training function by a training algorithm;
s2, selecting a proper place as a traffic intersection simulation field, and dividing the field range into n groups of plane coordinate grids according to the size of 1m multiplied by 1 m;
and S3, playing special vehicle alarm sounds in each grid, and recording coordinate values of the grids, time differences of sounds reaching the microphone arrays of each group of equipment and sound information (including but not limited to frequency, dispersion characteristics and the like) collected by the microphone arrays as data of training samples.
S4, training the BP artificial neural network by taking the lattice coordinate value, the sound arrival time difference and the sound frequency as training samples;
s5, testing the trained BP artificial neural network, playing alarm sounds on grids with known coordinates, comparing coordinate values identified by the BP network, and correcting errors.
And S6, after the simulated field training is completed, the BP artificial neural network is installed at an actual traffic intersection, and actual measurement correction is carried out by utilizing the alarm sound of the actual special vehicle.
The BP neural network after the successful training in the steps S1-S6 is installed in a controller of a prompting device; when a special vehicle approaches, the devices at different positions transmit the captured information such as the acoustic characteristics of the alarm sound of the special vehicle, the arrival time difference of the sound and the like to the controller for recognition (because the main working scene of the device is a traffic intersection, the scene is fixed, the position information is simple, the recognition accuracy requirement is low, only the special vehicle is required to be judged according to the sound characteristics, the plane position and the running direction of the special vehicle are determined), the ' lane change and ' parking and letting ' range of the current intersection is judged according to the running direction of the special vehicle, the instruction information which needs to be transmitted by the devices at different directions is determined, and because the remotely projected instruction information is mainly based on image patterns, the content is simple and easy to understand, the prompt task can be completed only by only appearing in the visual field of a driver according to a certain frequency, and therefore, the vehicle position does not need to be tracked in real time.
In this embodiment, the warning sound refers to a sound with a prompt meaning and strong characteristics emitted by a special vehicle during the process of participating in traffic, for example, a warning sound of a police car, a whistle sound of a special vehicle such as an ambulance, a fire truck, etc.
The area for projecting the prompt cursor is the lower right corner of the front windshield of the cab (based on the visual angle of the driver), as shown in fig. 6, the area is not the attention focus area, the excessive reaction of the driver can not be caused, and the area is close to the rearview mirror, so that the driver can find the prompt attention area in time; meanwhile, the position is selected to enable the angle of the projected light to be in a low position, so that the vision of people in front and back rows is not affected.
The prompt information consists of an icon which can explain the type of the special vehicle and a prompt icon of the avoidance operation which should be executed by the current vehicle, and a simple text description can be added.
In the prompting process, the alarm sound of the special vehicle is very different sound compared with the sound environment of the intersection, and the scene of the intersection is fixed and the position information is simple, so that the recognition accuracy requirement is low, and the special vehicle is judged according to the sound characteristics and the plane position and the driving direction of the special vehicle are determined.
Because vehicles at the intersection enter the solid line and the special conditions are less common in the condition of illegal lane change, the lane position where the special vehicle passes can be rapidly determined after the position information of the special vehicle is obtained; meanwhile, the position of the vehicle at the intersection changes slowly or even is unchanged, the position of the vehicle does not need to be tracked in real time, and the position of the windshield of the vehicle is acquired in a still picture identification mode, so that quick judgment is realized.
The image features of the vehicle windshield are more information with larger difference than the scene of the intersection, the shape of the windshield is fixed, the structure is simple and easy to identify, the position of the windshield can be quickly positioned, the position of the lane where the vehicle is located is also determined after the position of the windshield is determined, and the process of judging whether to let the vehicle run or not is more rapid by utilizing the position of the lane.
In the whole, the prompting process is used for identifying the windshield of the vehicle in each shot picture as a new target by neglecting the running information of the vehicle, so that the difficulty of tracking the vehicle in real time is avoided; although the identification process is carried out again each time, only the still picture is needed to be identified, and meanwhile, the shape of the windshield glass is easy to be identified in the fixed environment of the traffic intersection, so that high technical cost is not needed when the identification process is repeatedly carried out at a relatively high frequency, the calculation cost for calculating the speed and the position of the vehicle in real time and the manufacturing difficulty of a complex tracking motion system are well avoided, and the task of projecting the indication picture on the windshield glass of the vehicle is realized at a relatively low cost.
Embodiment two:
as shown in fig. 4-5, the present embodiment provides a device required for implementing the above method, including a microphone array 1, an image recognition module 3 and a stepper motor 4 connected to a housing, an output shaft of the stepper motor 4 is connected to a projection lamp 5, and a control module is connected to the housing, and the control module is connected to the memory 2, the image recognition module 3 and the stepper motor 4.
The device realizes the process of suggestion as follows:
s1, shooting intersection vehicle images through an image recognition module 3 (such as a camera); acquiring sound signals within a certain range of an intersection through the microphone array 1;
s2, acquiring a special vehicle alarm sound by using a constructed model based on a sound signal, positioning the special vehicle alarm sound by a device through a BP neural network after capturing the special vehicle alarm sound, and determining a lane change yielding or parking yielding area of a current intersection according to the driving direction after determining the position of the special vehicle;
processing a shot image through an open-source OpenCV visual library and a convolutional neural network image recognition frame CAFFE, converting the shot image into a gray level image, reducing noise of the image through a filtering algorithm, improving contrast of image display, performing edge detection on the image, obtaining a windshield contour through searching pixels with severe change, then eliminating other areas through morphological opening and closing operation, reinforcing windshield contour information, and recognizing and positioning the windshield position of a vehicle on a current picture after further screening;
s3: determining a vehicle needing lane changing and yielding or parking and yielding on a current lane according to the position relation between a vehicle windshield and a lane changing and yielding or parking and yielding area; the stepping motor 4 is driven to adjust the angle of the remote projection lamp 5, and according to the different tasks of the current device, instruction information 7 of 'lane changing and line letting' or 'parking and line letting' is projected to the right lower corner of a windshield of a certain vehicle 6 (or a plurality of vehicles which are different according to the different quantity of the installed projection lamps 5) in the range of the automobile, wherein one possible composition of the instruction information is shown in fig. 6.
S4: repeating steps S1-S3.
The number of the prompting devices is not limited, the number of the devices is increased, the detection accuracy can be remarkably improved, traffic commanders or other institutions can be connected on site or remotely, and the device is used for projecting customized indication information. For example, a plurality of devices can be installed at an intersection or a road section, and the devices are connected in a wired or wireless mode to mutually transmit positioning information of alarm sounds of special vehicles, so that more accurate positioning and simultaneous prompting of more vehicles are realized.
The position of the presentation device is not limited, and at least four presentation devices respectively facing four roads may be provided in the center of the intersection, for example, in order to quickly recognize a windshield of a vehicle, depending on the actual topography of the intersection.
The device can be automatically started after receiving the prompt sound of the special vehicle, and can also receive external instructions to remotely start, stop, clear data and the like.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. An intelligent prompting method for a special vehicle is characterized in that: the method comprises the following steps:
acquiring sound information and vehicle image information within a certain range of an intersection, identifying the position and the running direction of a special vehicle by utilizing the sound information, and identifying the position of a vehicle windshield by utilizing the vehicle image information; identifying the position and the driving direction of the special vehicle by utilizing the sound information comprises identifying the position and the driving direction of the special vehicle based on the trained model by utilizing the acquired acoustic characteristics of the alarm sound of the special vehicle and the arrival time difference of the sound;
determining an area needing lane changing and yielding or parking and yielding on a lane where the special vehicle is located according to map information of the intersection, position information of the special vehicle and the driving direction; according to map information of the crossing, position information and running direction of the special vehicle, determining an area where lane change and yielding or parking and yielding are needed on the lane where the special vehicle is located comprises the following steps:
two-dimensional meshing of the road position of the current intersection to form meshed map information, and guiding the position information and the driving direction of the special vehicle into the meshed map information to obtain a lane change yielding or parking yielding area of the current intersection;
judging whether the position of the vehicle windshield coincides with a lane change yielding or parking yielding area; if the two types of information are overlapped, a projection spotlight is used for sending prompt information of lane changing and yielding or parking and yielding to a set area of a vehicle windshield;
the position of the windshield of the vehicle represents the position of a lane where the vehicle is located, and if the position of the lane where the vehicle is located coincides with the area of 'lane changing and yielding', the vehicle is considered to need to 'lane changing and yielding'; if the lane position of the vehicle coincides with the parking giving way area, the vehicle is considered to need to be parked giving way; the special vehicle directly passes through a pair of intersections in the crossroad, the lane in which the current running direction of the special vehicle is positioned and an adjacent opposite lane are both the lane changing and passing areas of the vehicle, so that a space for the special vehicle to pass preferentially is provided, and the lane which can be crossed to the current lane changing and passing areas in the other pair of intersections is the parking and passing areas of the vehicle, so that collision is avoided;
identifying the position of the windshield of the vehicle by utilizing the vehicle image information comprises the steps of carrying out edge detection on the preprocessed image, and obtaining the contour of the windshield by searching pixels with the change exceeding a set value;
identifying the position of the vehicle windshield using the vehicle image information further includes eliminating areas of the contour information where pixels are below a set point, identifying and locating the windshield position of the vehicle on the current screen.
2. The intelligent prompting method for a special vehicle according to claim 1, wherein: the vehicle windshield setting area for receiving the presentation information is a right lower area of the cab front windshield with respect to the driver's view angle.
3. The intelligent prompting method for the special vehicle as claimed in claim 2, wherein: the prompt information comprises special vehicle type information and avoidance operation information which is required to be executed by the current vehicle.
4. A reminder device for implementing the method of any one of claims 1-3, characterized in that: the projection lamp comprises a microphone array, an image recognition module and a stepping motor which are connected to a shell, wherein an output shaft of the stepping motor is connected with the projection lamp, the shell is internally connected with a control module, and the control module is connected with a memory, the image recognition module and the stepping motor.
5. The intelligent warning apparatus for a special vehicle as set forth in claim 4, wherein: the microphone array and the image recognition module respectively acquire sound information and vehicle image information within a certain range of the intersection, and the position, the driving direction and the position of a vehicle windshield of the special vehicle are recognized through the control module.
6. The intelligent warning apparatus for a special vehicle as set forth in claim 5, wherein: the control module determines an area needing lane changing and yielding or parking and yielding on a lane where the special vehicle is located according to map information of an intersection, position information of the special vehicle and a driving direction, and judges whether the position of a vehicle windshield is overlapped with the area needing lane changing and yielding or parking and yielding; if the two areas are overlapped, the stepping motor drives the projection spotlight to move, and prompt information of lane change and yielding or parking and yielding is sent to a set area of the windshield of the vehicle.
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| CN114694394A (en) | 2022-07-01 |
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