CN115303070A - Vehicle speed reminding method and device and computer readable storage medium - Google Patents
Vehicle speed reminding method and device and computer readable storage medium Download PDFInfo
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- CN115303070A CN115303070A CN202211087184.0A CN202211087184A CN115303070A CN 115303070 A CN115303070 A CN 115303070A CN 202211087184 A CN202211087184 A CN 202211087184A CN 115303070 A CN115303070 A CN 115303070A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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Abstract
The invention discloses a vehicle speed reminding method, vehicle speed reminding equipment and a computer readable storage medium, and relates to the technical field of vehicle control. The method comprises the following steps: acquiring the own vehicle information of the current vehicle, the first vehicle information of the overtaking vehicle of the own vehicle on the adjacent lane and the second vehicle information of the overtaking vehicle of the own vehicle; when the first vehicle information and the self vehicle information meet a preset self vehicle overspeed condition, outputting overspeed reminding information; and outputting slow speed reminding information when the second vehicle information and the own vehicle information meet a preset own vehicle slow speed condition. The invention guarantees the safety and vehicle passing efficiency of the driver when driving without depending on road traffic signs or facilities such as speed-limiting boards and the like.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle speed reminding method, vehicle speed reminding equipment and a computer readable storage medium.
Background
In recent years, in consideration of driving safety, a vehicle is provided with an overspeed reminding function for reminding when the vehicle is overspeed. However, the existing overspeed reminding function identifies the speed limit board on the road, determines the speed limit value, and then determines whether the vehicle is overspeed according to the speed limit value. Therefore, the existing method for reminding overspeed by identifying the speed-limiting board is limited by the construction of the road speed-limiting board, is not suitable for roads lacking speed-limiting signs, and is difficult to ensure the safety of drivers during driving.
Disclosure of Invention
The invention mainly aims to provide a vehicle speed reminding method, and aims to solve the technical problem that the safety of a driver in driving is difficult to guarantee on a road lacking a speed limit sign in the conventional vehicle speed reminding method.
In order to achieve the above object, the present invention provides a vehicle speed reminding method, which comprises the following steps:
acquiring the own vehicle information of the current vehicle, the first vehicle information of the overtaking vehicle of the own vehicle on the adjacent lane and the second vehicle information of the overtaking vehicle;
when the first vehicle information and the self vehicle information meet a preset self vehicle overspeed condition, outputting overspeed reminding information;
and outputting slow speed reminding information when the second vehicle information and the self vehicle information meet a preset self vehicle slow speed condition.
Optionally, before the step of obtaining the own vehicle information of the current vehicle, the first vehicle information of the vehicle overtaken by the own vehicle on the adjacent lane and the second vehicle information of the overtaking own vehicle, the method comprises:
acquiring target information of a moving target, and determining target vehicles on adjacent lanes according to the target information;
and identifying the overtaking vehicle and the overtaking vehicle in the target vehicles according to the relative longitudinal distance change trend of the target vehicles.
Optionally, the target information includes a target identifier, a target category, and a target relative position, and the step of determining a target vehicle on an adjacent lane according to the target information includes:
when the target identification of the moving target is a newly added identification, judging that the moving target is a newly added target;
when the target type of the newly added target is a vehicle, judging that the newly added target is a newly added vehicle;
and when the target relative position of the newly added vehicle is located in an adjacent lane, judging that the newly added vehicle is the target vehicle.
Optionally, before the step of determining that the newly added vehicle is the target vehicle when the target relative position of the newly added vehicle is located in the adjacent lane, the method includes:
acquiring a lane line equation of a lane where a current vehicle is located;
calculating the transverse reference distance of the lane line according to the lane line equation and the relative longitudinal distance of the target relative position of the newly added vehicle;
and when the relative transverse distance of the target relative position is greater than or equal to the transverse reference distance, determining that the target relative position of the newly-added vehicle is located in an adjacent lane.
Optionally, the step of identifying the vehicle overtaking vehicle and the vehicle overtaking vehicle in the target vehicle according to the relative longitudinal distance change trend of the target vehicle includes:
when the relative longitudinal distance variation trend of the target vehicle is a decreasing trend, determining that the target vehicle is an overtaking vehicle by the own vehicle;
and when the relative longitudinal distance change trend of the target vehicle is an increasing trend, determining that the target vehicle is an overtaking self vehicle.
Optionally, the first vehicle information includes a first number of vehicles and a first average vehicle speed, and before the step of outputting the overspeed reminding information when the first vehicle information and the vehicle information satisfy the preset vehicle overspeed condition, the method includes:
judging whether the first vehicle number is larger than a first preset number threshold value in a preset counting period;
if the first vehicle number is larger than a first preset number threshold, judging whether a vehicle speed difference value between the vehicle speed of the vehicle and the first average vehicle speed in the vehicle information is larger than a first preset speed threshold;
and if the vehicle speed difference value between the vehicle speed of the vehicle and the first average vehicle speed is greater than a first preset speed threshold value, judging that the first vehicle information and the vehicle information meet a preset vehicle overspeed condition.
Optionally, the second vehicle information includes a second vehicle number and a second average vehicle speed, and before the step of outputting slow reminding information when the second vehicle information and the vehicle information satisfy a preset vehicle slow condition, the method includes:
judging whether the second vehicle number is larger than a second preset number threshold value in a preset counting period or not;
if the second vehicle number is larger than a second preset number threshold, judging whether the vehicle speed difference value between the vehicle speed of the vehicle and the second average vehicle speed in the vehicle information is larger than a second preset speed threshold;
and if the vehicle speed difference value between the vehicle speed and the second average vehicle speed is greater than a second preset speed threshold value, judging that the second vehicle information and the vehicle information meet a preset vehicle slow speed condition.
Optionally, after the step of obtaining the own vehicle information of the current vehicle, the first vehicle information of the overtaking vehicle by the own vehicle on the adjacent lane and the second vehicle information of the overtaking vehicle, the method further comprises:
when the first vehicle information and the self-vehicle information meet a preset self-vehicle overspeed condition, generating and outputting a first suggested vehicle speed according to a first average vehicle speed in the first vehicle information;
and when the second vehicle information and the self-vehicle information meet a preset self-vehicle slow speed condition, generating and outputting a second suggested vehicle speed according to a second average vehicle speed in the second vehicle information.
In addition, to achieve the above object, the present invention also provides a vehicle speed reminder apparatus including: a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the computer program when executed by the processor implements the steps of the vehicle speed reminding method as described above.
In addition, to achieve the above object, the present invention further provides a computer readable storage medium, having a vehicle speed reminding program stored thereon, which when executed by a processor, implements the steps of the vehicle speed reminding method as described above.
The invention provides a vehicle speed reminding method, which comprises the steps of obtaining the own vehicle information of a current vehicle, the first vehicle information of a vehicle overtaken by the own vehicle on an adjacent lane and the second vehicle information of the overtaking own vehicle; when the first vehicle information and the self vehicle information meet a preset self vehicle overspeed condition, outputting overspeed reminding information; and outputting slow speed reminding information when the second vehicle information and the self vehicle information meet a preset self vehicle slow speed condition. Therefore, the invention can not only warn the driver of overspeed, but also warn the driver of slow speed under the condition of not depending on road traffic signs or facilities such as speed-limiting plates and the like, thereby effectively improving the safety and the vehicle passing efficiency of the driver during driving.
Drawings
FIG. 1 is a schematic flow chart illustrating a first exemplary embodiment of a vehicle speed alert method according to the present invention;
FIG. 2 is a schematic view of a second embodiment of a vehicle speed reminding method according to the invention;
FIG. 3 is a schematic view of a vehicle speed reminding method according to an embodiment of the invention;
FIG. 4 is a flowchart illustrating a vehicle speed warning method according to a third embodiment of the present invention;
FIG. 5 is a block diagram of a signal logic system for an alternate embodiment of the vehicle speed notification method of the present invention;
fig. 6 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention 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, of the 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 term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone.
The terms "first" and "second," and the like in the description and in the claims of the embodiments of the present application, are used for distinguishing between different objects and not for describing a particular order of the objects. For example, the first target object and the second target object, etc. are specific sequences for distinguishing different target objects, rather than describing target objects.
In the embodiments of the present application, the words "exemplary" or "such as" are used herein to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present relevant concepts in a concrete fashion.
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
When the vehicle runs on a road, except for obeying the road traffic regulations, the speed is high within a reasonable speed interval, and the speed is low. On one hand, low-speed running easily causes that vehicles running along the same lane run slowly to influence the rapid and efficient passing of traffic roads, and on the other hand, too slow passing efficiency also brings negative effects to the emotion of other drivers, and even dangerous driving conditions such as air fighting vehicles, intentional vehicle leaving and the like are caused. The overspeed driving can weaken the space cognitive ability and the vehicle speed recognition ability of the driver, increase the fatigue degree of the driver, shorten the reaction time, lengthen the braking distance required when encountering danger and greatly influence the safe driving of the driver.
Aiming at the working condition of overspeed driving, various technical schemes are provided for reminding a driver. For example, an ADAS (Advanced Driving Assistance System) vehicle equipped with an intelligent camera can recognize a speed limit sign of a road through the intelligent camera, and further, the speed limit sign can be used for reminding a driver of speeding. Or limiting the highest speed range of the public transport vehicle, and carrying out voice prompt on the driver when the highest speed range exceeds the reasonable speed range. Aiming at the working condition of low-speed running, the device and the method for reminding the driver of low-speed running are rarely available at present, and even if the device and the method are available, the device and the method are simply used for determining whether the vehicle runs at low speed by setting a fixed low-speed threshold value, so that the applicability is low.
In summary, the manner of determining through the speed limit board in the existing vehicle speed reminding method is limited to overspeed reminding on one hand and construction of a road speed limit board on the other hand, and the manner of determining through a fixed vehicle speed limit is too low in applicability, so that the existing vehicle speed reminding method is poor in applicability on roads lacking speed limit signs, and is difficult to guarantee safety and vehicle passing efficiency when a driver runs.
The vehicle speed reminding method of the invention is described by combining some embodiments as follows:
the main body of the Vehicle speed reminding method of the present invention may be a Vehicle speed reminding device, and the Vehicle speed reminding device may be an ADAS (Advanced Driving Assistance System) controller, a VCU (Vehicle Control Unit), a PC (Personal Computer), a tablet Computer, a portable Computer, or a server.
In one embodiment of the invention, the vehicle information of the current vehicle, the first vehicle information of the overtaking vehicle of the current vehicle on the adjacent lane and the second vehicle information of the overtaking vehicle are obtained; when the first vehicle information and the self vehicle information meet a preset self vehicle overspeed condition, outputting overspeed reminding information; and outputting slow speed reminding information when the second vehicle information and the own vehicle information meet a preset own vehicle slow speed condition. Therefore, the driving condition of the current vehicle in the real-time traffic flow is determined according to the vehicle information of the overtaking vehicle and the overtaking vehicle of the current vehicle on the adjacent lane, namely when the overtaking vehicle is more and/or the average speed of the overtaking vehicle is faster than that of the current vehicle, the driving condition that the current vehicle runs at a low speed in the real-time traffic flow is indicated; when the number of the overtaken vehicles is large and/or the average speed of the overtaken vehicles is lower than that of the current vehicle, the current vehicle is in the driving condition of overspeed running in the real-time traffic flow. Therefore, the invention can not only warn the driver of overspeed but also warn the driver of slow speed without depending on road traffic signs or facilities such as speed-limiting boards, and effectively improves the safety and vehicle passing efficiency of the driver during driving.
Referring to fig. 1, fig. 1 is a flowchart illustrating a vehicle speed reminding method according to a first embodiment of the invention. It should be noted that, although a logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in an order different than that shown or described herein.
A first embodiment of the present invention provides a vehicle speed reminding method, including the steps of:
step S100, acquiring the own vehicle information of the current vehicle, the first vehicle information of the overtaking vehicle of the own vehicle on the adjacent lane and the second vehicle information of the overtaking vehicle;
specifically, the vehicle information of the current vehicle at least includes the vehicle speed of the vehicle, and may further include information such as a lane line of the local lane where the vehicle is located, and a vehicle position. The adjacent lanes may include a left adjacent lane (i.e., a lane outside the lane line to the left of the host vehicle) and a right adjacent lane (i.e., a lane outside the lane line to the right of the host vehicle). The vehicle overtaken by the vehicle can be a target vehicle already overtaken by the current vehicle or a target vehicle to be overtaken by the vehicle (namely, a target vehicle which is not overtaken by the current vehicle but has the vehicle speed less than the vehicle speed of the vehicle). The overrunning vehicle may be a target vehicle that has overrunning the vehicle, or a target vehicle that is about to overrun the vehicle (i.e., a target vehicle that has not overrunning the vehicle but has a speed greater than the speed of the vehicle). It will be appreciated that the relative longitudinal distance between the current vehicle and the target vehicle in front of the host vehicle is typically detected by the sensor, and thus, as the relative longitudinal distance of the target vehicle progressively decreases, it is an indication that the target vehicle has been or is about to be overtaken by the current vehicle. When the relative longitudinal distance is on an increasing trend, it is indicated that the current vehicle has or is about to be overtaken by the target vehicle. And obtaining first vehicle information of the overtaken vehicles by the self vehicle and second vehicle information of the overtaken vehicles on the adjacent lanes, wherein the first vehicle information can comprise a first number of the overtaken vehicles by the self vehicle and a first average vehicle speed, and the second vehicle information can comprise a second number of the overtaken vehicles and a second average vehicle speed.
Step S200, outputting overspeed reminding information when the first vehicle information and the own vehicle information meet a preset own vehicle overspeed condition;
specifically, the preset own-vehicle overspeed condition is a judgment condition that the driving condition of the current vehicle in the real-time traffic flow preset by the manufacturer or the user is overspeed (that is, the current vehicle is too fast relative to other vehicles in the real-time traffic flow), for example, a first number of vehicles overtaken by the own vehicle in the first vehicle information exceeds a first preset number threshold (e.g., 15 vehicles, 20 vehicles, 30 vehicles, etc.) within a preset statistical period (e.g., 5 minutes, 10 minutes, 15 minutes, etc.), or a first number of vehicles overtaken by the own vehicle in the first vehicle information exceeds a first preset number threshold within a preset statistical period, and a vehicle speed difference between a first average vehicle speed of the overtaken by the own vehicle in the first vehicle information and the own vehicle speed in the own vehicle information exceeds a first preset speed threshold (e.g., 10km/h, 15km/h, etc.). When the first vehicle information and the vehicle information meet a preset vehicle overspeed condition, which indicates that the speed of the current vehicle is too high relative to other vehicles in the real-time traffic flow, overspeed reminding information can be output to remind a driver that the speed of the current vehicle is too high and the vehicle needs to be decelerated. The overspeed reminding information can be one or a combination of a plurality of reminding forms such as characters, patterns, symbols, voice, vibration and the like. In this embodiment, whether the driving condition of the current vehicle in the real-time traffic flow is overspeed or not is determined by judging whether the first vehicle information and the own vehicle information meet a preset own overspeed condition or not, so that when the first vehicle information and the own vehicle information meet the preset own overspeed condition, overspeed reminding information is output to remind a user. Therefore, according to the embodiment, whether the speed of the current vehicle is too high in the real-time traffic flow is accurately identified through the first vehicle information of the overtaking vehicle and the current vehicle information, and the driver can be warned of the overspeed without depending on road traffic signs or facilities such as speed-limiting boards, so that the safety of the driver during driving can be effectively guaranteed, and meanwhile, the applicability of the speed reminding method is improved.
Further, the first vehicle information includes a first vehicle number and a first average vehicle speed, and includes, before step S200:
step S210, judging whether the first vehicle number is greater than a first preset number threshold value in a preset counting period;
step S220, if the first vehicle number is larger than a first preset number threshold, judging whether a vehicle speed difference value between the vehicle speed of the vehicle and the first average vehicle speed in the vehicle information is larger than a first preset speed threshold;
step S230, if a vehicle speed difference between the vehicle speed and the first average vehicle speed is greater than a first preset speed threshold, determining that the first vehicle information and the vehicle information meet a preset vehicle overspeed condition.
Specifically, the first vehicle information includes the number of vehicles overtaken by the host vehicle (i.e., a first number of vehicles) and an average vehicle speed of the overtaken vehicles by the host vehicle (i.e., a first average vehicle speed). And then by determining whether the first number of vehicles is greater than a first predetermined number threshold (e.g., 15, 20, 30, etc.) within a predetermined statistical period (e.g., 10 minutes). If the first vehicle number is larger than a first preset number threshold value, it is indicated that more vehicles are overtaken by the current vehicle on the adjacent lane in the real-time traffic flow. If the number of the first vehicles is not greater than a first preset number threshold, it is indicated that no more vehicles are overtaken by the current vehicle on the adjacent lane in the real-time traffic flow, and it can be determined that the first vehicle information and the own vehicle information do not meet a preset own vehicle overspeed condition. And then further judging whether the vehicle speed difference value between the vehicle speed of the vehicle in the vehicle information and the first average vehicle speed is greater than a first preset speed threshold value (such as 10km/h, 15km/h and the like). If the vehicle speed difference value between the vehicle speed of the current vehicle and the first average vehicle speed is larger than a first preset speed threshold value, the fact that the current vehicle exceeds more vehicles on adjacent vehicles is indicated, the vehicle speed of the current vehicle is higher than the sum of the average vehicle speed of the overtaking vehicles and the first preset speed threshold value, the driving condition of the current vehicle in the real-time traffic flow can be considered to be overspeed driving, and it is determined that the first vehicle information and the vehicle information meet a preset vehicle overspeed condition. If the vehicle speed difference between the vehicle speed of the self-vehicle and the first average vehicle speed is not greater than a first preset speed threshold value, it is indicated that although more vehicles are overtaken by the current vehicle on the adjacent lane in the real-time traffic flow, the difference between the vehicle speed of the current vehicle and the first average vehicle speed of the overtaken vehicle is smaller, that is, the vehicle speed of the current vehicle is similar to the first average vehicle speed of the overtaken vehicle, and it can be determined that the first vehicle information and the self-vehicle information do not meet the preset self-vehicle overspeed condition.
And step S300, outputting slow speed reminding information when the second vehicle information and the own vehicle information meet a preset own vehicle slow speed condition.
Specifically, the preset own-vehicle slow speed condition is a judgment condition that the driving condition of the current vehicle in the real-time traffic stream preset by the manufacturer or the user is slow running (i.e. the current vehicle is too slow relative to other vehicles in the real-time traffic stream), for example, a second number of vehicles exceeding own vehicles in the second vehicle information exceeds a second preset number threshold (e.g. 15 vehicles, 20 vehicles, 30 vehicles, etc.) within a preset statistical period (e.g. 5 minutes, 10 minutes, 15 minutes, etc.), or a second number of vehicles exceeding own vehicles in the second vehicle information exceeds a second preset number threshold within a preset statistical period, and a vehicle speed difference between a second average vehicle speed exceeding own vehicles in the second vehicle information and the own vehicle speed in the own vehicle information exceeds a second preset speed threshold (e.g. 10km/h, 15/h, etc.). When the second vehicle information and the vehicle information meet a preset vehicle slow speed condition, the speed of the current vehicle is too slow relative to other vehicles in the real-time traffic flow, and slow speed reminding information can be output to remind a driver that the vehicle speed of the current vehicle is too slow and the vehicle needs to be accelerated. The slow reminding information can be one or a combination of a plurality of reminding forms such as characters, patterns, symbols, voice, vibration and the like. In this embodiment, whether the second vehicle information and the own vehicle information meet a preset own vehicle slow speed condition is judged, and it is determined that the driving condition of the current vehicle in the real-time traffic flow is slow running, so that when the second vehicle information and the own vehicle information meet the preset own vehicle slow speed condition, slow reminding information is output to remind a user. Therefore, according to the embodiment, whether the speed of the current vehicle is too slow in the real-time traffic flow is accurately identified through the second vehicle information of the overtaking vehicle and the current vehicle information, and the driver is warned at a slow speed, so that the safety and the vehicle passing efficiency of the driver during driving can be effectively guaranteed, and meanwhile, the applicability of the vehicle speed reminding method is improved.
Further, the second vehicle information includes a second vehicle number and a second average vehicle speed, and before step S300, the method includes:
step S310, judging whether the second vehicle number is greater than a second preset number threshold value in a preset counting period;
step S320, if the second vehicle number is larger than a second preset number threshold, judging whether the vehicle speed difference value between the vehicle speed of the vehicle and the second average vehicle speed in the vehicle information is larger than a second preset speed threshold;
step S330, if the vehicle speed difference between the vehicle speed and the second average vehicle speed is greater than a second preset speed threshold, determining that the second vehicle information and the vehicle information meet a preset vehicle slow speed condition.
Specifically, the second vehicle information includes the number of vehicles passing the own vehicle (i.e., the second number of vehicles) and the average vehicle speed of the passing own vehicle (i.e., the second average vehicle speed). And then by determining whether the second number of vehicles is greater than a second predetermined number threshold (e.g., 15, 20, 30, etc.) within a predetermined statistical period (e.g., 10 minutes). If the second number of vehicles is larger than a second preset number threshold, it is indicated that more vehicles pass the current vehicle on the adjacent lane in the real-time traffic flow. If the second number of vehicles is not greater than a second preset number threshold, it is indicated that there are no more vehicles passing the current vehicle on the adjacent lane in the real-time traffic flow, and it can be determined that the second vehicle information and the own vehicle information do not meet a preset own vehicle slow speed condition. And then further judging whether the vehicle speed difference value between the vehicle speed of the vehicle and the second average vehicle speed in the vehicle information is greater than a second preset speed threshold value (for example, 10km/h, 15km/h and the like). If the vehicle speed difference value between the vehicle speed of the current vehicle and the second average vehicle speed is larger than a second preset speed threshold value, it is indicated that more vehicles exceed the current vehicle on the adjacent lane in the real-time traffic flow, and the vehicle speed of the current vehicle is lower than the sum of the average vehicle speed of the vehicle exceeding the current vehicle and the second preset speed threshold value, then the driving condition of the current vehicle in the real-time traffic flow can be considered as slow running, and the second vehicle information and the vehicle information are judged to meet the preset vehicle slow speed condition. If the vehicle speed difference between the vehicle speed of the current vehicle and the second average vehicle speed is not larger than a second preset speed threshold value, it is indicated that more vehicles surpass the current vehicle on the adjacent lane in the real-time traffic flow, but the difference between the vehicle speed of the current vehicle and the second average vehicle speed of the surpassing vehicle is smaller, namely the vehicle speed of the current vehicle is similar to the second average vehicle speed of the surpassing vehicle, and then it can be determined that the second vehicle information and the vehicle information do not meet the preset vehicle slow speed condition.
In the first embodiment of the invention, the vehicle information of the current vehicle, the first vehicle information of the overtaking vehicle by the current vehicle on the adjacent lane and the second vehicle information of the overtaking vehicle are obtained; when the first vehicle information and the self vehicle information meet a preset self vehicle overspeed condition, outputting overspeed reminding information; and outputting slow speed reminding information when the second vehicle information and the self vehicle information meet a preset self vehicle slow speed condition. Therefore, the invention can not only warn the driver of overspeed, but also warn the driver of slow speed under the condition of not depending on road traffic signs or facilities such as speed-limiting plates and the like, thereby effectively improving the safety and the vehicle passing efficiency of the driver during driving.
Further, referring to fig. 2, a second embodiment of the present invention provides a vehicle speed reminding method, based on the above embodiment shown in fig. 1, before step S100, including:
step S110, acquiring target information of a moving target, and determining a target vehicle on an adjacent lane according to the target information;
and step S120, identifying the overtaking vehicle and the overtaking vehicle in the target vehicle according to the relative longitudinal distance change trend of the target vehicle.
Referring to fig. 3, fig. 3 is a scene schematic diagram of an embodiment of the vehicle speed reminding method of the present invention, where a camera and a millimeter wave radar may be configured on a current vehicle, where the camera may be used to accurately identify a moving target on a road, and determine a relative speed and a relative position of the moving target with respect to the vehicle. The millimeter wave radar can also be used for detecting the relative speed of the moving target, so that the estimation accuracy of the relative speed of the moving target can be improved by matching with the camera. Therefore, after data collected by the camera and the millimeter wave radar are fused, target information of the moving target is obtained, and the target information can comprise information such as target identification (ID, identity Document), target category (types such as vehicles, pedestrians, roadblocks and unknown objects), target relative speed and target relative position. Then, according to the target information, the target identification, the target category and the target relative position of each moving target can be analyzed, and the target vehicles on the adjacent lanes are determined. And then determining whether the speed of the target vehicle is greater than the speed of the current vehicle according to the relative longitudinal distance change trend of the target vehicle, so as to identify the overtaking vehicle and the overtaking vehicle of the overtaking vehicle in the target vehicle.
Further, the target information includes a target identifier, a target category, and a target relative position, and step S110 includes:
step S111, when the target identification of the moving target is a new identification, judging that the moving target is a new target;
step S112, when the target category of the newly added target is a vehicle, judging that the newly added target is a newly added vehicle;
and S113, when the target relative position of the newly added vehicle is located in an adjacent lane, judging that the newly added vehicle is the target vehicle.
It is understood that the camera and the millimeter wave radar on the vehicle will generally mark the identified moving object with the corresponding object identifier, such as object 001, object 002, object 003, etc. Therefore, whether the moving target is counted or not can be determined by judging whether the target identifier of the moving target is a newly added identifier or not. When the target identification of the moving target is a new identification, the moving target is not counted, and the moving target can be judged to be the new identification; when the target identification of the moving target is not the newly added identification, which indicates that the moving target has been counted, it may be determined that the moving target is a historical target, so that repeated counting of the counted target may be avoided. The target type of each moving target can be identified through the image acquired by the camera, so that whether the newly added target is a newly added vehicle can be determined by judging whether the target type of the newly added target is a vehicle. When the target type of the newly added target is a vehicle, judging that the newly added target is a newly added vehicle; when the target category of the newly added target is not the vehicle, it may be determined that the newly added target is another newly added target. And then whether the target relative position of the newly added vehicle is positioned in the adjacent lane can be determined by acquiring the lane line of the current lane where the current vehicle is positioned and judging whether the target relative position of the newly added vehicle is out of the lane line of the current lane. Namely, if the target relative position of the newly added vehicle is outside the lane line of the lane, the target relative position of the newly added vehicle is positioned in the adjacent lane; and if the target relative position of the newly added vehicle is not outside the lane line of the lane, the target relative position of the newly added vehicle is not positioned in the adjacent lane. And when the target relative position of the newly added vehicle is located in the adjacent lane, judging that the newly added vehicle is the target vehicle. Therefore, the present embodiment determines the target vehicles on the adjacent lanes according to the target information such as the target identification, the target category, and the target relative position of the moving target.
Further, before step S113, the method includes:
step A10, acquiring a lane line equation of a lane where a current vehicle is located;
step A20, calculating the transverse reference distance of the lane line according to the lane line equation and the relative longitudinal distance of the target relative positions of the newly-added vehicles;
and step A30, when the relative transverse distance of the target relative position is greater than or equal to the transverse reference distance, determining that the target relative position of the newly added vehicle is located in an adjacent lane.
Specifically, the lane line of the lane where the current vehicle is located can be identified through the image acquired by the camera, and a lane line equation corresponding to the lane line of the lane where the current vehicle is located is calculated. Then, according to the lane line equation and the relative longitudinal distance of the target relative position of the newly-added vehicle, calculating to obtain the transverse reference distance of the lane line, namely the targetThe relative longitudinal distance of the relative positions is the relative lateral distance of the lane lines. When the relative lateral distance of the target relative position is greater than or equal to the lateral reference distance, which indicates that the target relative position exceeds the lane line, it may be determined that the target relative position of the newly added vehicle is located in an adjacent lane, that is, the newly added vehicle is located in the adjacent lane. Illustratively, the target relative position of the newly added vehicle is (x) target ，y target ) Then the lateral position coordinate corresponding to the relative lateral distance of the newly added vehicle is x target The longitudinal position coordinate corresponding to the relative longitudinal distance is y target The equation of the lane line of the current lane where the vehicle is located is x = c 3 y 3 +c 2 y 2 +c 1 y 1 +c 0 . When | x target |-|c 3 y target 3 +c 2 y target 2 +c 1 y target 1 +c 0 If | ≧ 0, it may be determined that the target relative position of the newly added vehicle is located in the adjacent lane, that is, the newly added vehicle is on the adjacent lane.
Further, step S120 includes:
step S121, when the relative longitudinal distance change trend of the target vehicle is a decreasing trend, determining that the target vehicle is an overtaking vehicle;
and step S122, when the relative longitudinal distance change trend of the target vehicle is an increasing trend, determining that the target vehicle is an overtaking vehicle.
Specifically, the relative longitudinal distance change rate of the target vehicle can be calculated according to the relative longitudinal distance of the target vehicle, and then the relative longitudinal distance change trend of the target vehicle is determined according to the relative longitudinal distance change rate. Illustratively, the relative longitudinal distance changing tendency of the target vehicle is determined to be a decreasing tendency when the relative longitudinal distance changing rate is smaller than a preset decreasing threshold (-1 m/s, -2m/s, -3m/s, etc.), or the relative longitudinal distance changing rate is smaller than a preset decreasing threshold and a decreasing duration of the relative longitudinal distance changing rate being smaller than the preset decreasing threshold exceeds a preset determination duration (2 s, 3s, 5s, etc.). And when the relative longitudinal distance change rate is greater than a preset incremental threshold (1 m/s, 2m/s, 3m/s and the like), or the relative longitudinal distance change rate is greater than a preset incremental threshold and the incremental duration of the relative longitudinal distance change rate which is greater than the preset incremental threshold exceeds a preset determination duration (2 s, 3s, 5s and the like), determining that the relative longitudinal distance change trend of the target vehicle is an incremental trend. When the relative longitudinal distance variation trend of the target vehicle is a decreasing trend, the speed of the target vehicle is smaller than the speed of the current vehicle, and then the target vehicle can be judged to be the overtaking vehicle. When the relative longitudinal distance variation trend of the target vehicle is an increasing trend, the speed of the target vehicle is larger than the speed of the current vehicle, and then the target vehicle can be judged to be the overtaking vehicle. In this embodiment, it is determined whether the speed of the target vehicle is greater than the own vehicle speed of the current vehicle by the trend of change in the relative longitudinal distance between the target vehicle and the current vehicle, so as to determine whether the target vehicle is an overtaking vehicle or an overtaking vehicle.
Further, referring to fig. 4, a third embodiment of the present invention provides a vehicle speed reminding method, based on the above embodiment shown in fig. 1, after step S100, the vehicle speed reminding method of the present embodiment further includes:
step S400, when the first vehicle information and the self-vehicle information meet a preset self-vehicle overspeed condition, generating and outputting a first suggested vehicle speed according to a first average vehicle speed in the first vehicle information;
and step S410, when the second vehicle information and the self vehicle information meet a preset self vehicle slow speed condition, generating and outputting a second suggested vehicle speed according to a second average vehicle speed in the second vehicle information.
Specifically, the Vehicle speed of the current Vehicle is obtained from an ABS (Antilock Brake System), an ESC (Electronic Stability Controller), or a VCU (Vehicle Control Unit), and the target Vehicle is obtained by a camera and/or a millimeter wave radarRelative to the current vehicle's relative speed. The absolute vehicle speed of the target vehicle relative to the ground can be calculated according to the vehicle speed of the vehicle and the relative speed of the target vehicle. Illustratively, the absolute vehicle speed v of the target vehicle on the adjacent lane abs ＝v act +v rel Wherein v is abs Is the absolute speed, v, of the target vehicle relative to the ground on the adjacent lane act Is the speed of the bicycle, v rel The relative speed of the vehicle in the adjacent lane to the current vehicle. And then calculating the average value of the absolute speed of the overtaking vehicle in the target vehicle to obtain a first average speed, and calculating the average value of the absolute speed of the overtaking vehicle in the target vehicle to obtain a second average speed.
In order to further improve the safety and the vehicle passing efficiency of the driver during driving, when the first vehicle information and the own vehicle information meet a preset own vehicle overspeed condition, a first suggested vehicle speed can be generated and output according to a first average vehicle speed in the first vehicle information. For example, the first average vehicle speed may be directly used as the first suggested vehicle speed, and of course, a vehicle speed value smaller than the first average vehicle speed may be used as the first suggested vehicle speed in consideration of the current driving condition of the vehicle in overspeed driving, for example, the first average vehicle speed minus a first preset adjustment value (3 km/h, 5km/h, etc.) is used as the first suggested vehicle speed, or the product of the first average vehicle speed and a first preset adjustment ratio (95%, 90%, etc.) is used as the first suggested vehicle speed. When the second vehicle information and the own vehicle information meet a preset own vehicle slow speed condition, a second suggested vehicle speed can be generated and output according to a second average vehicle speed in the second vehicle information. For example, the second average vehicle speed may be directly used as the second suggested vehicle speed, and of course, a vehicle speed value greater than the second average vehicle speed may be used as the second suggested vehicle speed in consideration of the driving condition that the current vehicle is in a slow driving state, for example, the second average vehicle speed plus a second preset adjustment value (3 km/h, 5km/h, etc.) is used as the second suggested vehicle speed, or a product of the second average vehicle speed and a second preset adjustment ratio value (105%, 110%, etc.) is used as the second suggested vehicle speed. According to the embodiment, when the current vehicle is in the driving working condition of overspeed/slow speed driving, the corresponding suggested vehicle speed is generated and output according to the first average vehicle speed in the first vehicle information or the second average vehicle speed in the second vehicle information, so that the driver can be prompted to drive according to the suggested vehicle speed, and the safety and the vehicle passing efficiency of the driver during driving are further improved.
Referring to fig. 5, fig. 5 is a signal logic system block diagram of an alternative embodiment of the vehicle speed reminding method according to the invention.
As shown in fig. 5, the execution subject of this embodiment is an ADAS controller, the ADAS controller obtains the own vehicle information (such as own vehicle speed) of the current vehicle from a power domain or chassis domain controller such as VCU/ABS/ESC, and obtains the target information such as the target identification (i.e. target ID), target category, target relative speed, target relative position, and lane line where the current vehicle is located from the camera and the millimeter wave radar. And then identifying the overtaking vehicle and the overtaking vehicle on the adjacent lane in the moving target according to the target information of the moving target. And then counting first vehicle information such as a first vehicle number and a first average vehicle number of the overtaking vehicles of the own vehicle, and second vehicle information such as a second vehicle number and a second average vehicle number of the overtaking vehicles of the own vehicle. And then when the first vehicle information and the own vehicle information meet a preset own vehicle overspeed condition, sending overspeed reminding information to an HMI (Human Machine Interface) device through a CAN (Controller Area Network) message so as to display the overspeed reminding information to remind a driver. Similarly, when the second vehicle information and the own vehicle information meet a preset own vehicle slow speed condition, slow speed reminding information is sent to the HMI equipment through the CAN message so as to display the slow speed reminding information to remind a driver. The HMI device can be a meter, a central control host and the like. Further, when the first vehicle information and the self-vehicle information meet a preset self-vehicle overspeed condition, generating and sending a first suggested vehicle speed to the HMI equipment through a CAN message according to a first average vehicle speed in the first vehicle information; and when the second vehicle information and the self vehicle information meet a preset self vehicle slow speed condition, generating and generating a second suggested vehicle speed according to a second average vehicle speed in the second vehicle information, and sending the second suggested vehicle speed to the HMI equipment through a CAN message. In addition, a function switch can be arranged on the HMI equipment and is used for a driver to turn on or off the vehicle function corresponding to the vehicle speed reminding method. When the ADAS controller receives a control instruction of opening or closing the function, the ADAS controller executes the control instruction to open or close the vehicle function corresponding to the vehicle speed reminding method.
As shown in fig. 6, fig. 6 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
Specifically, the Vehicle speed warning device may be an ADAS (Advanced Driving Assistance System) controller, a VCU (Vehicle Control Unit), a PC (Personal Computer), a tablet Computer, a portable Computer, or a server.
As shown in fig. 6, the vehicle speed warning apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the device shown in fig. 6 is not intended to be limiting, and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 6, the memory 1005, which is one type of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a vehicle speed reminder application.
In the device shown in fig. 6, the network interface 1004 is mainly used for connecting a backend server and communicating data with the backend server; the user interface 1003 is mainly used for connecting a client and performing data communication with the client; the processor 1001 may be configured to call the vehicle speed reminder stored in the memory 1005, and perform the following steps:
acquiring the own vehicle information of the current vehicle, the first vehicle information of the overtaking vehicle of the own vehicle on the adjacent lane and the second vehicle information of the overtaking vehicle;
when the first vehicle information and the self vehicle information meet a preset self vehicle overspeed condition, outputting overspeed reminding information;
and outputting slow speed reminding information when the second vehicle information and the own vehicle information meet a preset own vehicle slow speed condition.
Further, the processor 1001 may be configured to call the vehicle speed reminding program stored in the memory 1005, and further perform the following steps:
acquiring target information of a moving target, and determining target vehicles on adjacent lanes according to the target information;
and identifying the overtaking vehicle and the overtaking vehicle in the target vehicles according to the relative longitudinal distance change trend of the target vehicles.
Further, the target information comprises a target identification, a target category and a target relative position; the processor 1001 may be configured to call the vehicle speed reminder stored in the memory 1005, and further perform the following steps:
when the target identification of the moving target is a newly added identification, judging that the moving target is a newly added target;
when the target category of the newly added target is a vehicle, judging that the newly added target is a newly added vehicle;
and when the target relative position of the newly added vehicle is located in the adjacent lane, judging that the newly added vehicle is the target vehicle.
Further, the processor 1001 may be configured to call the vehicle speed reminding program stored in the memory 1005, and further perform the following steps:
acquiring a lane line equation of a lane where a current vehicle is located;
calculating the transverse reference distance of the lane line according to the lane line equation and the relative longitudinal distance of the target relative position of the newly added vehicle;
and when the relative transverse distance of the target relative position is greater than or equal to the transverse reference distance, determining that the target relative position of the newly-added vehicle is located in an adjacent lane.
Further, the processor 1001 may be configured to call the vehicle speed reminding program stored in the memory 1005, and further perform the following steps:
when the relative longitudinal distance variation trend of the target vehicle is a decreasing trend, determining that the target vehicle is a vehicle overtaken by the own vehicle;
and when the relative longitudinal distance change trend of the target vehicle is an increasing trend, determining that the target vehicle is an overtaking self vehicle.
Further, the first vehicle information includes a first vehicle number and a first average vehicle speed, and the processor 1001 may be configured to call the vehicle speed reminding program stored in the memory 1005, and further perform the following steps:
judging whether the first vehicle number is larger than a first preset number threshold value in a preset counting period or not;
if the first vehicle number is larger than a first preset number threshold, judging whether a vehicle speed difference value between the vehicle speed of the vehicle and the first average vehicle speed in the vehicle information is larger than a first preset speed threshold;
and if the vehicle speed difference value between the vehicle speed of the vehicle and the first average vehicle speed is greater than a first preset speed threshold value, judging that the first vehicle information and the vehicle information meet a preset vehicle overspeed condition.
Further, the second vehicle information includes a second vehicle number and a second average vehicle speed, and the processor 1001 may be configured to call the vehicle speed reminding program stored in the memory 1005, and further perform the following steps:
judging whether the second vehicle number is larger than a second preset number threshold value in a preset statistical period;
if the second vehicle number is larger than a second preset number threshold, judging whether a vehicle speed difference value between the vehicle speed of the vehicle and the second average vehicle speed in the vehicle information is larger than a second preset speed threshold;
and if the vehicle speed difference value between the vehicle speed of the vehicle and the second average vehicle speed is greater than a second preset speed threshold value, judging that the second vehicle information and the vehicle information meet a preset vehicle slow speed condition.
Further, the processor 1001 may be configured to call the vehicle speed reminding program stored in the memory 1005, and further perform the following steps:
when the first vehicle information and the self-vehicle information meet a preset self-vehicle overspeed condition, generating and outputting a first suggested vehicle speed according to a first average vehicle speed in the first vehicle information;
and when the second vehicle information and the self vehicle information meet a preset self vehicle slow speed condition, generating and outputting a second suggested vehicle speed according to a second average vehicle speed in the second vehicle information.
In addition, the embodiment of the invention also provides a vehicle, which comprises the vehicle speed reminding device. Of course, it is understood that the vehicle further includes a driving device, a sensing device and other devices for ensuring the normal operation of the vehicle.
In addition, an embodiment of the present invention further provides a computer storage medium, where a computer program is stored on the computer storage medium, and when the computer program is executed by a processor, the operation in the vehicle speed reminding method provided in the foregoing embodiment is implemented, and specific steps are not described herein again.
It should be noted that, in this document, relational terms such as first and second, and the like are only used for distinguishing one entity/operation/object from another entity/operation/object, and do not necessarily require or imply any actual relationship or order between these entities/operations/objects; 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 phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or system that comprises the element.
For the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and reference may be made to the partial description of the method embodiment for relevant points. The above-described apparatus embodiments are merely illustrative, in that elements illustrated as separate components may or may not be physically separate. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the invention. One of ordinary skill in the art can understand and implement it without inventive effort.
The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or the portions contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, a vehicle, or a network device, etc.) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A vehicle speed reminding method is characterized by comprising the following steps:
acquiring the own vehicle information of the current vehicle, the first vehicle information of the overtaking vehicle of the own vehicle on the adjacent lane and the second vehicle information of the overtaking vehicle of the own vehicle;
when the first vehicle information and the self vehicle information meet a preset self vehicle overspeed condition, outputting overspeed reminding information;
and outputting slow speed reminding information when the second vehicle information and the self vehicle information meet a preset self vehicle slow speed condition.
2. The vehicle speed reminding method according to claim 1, wherein before the step of obtaining the own vehicle information of the current vehicle, the first vehicle information of the vehicle overtaken by the own vehicle on the adjacent lane and the second vehicle information of the overtaking own vehicle, the method comprises:
acquiring target information of a moving target, and determining target vehicles on adjacent lanes according to the target information;
and identifying the overtaking vehicle and the overtaking vehicle in the target vehicles according to the relative longitudinal distance change trend of the target vehicles.
3. The vehicle speed reminding method according to claim 2, wherein the target information includes a target identification, a target category and a target relative position, and the step of determining the target vehicle on the adjacent lane according to the target information includes:
when the target identification of the moving target is a newly added identification, judging that the moving target is a newly added target;
when the target category of the newly added target is a vehicle, judging that the newly added target is a newly added vehicle;
and when the target relative position of the newly added vehicle is located in the adjacent lane, judging that the newly added vehicle is the target vehicle.
4. The vehicle speed reminding method according to claim 3, wherein before the step of determining that the newly added vehicle is the target vehicle when the target relative position of the newly added vehicle is in the adjacent lane, the method comprises:
acquiring a lane line equation of a lane where a current vehicle is located;
calculating the transverse reference distance of the lane line according to the lane line equation and the relative longitudinal distance of the target relative position of the newly added vehicle;
and when the relative transverse distance of the target relative position is greater than or equal to the transverse reference distance, determining that the target relative position of the newly-added vehicle is located in an adjacent lane.
5. The vehicle speed reminding method according to claim 2, wherein the step of identifying the overtaking vehicle and the overtaking vehicle from the target vehicles according to the relative longitudinal distance change trend of the target vehicles comprises the following steps:
when the relative longitudinal distance variation trend of the target vehicle is a decreasing trend, determining that the target vehicle is an overtaking vehicle by the own vehicle;
and when the relative longitudinal distance change trend of the target vehicle is an increasing trend, determining that the target vehicle is an overtaking self vehicle.
6. The vehicle speed reminding method according to claim 1, wherein the first vehicle information comprises a first vehicle number and a first average vehicle speed, and before the step of outputting the overspeed reminding information when the first vehicle information and the own vehicle information meet a preset own vehicle overspeed condition, the method comprises the following steps:
judging whether the first vehicle number is larger than a first preset number threshold value in a preset counting period or not;
if the first vehicle number is larger than a first preset number threshold, judging whether a vehicle speed difference value between the vehicle speed of the vehicle and the first average vehicle speed in the vehicle information is larger than a first preset speed threshold;
and if the vehicle speed difference value between the vehicle speed of the vehicle and the first average vehicle speed is greater than a first preset speed threshold value, judging that the first vehicle information and the vehicle information meet a preset vehicle overspeed condition.
7. The vehicle speed reminding method according to claim 1, wherein the second vehicle information includes a second vehicle number and a second average vehicle speed, and before the step of outputting the slow speed reminding information when the second vehicle information and the own vehicle information satisfy a preset own vehicle slow speed condition, the method includes:
judging whether the second vehicle number is larger than a second preset number threshold value in a preset statistical period;
if the second vehicle number is larger than a second preset number threshold, judging whether the vehicle speed difference value between the vehicle speed of the vehicle and the second average vehicle speed in the vehicle information is larger than a second preset speed threshold;
and if the vehicle speed difference value between the vehicle speed and the second average vehicle speed is greater than a second preset speed threshold value, judging that the second vehicle information and the vehicle information meet a preset vehicle slow speed condition.
8. The vehicle speed reminding method according to any one of claims 1 to 7, wherein after the step of obtaining the own vehicle information of the current vehicle, the first vehicle information of the vehicle overtaken by the own vehicle on the adjacent lane and the second vehicle information of the overtaking own vehicle, the method further comprises:
when the first vehicle information and the self vehicle information meet a preset self vehicle overspeed condition, generating and outputting a first suggested vehicle speed according to a first average vehicle speed in the first vehicle information;
and when the second vehicle information and the self-vehicle information meet a preset self-vehicle slow speed condition, generating and outputting a second suggested vehicle speed according to a second average vehicle speed in the second vehicle information.
9. A vehicle speed warning apparatus, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of the vehicle speed reminder method according to any one of claims 1 to 8.
10. A computer readable storage medium, characterized in that a vehicle speed reminder program is stored on the computer readable storage medium, which when executed by a processor implements the steps of the vehicle speed reminder method according to any one of claims 1 to 8.
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