CN115447597A

CN115447597A - Road operation area early warning method, device, equipment and storage medium

Info

Publication number: CN115447597A
Application number: CN202111480429.1A
Authority: CN
Inventors: 王东伟; 雍智凡
Original assignee: Beijing Co Wheels Technology Co Ltd
Current assignee: Beijing Co Wheels Technology Co Ltd
Priority date: 2021-12-06
Filing date: 2021-12-06
Publication date: 2022-12-09
Also published as: WO2023103882A1

Abstract

The disclosure relates to a road operation area early warning method, device, equipment and storage medium. The method comprises the following steps: acquiring a road image of a target vehicle in a forward direction; carrying out road detection on the road image to obtain the lane range of the relevant lane of the target vehicle; detecting a warning device on the road image to obtain the position of the warning device; and if the position of the warning device falls into the lane range, generating early warning information, wherein the early warning information is used for warning the road operation area. According to the embodiment of the disclosure, the road image can be analyzed in real time to accurately predict the road operation area, and the early warning information is sent to the user under the condition that the road operation area is predicted, so that the user can timely avoid the operation area after obtaining the early warning information, the safety of the driving user and the personnel in the operation area is ensured, and the driving experience of the driving user is further ensured.

Description

Road operation area early warning method, device, equipment and storage medium

Technical Field

The present disclosure relates to the field of traffic safety technologies, and in particular, to a method, an apparatus, a device, and a storage medium for early warning of a road operation area.

Background

With the continuous improvement of automobile technology and the development of road transportation industry, more and more users choose to drive automobiles to go out, and the safety of going out is also a constant concern of users.

In order to improve travel safety, a driving assistance module may be configured on the vehicle to assist a user in driving the vehicle through the driving assistance module. However, the current driving assistance module is incomplete in function, and cannot accurately predict an operation area on a road, so that a driver cannot avoid the operation area in time, and therefore, the safety of the driver and personnel in the operation area cannot be guaranteed, and the driving experience of the driver cannot be guaranteed.

Disclosure of Invention

In order to solve the technical problems described above or at least partially solve the technical problems, the present disclosure provides a road work area early warning method, apparatus, device, and storage medium.

In a first aspect, the present disclosure provides a road working area early warning method, including:

acquiring a road image of a target vehicle in a forward direction;

carrying out road detection on the road image to obtain the lane range of the relevant lane of the target vehicle;

detecting a warning device on the road image to obtain the position of the warning device;

and if the position of the warning device falls into the lane range, generating early warning information, wherein the early warning information is used for warning the road operation area.

In a second aspect, the present disclosure provides a road work area early warning device, the device comprising:

a road image acquisition module configured to acquire a road image of a target vehicle in a forward direction;

the lane range determining module is configured for carrying out road detection on the road image to obtain the lane range of a relevant lane of the target vehicle;

the position determining module of the warning device is configured to detect the warning device on the road image to obtain the position of the warning device;

and the early warning information generation module is configured to generate early warning information if the position of the warning device falls into the lane range, and the early warning information is used for warning the road operation area.

In a third aspect, an embodiment of the present disclosure further provides a road working area early warning device, where the device includes:

one or more processors;

a storage device for storing one or more programs,

when the one or more programs are executed by the one or more processors, the one or more processors implement the road working area warning method provided by the first aspect.

In a fourth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the road working area warning method provided in the first aspect.

Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:

according to the road operation area early warning method, device, equipment and storage medium provided by the embodiment of the disclosure, when the road image of the target vehicle in the advancing direction is obtained, the road detection can be performed on the road image to obtain the lane range of the relevant lane of the target vehicle, and the detection of the warning device is performed on the road image to obtain the position of the warning device, so that whether the position of the warning device falls into the lane range or not is accurately determined based on the lane range of the relevant lane of the target vehicle and the position of the warning device, and if the position of the warning device falls into the lane range, the early warning information is generated to warn the road operation area by using the early warning information.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

Fig. 1 is a schematic flow chart of a road operation area early warning method according to an embodiment of the present disclosure;

fig. 2 is a schematic flow chart of another road work area early warning method according to an embodiment of the disclosure;

fig. 3 is a schematic flow chart of another road working area early warning method provided in the embodiment of the present disclosure;

fig. 4 is a schematic flow chart of another road working area early warning method according to an embodiment of the present disclosure;

fig. 5 is a logic diagram of a road operation area early warning method according to an embodiment of the disclosure;

FIG. 6 is a logic diagram of another early warning method for road operation areas according to an embodiment of the disclosure;

FIG. 7 is a logic diagram of yet another road operation area warning method according to an embodiment of the disclosure;

FIG. 8 is a logic diagram of another road work area warning method according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of a road working area early warning device provided in the embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of a road working area early warning device provided in an embodiment of the present disclosure.

Detailed Description

In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.

When a user drives a vehicle to run on an expressway, the speed of the vehicle on the expressway is high, and if the user drives the vehicle for a long time, fatigue is easy to generate, so that the traveling safety of the user cannot be guaranteed. In order to improve the traveling safety of the vehicle, an auxiliary driving module can be configured on the vehicle, and the auxiliary driving module can provide an auxiliary driving function for a user to help the user relieve driving fatigue, however, the defect of reducing driving alertness of the user exists at the same time.

However, the inventor finds that the current driving assistance module is not perfect in function and generally depends on a convolutional neural network to detect elements such as lane lines and vehicles. Because there is serious long tail problem in the convolutional neural network, if there is the road operation region on the road in the vehicle driving the place ahead, be covered with the awl bucket on the road surface in operation region, the road operation region can't be discerned to the convolutional neural network for the driving user can not in time discover the operation region and can not in time avoid the operation region, consequently, can not guarantee driving user and operation region personnel's security, also can not guarantee driving user's driving experience.

In order to solve the above problem, embodiments of the present disclosure provide a road work area early warning method, apparatus, device, and storage medium capable of identifying a road work area.

First, a road work area warning method provided by an embodiment of the present disclosure is described with reference to fig. 1 to 8.

Fig. 1 shows a schematic flow chart of a road working area early warning method provided by the embodiment of the disclosure.

In some embodiments of the present disclosure, the road work area warning method shown in fig. 1 may be performed by an electronic device or a server. The electronic device may include, but is not limited to, a mobile terminal such as a smart phone, a notebook computer, a tablet computer (PAD), a Portable Multimedia Player (PMP), a vehicle mounted terminal (e.g., a car navigation terminal), etc., and a stationary terminal such as a desktop computer, etc. The server may be a cloud server or a server cluster or other devices with storage and computing functions.

As shown in fig. 1, the road work area warning method may include the following steps.

And S110, acquiring a road image of the target vehicle in the advancing direction.

In the embodiment of the disclosure, during the driving of the target vehicle, the electronic device may acquire the road image of the target vehicle in the forward direction in real time, so as to identify the road operation area in the forward direction and perform the road operation area early warning by using the road image in the forward direction.

In the disclosed embodiment, the forward direction may be the direction of travel of the target vehicle.

In the embodiment of the present disclosure, the road image may be road condition information within a preset distance including a forward direction.

Optionally, the traffic information may include at least one of lane line information in front of the target vehicle, driving information of a vehicle in front, and warning device information.

The preset distance may be an area of 100 meters, 200 meters, 500 meters, and the like, which is not limited herein.

Specifically, a front-end image acquisition device may be configured on the target vehicle in advance, and in the driving process of the target vehicle, the front-end image acquisition device may be used to acquire road images in the advancing direction in real time and send the road images to the electronic device, so that the electronic device acquires the road images acquired by the front-end image acquisition device.

Optionally, the front image capturing device may be a monocular camera, a binocular camera, a depth camera, a camera, and the like, which is not limited herein.

And S120, carrying out road detection on the road image to obtain the lane range of the relevant lane of the target vehicle.

In the disclosed embodiment, after the electronic device acquires the road image, road detection may be performed on the road image to determine the lane range of the relevant lane of the target vehicle.

In the disclosed embodiments, the relevant lanes of the target vehicle may include a first lane in which the target vehicle is traveling and a second lane adjacent to the first lane. Specifically, the first lane may be a main lane, and the second lane may include left and right lanes of the main lane.

In the disclosed embodiments, the lane range may be determined according to a lane line range on the relevant lane.

In some embodiments, the lane range may include a first lane and a second lane adjacent to the first lane.

In other embodiments, the lane range may include a lane line corresponding to the first lane.

In still other embodiments, the lane range may include a first lane and a second lane adjacent to the first lane, and a lane line for each lane.

In the embodiment of the present disclosure, optionally, S120 may specifically include the following steps:

s1201, performing image segmentation on the road image to obtain a lane line image;

s1202, determining the position of a lane point based on a pixel value corresponding to the lane point in the lane segmentation image, wherein the position of the lane point is the position of the lane point in a vehicle coordinate system;

s1203, determining a lane range of a related lane of the target vehicle based on the lane point position.

Specifically, the electronic device may input the road image into a pre-trained image segmentation model to obtain a lane line image, determine a pixel value corresponding to a lane point in the lane line image, determine a lane point position in a vehicle coordinate system according to the pixel value corresponding to the lane point and a calibration parameter of the pre-image acquisition device, and then determine a lane range of a relevant lane of the target vehicle according to the lane point position.

Therefore, in the embodiment of the disclosure, the lane line image can be segmented from the road image, and the position of the lane point can be accurately determined based on the pixel value corresponding to the lane point in the lane line image and the calibration parameter of the front image acquisition device, so that the lane range of the relevant lane can be accurately determined based on the position of the lane point.

And S130, detecting the warning device on the road image to obtain the position of the warning device.

In the embodiment of the disclosure, after the electronic device acquires the road image, the electronic device may perform warning device detection on the road image to determine the position of the warning device.

In the embodiment of the disclosure, the warning device may be a device for warning the working area.

Optionally, the warning device may include a cone, a warning board, a pile barrel, and a cylinder, which are not limited herein.

In this disclosure, optionally, S130 may specifically include the following steps:

s1301, carrying out image segmentation on the road image to obtain an image of the warning device;

s1302, determining the position of the warning device based on the pixel value corresponding to the warning device in the warning device image, wherein the position of the warning device is the position of the warning device in a vehicle coordinate system.

Specifically, the electronic device may input the road image into a pre-trained image segmentation model to obtain an image of the warning device, determine a pixel value corresponding to the warning device in the image of the warning device, and determine the position of the warning device in the vehicle coordinate system according to the pixel value corresponding to the warning device and the calibration parameter of the pre-image acquisition device.

Therefore, in the embodiment of the disclosure, the warning device image can be segmented from the road image, and the position of the warning device can be accurately determined based on the pixel value corresponding to the warning device in the warning device image and the calibration parameter of the front image acquisition device.

And S140, if the position of the warning device falls into the lane range, generating early warning information, wherein the early warning information is used for warning the road operation area.

In the embodiment of the disclosure, after the electronic device determines the lane range of the relevant lane and the position of the warning device, whether the position of the warning device falls within the lane range or not can be determined according to the position of the warning device and the lane range, if the position of the warning device falls within the lane range, the warning information is generated, and the warning information is sent out, so that the road operation area is warned by the warning information, and if the position of the warning device does not fall within the lane range, the warning information is not generated.

In some embodiments, the position of the warning device is determined to fall within the lane range if the position of the warning device is within the lane of the associated lane.

In other embodiments, the position of the warning device is determined to fall within the lane range if the position of the warning device is located on a lane line of a first lane of the associated lanes.

In still other embodiments, the position of the warning device is determined to fall within the lane range if the position of the warning device is within the lane of the associated lane and the position of the warning device is on the lane line of the first lane of the associated lane.

Optionally, the warning information may include information such as a lane where the working area is located, a distance between the working area and the target vehicle, and the like, which is not limited herein.

In the embodiment of the disclosure, when the road image of the target vehicle in the forward direction is acquired, the road image can be subjected to road detection to obtain the lane range of the relevant lane of the target vehicle, and the road image is subjected to detection of the warning device to obtain the position of the warning device, so that whether the position of the warning device falls into the lane range or not is accurately determined further based on the lane range of the relevant lane of the target vehicle and the position of the warning device, and if the position of the warning device falls into the lane range, the warning information is generated to warn the road operation area by using the warning information, therefore, the road image can be analyzed in real time to accurately predict the road operation area, and the warning information is sent to the user under the condition that the road operation area is predicted, so that the user can timely avoid the operation area after obtaining the warning information, the safety of the driving user and the personnel in the operation area is ensured, and the driving experience of the driving user is further ensured.

In another embodiment of the present disclosure, the lane range of the relevant lane of the target vehicle and the position of the warning device may be determined in different ways.

In the disclosed embodiment, the lane range may be determined from the road image.

In this disclosure, optionally, S120 may specifically include the following steps:

s1201, detecting a lane line of the road image to obtain a fitted lane line contained in the road image;

and S1202, determining the lane range of the relevant lane of the target vehicle based on the fitted lane line.

The fitted lane line can be obtained by fitting lane points acquired from the road image.

For S1201, optionally, S1201 may specifically include the following steps:

s12011, carrying out lane line detection on the road image to obtain a lane line image;

s12012, projecting the lane line image to a vehicle coordinate system of the target vehicle according to the shooting calibration parameters corresponding to the shooting road image to obtain a lane line projection point;

s12013, fitting the lane line projection points corresponding to the target lane according to preset fitting parameters to obtain a fitted lane line.

Specifically, the electronic device may input the road image into a pre-trained image segmentation model to perform lane line detection on the road image to obtain a lane line image, then project the lane line image to a vehicle coordinate system of the target vehicle according to shooting calibration parameters corresponding to the shooting road image to obtain lane line projection points, fit the lane line projection points corresponding to the target lane according to preset fitting parameters to obtain a curve equation, and use the obtained curve equation as a fitted lane line.

Alternatively, the image segmentation model may be a convolutional neural network, a deep learning network, or the like, which is not limited herein.

Optionally, the shooting calibration parameters corresponding to the shooting of the road image may include internal parameters and external parameters of a front-mounted image capturing device on the target vehicle.

Specifically, the electronic device may use the shooting calibration parameters corresponding to the shooting road image as a mapping relationship between an image coordinate system and a vehicle coordinate system, and project the lane line image to the vehicle coordinate system of the target vehicle based on the mapping relationship to obtain the lane line projection point.

Optionally, the preset fitting parameters may include fitting coefficients for obtaining the orders of the curve equation. The curve equation may be a cubic equation such that the resulting fitted lane line is a cubic fitted curve.

For S1202, optionally, S1202 may specifically include the following steps:

s12021, respectively determining the position of the target vehicle and the positions of all fitting points on the fitting lane line;

s12022, determining the lane range of the relevant lane of the target vehicle based on the position of the target vehicle and the positions of all fitted points on the fitted lane line.

The position of the target vehicle can be determined according to the real-time coordinates of the target vehicle in the vehicle coordinate system.

The position of the fitting point can be determined according to the coordinates of the fitting point in the vehicle coordinate system.

Specifically, the electronic device may determine a real-time coordinate of the target vehicle in the vehicle coordinate system according to the positioning information and the vehicle coordinate system acquired by the positioning device on the target vehicle, to obtain a position of the target vehicle, and determine a lane where the target vehicle travels based on the position of the target vehicle, that is, determine a first lane and a second lane adjacent to the first lane; meanwhile, determining the positions of all the fitted points on the fitted lane according to the coordinates of the fitted points in the vehicle coordinate system to obtain the lane line range of each lane line on the relevant lane; and then determining the lane range of the relevant lane of the target vehicle according to the lane driven by the target vehicle and the lane range of each lane line on the relevant lane.

Therefore, in the embodiment of the disclosure, the lane line detection may be performed on the road image to obtain the lane line image, the lane line projection points may be determined according to the lane line image and the shooting calibration parameters corresponding to the shooting road image, and the lane line projection points may be fitted to obtain the fitted lane line, so as to accurately determine the lane range based on the position of the target vehicle and the position of the fitted points on the fitted lane line.

In the embodiment of the disclosure, the position of the warning device can be determined according to the road image.

In the embodiment of the present disclosure, optionally, S130 may specifically include the following steps:

s1301, warning device detection is carried out on the road image, and a warning device image is obtained.

S1302, determining the position of the warning device based on the warning device image.

For S1301, optionally, S1301 may specifically include the following steps:

and S13011, inputting the road image into a pre-trained image segmentation model, and detecting the warning device on the road image by using the image segmentation model to obtain a warning device image.

The warning device image may be a warning device detection frame.

As for S1302, optionally, S1302 may specifically include the following steps:

s13021, projecting the warning device image to a vehicle coordinate system of the target vehicle according to the shooting calibration parameters corresponding to the road image to obtain a warning device projection point;

s13022, selecting a target projection point from the projection points of the warning device, wherein the target projection point comprises a lower left corner projection point and a lower right corner projection point of the image of the warning device;

and S13023, taking the middle point of the projection point of the lower left corner and the projection point of the lower right corner as the position of the warning device.

Specifically, the electronic device may project the warning device image to a vehicle coordinate system of the target vehicle according to shooting calibration parameters corresponding to the shot road image to obtain warning device projection points, then select a lower left corner projection point and a lower right corner projection point from the warning device projection points, calculate midpoints of the lower left corner projection point and the lower right corner projection point based on projection positions corresponding to the lower left corner projection point and the lower right corner projection point, and use the lower left corner projection point and the lower right corner projection point as positions of the warning device.

Alternatively, the midpoint between the lower left corner projection point and the lower right corner projection point may be represented as cone _ vcs _ c [ k ].

Therefore, in the embodiment of the disclosure, the warning device can be detected on the road image to obtain the warning device image, the projection point of the warning device under the vehicle coordinate system is determined according to the warning device image and the shooting calibration parameters corresponding to the road image, and the position of the warning device is accurately determined according to the lower left corner projection point and the lower right corner projection point in the projection point of the warning device.

In another embodiment of the present disclosure, before generating the warning information, it may be determined whether the position of the warning device falls within a lane range according to a maximum distance between the warning device and a fitted lane line corresponding to any lane, or whether the position of the warning device falls within a lane range according to the number of warning devices on each fitted lane line corresponding to the first lane.

In some embodiments of the present disclosure, before generating the warning information, it may be determined whether the position of the warning device falls within a lane range according to a maximum distance between the warning device and a fitted lane line corresponding to any lane.

Fig. 2 shows a schematic flow chart of another road work area early warning method provided by the embodiment of the disclosure.

As shown in fig. 2, the road working area warning method may include the following steps.

And S210, acquiring a road image of the target vehicle in the advancing direction.

S210 is similar to S110, and is not described herein again.

And S220, carrying out lane line detection on the road image to obtain a fitted lane line contained in the road image.

And S230, determining the lane range of the relevant lane of the target vehicle based on the fitted lane line.

In this embodiment of the present disclosure, optionally, while in S230, the method may further include the following steps:

s2301, based on the fitted lane lines, calculating the width of each lane in the related lanes.

Specifically, the electronic device may obtain a plurality of continuous frames of road images, calculate a distance between two adjacent fitted lane lines according to positions of lane points on two adjacent fitted lane lines in the fitted lane line corresponding to each frame of road image, then calculate an average value of the distance calculated based on the distances obtained from all the frames of road images, and use the average value of the distance as the width of each lane.

Alternatively, the width of each lane may be expressed as lane _ width _ avr _ [ j ].

S240, detecting the warning device on the road image to obtain the position of the warning device.

S240 is similar to S130, and is not described herein again.

And S250, calculating the maximum distance of the fitted lane line corresponding to any lane by the warning device according to the position of the warning device aiming at any lane in the related lanes.

In the disclosed embodiment, the lane range may include a first lane and a second lane adjacent to the first lane, the first lane being a lane in which the target vehicle is traveling.

In the embodiment of the disclosure, the electronic device may obtain continuous multiple frames of road images, determine a fitted lane line of any lane of a related lane for a fitted lane line corresponding to each frame of road image, then calculate a maximum distance between the warning device and the fitted lane line corresponding to any lane according to a position of the warning device and the fitted lane line corresponding to any lane, thereby calculating a maximum distance based on each frame of road image, then calculate a maximum distance average value based on the maximum distances calculated by all frames of road images, and use the maximum distance average value as a maximum distance between the warning device and the fitted lane line corresponding to any lane.

In some embodiments, if a left fitted lane line and a right fitted lane line exist in any lane, the distance between the warning device and the left fitted lane line and the distance between the warning device and the right fitted lane line are calculated according to the position of the warning device and the fitted lane line corresponding to any lane, and the maximum value of the calculated distances is taken as the maximum distance between the warning device and the fitted lane line corresponding to any lane.

In other embodiments, if only a left fitted lane line exists in any lane, the distance between the warning device and the left fitted lane line is calculated according to the position of the warning device and the left fitted lane line corresponding to any lane, meanwhile, the distance between the warning device and the right fitted lane line is calculated according to the width of any lane and the left fitted lane line corresponding to any lane, and the maximum value of the distances is taken from the two calculated distances and is used as the maximum distance of the fitted lane line corresponding to any lane of the warning device.

In still other embodiments, if only a right fitted lane line exists in any lane, the distance between the warning device and the right fitted lane line is calculated according to the position of the warning device and the right fitted lane line corresponding to any lane, meanwhile, the distance between the warning device and the left fitted lane line can be calculated according to the width of any lane and the right fitted lane line corresponding to any lane, and the maximum value of the distances is taken from the two calculated distances and used as the maximum distance of the fitted lane line corresponding to any lane of the warning device.

Optionally, the maximum distance between the warning device and the fitted lane line corresponding to any lane may be represented as con _ lane _ dis [ k ] [ j ].

And S260, if the maximum distance is smaller than a preset distance threshold, determining that the position of the warning device falls into the lane range.

In the embodiment of the disclosure, after the electronic device calculates the maximum distance, the maximum distance is compared with a preset distance threshold, if the maximum distance is smaller than the preset distance threshold, it is determined that the warning device falls in the first lane or the second lane, and if not, it is determined that the position of the warning device does not fall in the lane range.

In the embodiment of the present disclosure, the preset distance threshold may be a predetermined maximum distance for determining whether the position of the warning device falls within the lane range.

Alternatively, the relevant lane falling into the warning device may be denoted lane _ cone _ occ [ j ].

Therefore, in the embodiment of the disclosure, when the lane range includes the first lane and the second lane adjacent to the first lane, and the first lane is a lane where the target vehicle runs, the maximum distance between the warning device and a fitted lane line corresponding to any lane may be determined according to the multi-frame image, and whether the position of the warning device falls into the first lane or the second lane may be accurately determined, so as to accurately determine whether the position of the warning device falls into the lane range, thereby eliminating the detection noise and improving the accuracy of the warning signal.

And S270, generating early warning information, wherein the early warning information is used for warning a road operation area.

S270 is similar to S140, and will not be described herein.

In other embodiments of the disclosure, before generating the warning information, it may be determined whether the position of the warning device falls within the lane range according to the number of warning devices on each fitted lane line corresponding to the first lane.

Fig. 3 shows a flow chart of still another road working area early warning method provided by the embodiment of the disclosure.

As shown in fig. 3, the road work area warning method may include the following steps.

S310, acquiring a road image of the target vehicle in the advancing direction.

S310 is similar to S110, and is not described herein.

And S320, detecting the lane line of the road image to obtain a fitted lane line contained in the road image.

And S330, determining the lane range of the relevant lane of the target vehicle based on the fitted lane line.

S320 to S330 are similar to S220 to S230, and are not described herein again.

S340, detecting the warning device on the road image to obtain the position of the warning device.

S340 is similar to S130, and will not be described herein.

S350, aiming at the first lane, determining the number of the warning devices falling on each fitted lane line corresponding to the first lane based on the positions of the warning devices.

In an embodiment of the present disclosure, the lane range may include a fitted lane line corresponding to a first lane, where the first lane is a lane traveled by the target vehicle.

In the embodiment of the disclosure, the electronic device may obtain continuous multiple frames of road images, and determine, for a first lane corresponding to each frame of road image, the number of warning devices falling on each fitted lane line corresponding to the first lane based on the positions of the warning devices to obtain the number of warning devices pressing on a left fitted lane line or a right fitted lane line of the first lane, so that the number of warning devices falling on each fitted lane line corresponding to the first lane may be obtained based on each frame of road image, then calculate the mean value of the number of warning devices based on the number of warning devices falling on each fitted lane line corresponding to the first lane obtained from all frames of road images, and use the mean value of the number of warning devices as the number of warning devices falling on each fitted lane line corresponding to the first lane.

Specifically, for a first lane corresponding to each frame of road image, the electronic device may obtain a preset line pressing threshold of a fitted lane line of the first lane; if the distance between the position of the warning device and the position of the left fitted lane line of the first lane is smaller than a preset line pressing threshold value, determining that the warning device falls on the left fitted lane line of the first lane, and determining the number of the warning devices falling on the left fitted lane line of the first lane; and if the distance between the position of the warning device and the position of the right fitted lane line of the first lane is smaller than a preset line pressing threshold value, determining that the warning device falls on the right fitted lane line of the first lane, and determining the number of the warning devices falling on the right fitted lane line of the first lane.

The preset line pressing threshold may be a distance threshold for determining whether the warning device presses a line.

Optionally, the number of warning devices falling on the fitted lane line on each side corresponding to the first lane may be represented as con _ on _ line _ [ j ].

Alternatively, the preset line pressing threshold may be represented as delta.

S360, if the number of the warning devices on the fitted lane line on at least one side is larger than the number threshold of the warning devices, determining that the positions of the warning devices fall into the lane range.

In this disclosure, after the electronic device determines the number of the warning devices, the number of the warning devices on the fitted lane line on at least one side is compared with a threshold value of the number of the warning devices, and if the number of the warning devices on the fitted lane line on at least one side is greater than the threshold value of the number of the warning devices, it is determined that the warning devices fall on the fitted lane line on the left side or the fitted lane line on the right side of the first lane, and it may be determined that the positions of the warning devices fall within a lane range, otherwise, it is determined that the warning devices are not pressed on the lane line of the first lane, and it may be determined that the positions of the warning devices do not fall within the lane range.

In the embodiment of the present disclosure, the threshold value of the number of warning devices may be a minimum number determined in advance for determining whether the position of the warning device falls within the lane range.

In some embodiments, if the number of warning devices on the left fitted lane line of the first lane is greater than the threshold number of warning devices, it may be determined that the warning device falls within the left lane of the first lane.

In other embodiments, if the number of warning devices on the right fitted lane line of the first lane is greater than the threshold number of warning devices, it may be determined that the warning device is within the right lane of the first lane.

In still other embodiments, if the number of warning devices on the right-side fitted lane line of the first lane is greater than the threshold number of warning devices and the number of warning devices on the left-side fitted lane line of the first lane is greater than the threshold number of warning devices, then it may be determined that the warning devices are falling within the right and left lanes of the first lane.

Alternatively, the right and/or left lane falling in the first lane of the warning device may be denoted lane _ cone _ occ [ j ].

Therefore, in the embodiment of the disclosure, under the condition that the lane range includes the first lane, and the first lane is a lane where the target vehicle runs, the number of the warning devices on at least one side of the fitted lane line is compared with the number threshold of the warning devices, so that whether the positions of the warning devices fall into the left lane or the right lane of the first lane can be accurately determined, and whether the positions of the warning devices fall into the lane range can be accurately determined.

And S370, generating early warning information, wherein the early warning information is used for warning the road operation area.

In conclusion, before the early warning information is generated, whether the position of the warning device falls into the lane range or not can be determined according to different modes, so that the flexibility of judging whether the position of the warning device falls into the lane range or not is improved, and different judgment scenes can be adapted.

In another embodiment of the present disclosure, in order to reduce the false alarm rate of the early warning, after the position of the warning device is determined to fall into the lane range, the early warning information may be generated by combining other conditions.

Fig. 4 shows a schematic flow chart of another road working area early warning method provided by the embodiment of the disclosure.

As shown in fig. 4, the road work area warning method may include the following steps.

And S410, acquiring a road image of the target vehicle in the advancing direction.

S410 is similar to S110, and is not described herein.

And S420, detecting the lane lines of the road image to obtain the fitted lane lines contained in the road image.

And S430, determining the lane range of the relevant lane of the target vehicle based on the fitted lane line.

S420 to S430 are similar to S220 to S230, and are not described herein again.

S440, detecting the warning device on the road image to obtain the position of the warning device.

S440 is similar to S130, and is not described herein.

S450, if the position of the warning device falls into the lane range, determining an effective lane in the related lane, calculating the width of each lane in the related lane, and acquiring the driving speed of a front vehicle on each lane in the related lane.

In the embodiment of the present disclosure, optionally, the determining the valid lane in the relevant lane in S450 specifically may include the following steps:

s4501, aiming at any lane in related lanes, acquiring the number of lane points of a fitted lane line corresponding to any lane;

s4502, if the number of the collected lane points is larger than the number threshold of the collected lane points, determining any lane in the relevant lanes as an effective lane.

Wherein, the number of collected lane points may be the number of collected actual lane points.

The threshold value of the number of the lane acquisition points may be a minimum number preset to determine whether any one lane is an effective lane.

Specifically, for any lane in the relevant lanes, the electronic device may obtain the number of collected lane points of a fitted lane line corresponding to any lane, compare the number of collected lane points with the threshold value of the number of collected lane points, if the number of collected lane points is greater than the threshold value of the number of collected lane points, it indicates that there are more actual lane points on any lane, and may obtain a more accurate fitted lane line based on the actual lane points, that is, it is determined that any lane in the relevant lanes is an effective lane, otherwise, the number of collected lane points is less than the threshold value of the number of collected lane points, it indicates that there are fewer actual lane points on any lane, and it is difficult to obtain a more accurate fitted lane line based on the actual lane points, that is, it is determined that any lane in the relevant lanes is an invalid lane.

Alternatively, the valid lane may be represented as lane _ valid [ j ].

In the embodiment of the present disclosure, optionally, the calculating of the width of each lane in the relevant lane in S450 may specifically include the following steps:

s4503, for each lane in the relevant lane, based on the fitted lane line on the left side and the fitted lane line on the right side of each lane, calculate the width of each lane.

Specifically, for each lane in the relevant lanes, the electronic device may select lane points having the same position in one direction from the fitted lane line on the left side and the fitted lane line on the right side of each lane, and calculate the width of each lane according to the positions of the lane points in the other direction.

Alternatively, the position in one direction may be an abscissa or an ordinate of the lane point in the vehicle coordinate system.

In the embodiment of the present disclosure, optionally, the obtaining of the driving speed of the vehicle ahead on each lane in the relevant lane in S450 may specifically include the following steps:

s4504, detecting a front vehicle on the road image to obtain a front vehicle image and a front vehicle grounding wire;

s4505, projecting the front vehicle image and the front vehicle grounding wire to a vehicle coordinate system of a target vehicle according to shooting calibration parameters corresponding to the shot road image to obtain the real-time position of the front vehicle;

s4506, determining the running speed of the front vehicle according to the real-time position of the front vehicle, the real-time position of the target vehicle and the speed of the target vehicle.

For S4504, the electronic device may input the road image into a pre-trained image segmentation model to perform front vehicle detection on the road image, so as to obtain a front vehicle image and a front vehicle ground line.

Wherein the front vehicle image may be a front vehicle detection frame.

The ground line of the front vehicle can be the vehicle center of the front vehicle and is used for determining the lane to which the front vehicle belongs.

Alternatively, the front vehicle ground line may be represented as: veh [ m ].

For S4505, the electronic device may project the front vehicle image and the ground line of the front vehicle to a vehicle coordinate system of the target vehicle according to the shooting calibration parameters corresponding to the shot road image, so as to obtain a real-time position of the front vehicle, and further determine a driving speed of the front vehicle based on the real-time position of the front vehicle.

For S4506, the electronic device may determine the relative position of the front vehicle and the target vehicle in real time according to the real-time position of the front vehicle and the real-time position of the target vehicle, and determine the driving speed of the front vehicle according to the vehicle speed and the relative position of the target vehicle.

And S460, if the relevant lane falling into the warning device is an effective lane, the width of the relevant lane falling into the warning device is larger than a preset width threshold value, and the driving speed of a front vehicle falling onto the relevant lane of the warning device is smaller than a preset speed threshold value, generating early warning information, wherein the early warning information is used for warning a road operation area.

The work vehicle is a vehicle that travels at a lower speed than a vehicle that normally travels.

For the above reasons, the preset speed threshold may be a speed for determining whether the preceding vehicle is a normal-running vehicle.

Alternatively, the preset speed threshold may be represented as vel _ speed _ vel.

In the embodiment of the disclosure, after the electronic device determines that the position of the warning device falls within the lane range, if it is determined that the lane related to the warning device is an effective lane, the width of the lane related to the warning device is greater than a preset width threshold, and the driving speed of the vehicle in front of the lane related to the warning device is less than a preset speed threshold, it is determined that the lane related to the warning device is a lane to be warned, and it is determined that the lane related to the warning device is wide enough, and the lane related to the warning device is not occupied by the vehicle driving normally.

Alternatively, the relevant lane falling into the warning device may be denoted as lane _ vehicles _ occ [ j ].

Therefore, in the embodiment of the disclosure, after the position of the warning device is determined to fall into the lane range, if the relevant lane falling into the warning device is the lane to be warned, and it is determined that the relevant lane falling into the warning device is wide enough, and the relevant lane falling into the warning device is not occupied by a normally-driven vehicle, the warning information is generated, so as to combine more information to perform the warning of the road operation area, therefore, the warning false alarm rate is reduced, and the driving experience of the user is further improved.

It should be noted that, after the electronic device determines that the position of the warning device falls within the lane range, the electronic device may also combine one or any two of the conditions that the lane related to the warning device is an effective lane, the width of the lane related to the warning device is greater than a preset width threshold, and the driving speed of the vehicle ahead on the lane related to the warning device is less than a preset speed threshold to generate the warning information, so that flexibility of determining whether to generate the warning information is improved.

In yet another embodiment of the present disclosure, the overall logic of the road work area warning method may be explained.

Fig. 5 shows a logic diagram of a road working area early warning method provided by the embodiment of the disclosure.

As shown in fig. 5, the road working area warning method may include the following steps.

And S510, acquiring a road image of the target vehicle in the advancing direction.

S510 is similar to S110, and is not described herein.

S520, obtaining a lane line image, a warning device image, a front vehicle image and a front vehicle grounding line based on the road image.

In this disclosure, optionally, the obtaining of the lane line image based on the road image in S520 may specifically include the following steps:

s5201, inputting the road image into a pre-trained image segmentation model to obtain a lane line image.

For S5201, reference may be made to the foregoing description, which is not repeated herein.

In this disclosure, optionally, obtaining the warning device image based on the road image in S520 may specifically include the following steps:

s5202, inputting the road image into a pre-trained image segmentation model to obtain an image of the warning device.

For S5202, reference may be made to the foregoing description, which is not repeated herein.

In the embodiment of the present disclosure, optionally, the obtaining of the image of the vehicle ahead and the ground line of the vehicle ahead based on the road image in S520 may specifically include the following steps:

s5203, inputting the road image into a pre-trained image segmentation model to detect a front vehicle of the road image, and obtaining a front vehicle image and a front vehicle grounding line.

And S530, fusing the lane line image, the warning device image, the front vehicle image and the front vehicle grounding line based on the shooting calibration parameters corresponding to the road image and the self vehicle motion information to generate early warning information.

In this embodiment of the present disclosure, optionally, S530 may specifically include the following steps:

and S5301, calculating lane related information based on the lane line image and the shooting calibration parameters corresponding to the road image.

And S5302, calculating related information of the warning device based on the warning device image.

And S5303, calculating the related information of the front vehicle based on the front vehicle image, the front vehicle grounding wire and the shooting calibration parameters corresponding to the road image.

And S5304, if the position of the warning device is in the relevant lane or falls on a fitted lane line of the first lane, the width of the relevant lane is larger than a preset width threshold value, the relevant lane is an effective lane, and the running speed of the front vehicle is smaller than a preset speed threshold value, generating early warning information.

In the embodiment of the present disclosure, fig. 6 shows a logic diagram of another road work area early warning method proposed in the embodiment of the present disclosure.

As shown in fig. 6, S5301 may specifically include the following steps.

And S53011, detecting the lane line of the road image to obtain a fitted lane line contained in the road image.

S53011 may specifically include: according to shooting calibration parameters corresponding to the shot road images, the lane line images are projected to a vehicle coordinate system of the target vehicle, and lane line projection points are obtained; and fitting the lane line projection points corresponding to the target lane according to preset fitting parameters to obtain a fitted lane line.

And S53012, determining a lane range of a related lane of the target vehicle based on the fitted lane line.

The lane range may include a first lane, a second lane, and a left lane line and a right lane line on the first lane and the second lane.

And S53013, determining an effective lane in the related lane.

And S53014, calculating the width of each lane in the related lanes.

In the embodiment of the present disclosure, fig. 7 shows a logic diagram of a further road working area early warning method proposed by the embodiment of the present disclosure.

As shown in fig. 7, S5302 may specifically include the following steps.

S53021, determining a position of the warning device based on the warning device image.

And S53022, determining whether the position of the warning device falls into any lane of the related lanes.

The lane range comprises a first lane and a second lane adjacent to the first lane, and the first lane is a lane where the target vehicle runs;

correspondingly, S53022 may specifically include: calculating the maximum distance of a fitted lane line corresponding to any lane by the warning device based on the position of the warning device aiming at any lane in the related lanes; if the maximum distance is smaller than the preset distance threshold, determining that the position of the warning device falls into the lane range, and specifically determining that the position of the warning device falls into any lane of the related lanes, otherwise, determining that the position of the warning device does not fall into any lane of the related lanes.

And S53023, determining whether the position of the warning device falls on a fitted lane line of the first lane.

The lane range comprises a fitting lane line corresponding to a first lane, and the first lane is a lane where the target vehicle runs;

correspondingly, S53023 may specifically include: aiming at the first lane, determining the number of warning devices falling on each fitting lane line corresponding to the first lane based on the positions of the warning devices; if the number of the warning devices on the fitted lane line on at least one side is larger than the number threshold of the warning devices, determining that the positions of the warning devices fall into the lane range, specifically determining that the positions of the warning devices fall on the fitted lane line of the first lane, and otherwise determining that the positions of the warning devices do not fall on the fitted lane line of the first lane.

In the embodiment of the present disclosure, fig. 8 is a logic diagram illustrating a further road operation area early warning method according to the embodiment of the present disclosure.

As shown in fig. 8, S5303 may specifically include the following steps.

And S53031, projecting the front vehicle image and the front vehicle grounding line to a vehicle coordinate system of the target vehicle according to the shooting calibration parameters corresponding to the shooting road image to obtain the real-time position of the front vehicle.

And S53032, determining the running speed of the front vehicle according to the real-time position of the front vehicle, the real-time position of the target vehicle and the speed of the target vehicle.

The embodiment of the present disclosure further provides a road operation area early warning device for implementing the above road operation area early warning method, which is described below with reference to fig. 9. In the embodiment of the disclosure, the road working area early warning device may be an electronic device or a server. The electronic device may include, but is not limited to, a mobile terminal such as a smart phone, a notebook computer, a PAD (PAD), a Portable Multimedia Player (PMP), a car terminal (e.g., a car navigation terminal), etc., and a stationary terminal such as a desktop computer, etc., among others. The server may be a cloud server or a server cluster or other devices with storage and computing functions.

Fig. 9 shows a schematic structural diagram of a road working area early warning device provided by the embodiment of the disclosure.

As shown in fig. 9, the road work area warning device 900 may include: a road image acquisition module 910, a lane range determination module 920, a warning device position determination module 930, and an early warning information generation module 940.

A road image acquiring module 910, which may be configured to acquire a road image of the target vehicle in a forward direction;

the lane range determining module 920 may be configured to perform road detection on the road image to obtain a lane range of a lane related to the target vehicle;

a warning device position determining module 930, configured to perform warning device detection on the road image to obtain a position of the warning device;

the warning information generating module 940 may be configured to generate warning information if the position of the warning device falls within the lane range, where the warning information is used to warn the road operation area.

In some embodiments of the present disclosure, the lane range determination module 920 may include: a fitted lane line generating unit and a lane range determining unit;

a fitted lane line generation unit configured to perform lane line detection on the road image to obtain a fitted lane line included in the road image;

the lane range determination unit may be configured to determine a lane range of a relevant lane of the target vehicle based on the fitted lane line.

In some embodiments of the present disclosure, the fitted lane line generating unit may be further configured to perform lane line detection on the road image to obtain a lane line image;

according to shooting calibration parameters corresponding to the shot road images, the lane line images are projected to a vehicle coordinate system of the target vehicle, and lane line projection points are obtained;

and fitting the lane line projection points corresponding to the target lane according to preset fitting parameters to obtain a fitted lane line.

In some embodiments of the present disclosure, the lane range determining unit may be further configured to determine the position of the target vehicle and the positions of all fitted points on the fitted lane line, respectively;

and determining the lane range of the relevant lane of the target vehicle based on the position of the target vehicle and the positions of all fitted points on the fitted lane line.

In some embodiments of the present disclosure, the location determining module 930 of the warning device may include: the warning device comprises a warning device image determining unit and a warning device position determining unit;

the warning device image determining unit can be configured to detect a warning device on the road image to obtain a warning device image;

the position determining unit of the warning device may be configured to determine the position of the warning device based on the warning device image.

In some embodiments of the present disclosure, the position determining unit of the warning device may be further configured to project the image of the warning device to a vehicle coordinate system of the target vehicle according to the shooting calibration parameters corresponding to the shooting road image, so as to obtain a projection point of the warning device;

selecting a target projection point from the projection points of the warning device, wherein the target projection point comprises a lower left corner projection point and a lower right corner projection point of the warning device image;

and taking the middle point of the projection point of the lower left corner and the projection point of the lower right corner as the position of the warning device.

In some embodiments of the present disclosure, the lane range includes a first lane and a second lane adjacent to the first lane, the first lane being a lane in which the target vehicle is traveling;

the apparatus may further include: a maximum distance calculation module and a first falling determination module;

the maximum distance calculation module can be configured on any lane in the related lanes, and based on the position of the warning device, the maximum distance between the warning device and a fitted lane line corresponding to any lane is calculated;

the first falling determining module can be configured to determine that the position of the warning device falls within the lane range if the maximum distance is smaller than a preset distance threshold.

In some embodiments of the present disclosure, the lane range includes a fitted lane line corresponding to a first lane, the first lane being a lane on which the target vehicle is traveling;

the apparatus may further include: the warning device number determining module and the second falling determining module;

the warning device number determining module can be configured on the first lane, and determines the number of warning devices falling on each fitted lane line corresponding to the first lane based on the positions of the warning devices;

the second falling-in determining module can be configured to determine that the positions of the warning devices fall into the lane range if the number of the warning devices on the fitted lane line on at least one side is larger than the number threshold of the warning devices.

In some embodiments of the present disclosure, the apparatus may further include: the system comprises an effective lane determining module, a width calculating module and a driving speed obtaining module;

an effective lane determination module configurable to determine an effective lane of the relevant lanes;

a width calculation module configured to calculate a width of each of the lanes;

the driving speed acquisition module can be configured to acquire the driving speed of a front vehicle on each lane in the related lanes;

correspondingly, the early warning information generating module 940 may be further configured to generate the early warning information if the relevant lane falling into the warning device is the valid lane, the width of the relevant lane falling into the warning device is greater than the preset width threshold, and the driving speed of the vehicle in front on the relevant lane falling into the warning device is less than the preset speed threshold.

In some embodiments of the present disclosure, the valid lane determining module may be further configured to, for any one of the lanes, obtain a lane point collection number of a fitted lane line corresponding to the any one lane;

and if the number of the collected lane points is greater than the threshold value of the number of the collected lane points, determining that any one lane in the related lanes is an effective lane.

In some embodiments of the present disclosure, the width calculation module may be further configured to calculate, for each of the relevant lanes, a width of each lane based on the fitted lane line on the left side and the fitted lane line on the right side of each lane.

In some embodiments of the present disclosure, the driving speed obtaining module may be further configured to perform front vehicle detection on the road image to obtain a front vehicle image and a front vehicle grounding line;

projecting a front vehicle image and a front vehicle grounding wire to a vehicle coordinate system of a target vehicle according to shooting calibration parameters corresponding to the shot road image to obtain a real-time position of the front vehicle;

and determining the running speed of the front vehicle according to the real-time position of the front vehicle, the real-time position of the target vehicle and the speed of the target vehicle.

It should be noted that the road working area early warning device 900 shown in fig. 9 may execute each step in the method embodiments shown in fig. 1 to 8, and implement each process and effect in the method embodiments shown in fig. 1 to 8, which are not described herein again.

Fig. 10 shows a schematic structural diagram of a road working area early warning device provided by an embodiment of the present disclosure.

As shown in fig. 10, the data acquisition device may include a processor 1001 and a memory 1002 having stored computer program instructions.

Specifically, the processor 1001 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured to implement one or more Integrated circuits of the embodiments of the present Application.

Memory 1002 may include a mass storage for information or instructions. By way of example, and not limitation, memory 1002 may include a Hard Disk Drive (HDD), a floppy Disk Drive, flash memory, an optical Disk, a magneto-optical Disk, magnetic tape, or a Universal Serial Bus (USB) Drive or a combination of two or more of these. Memory 1002 may include removable or non-removable (or fixed) media, where appropriate. Memory 1002 may be internal or external to the integrated gateway device, where appropriate. In a particular embodiment, the memory 1002 is non-volatile solid-state memory. In a particular embodiment, the Memory 1002 includes Read-Only Memory (ROM).

The ROM may be mask-programmed ROM, programmable ROM (PROM), erasable PROM (Electrically Erasable PROM, EPROM), electrically Erasable PROM (Electrically Erasable PROM, EEPROM), electrically Alterable ROM (Electrically Alterable ROM, EAROM), or flash memory, or a combination of two or more of these, where appropriate.

The processor 1001 executes the steps of the road working area warning method provided by the embodiments of the present disclosure by reading and executing the computer program instructions stored in the memory 1002.

In one example, the road work zone warning device may also include a transceiver 1003 and a bus 1004. As shown in fig. 10, the processor 1001, the memory 1002, and the transceiver 1003 are connected via a bus 1004 to complete communication with each other.

The bus 1004 includes hardware, software, or both. By way of example and not limitation, a BUS may include an Accelerated Graphics Port (AGP) or other Graphics BUS, an Enhanced Industry Standard Architecture (EISA) BUS, a Front-Side BUS (Front Side BUS, FSB), a Hyper Transport (HT) Interconnect, an Industry Standard Architecture (ISA) BUS, an infiniband Interconnect, a Low Pin Count (LPC) BUS, a memory BUS, a microchannel Architecture (MCA) BUS, a Peripheral Control Interconnect (PCI) BUS, a PCI-Express (PCI-X) BUS, a Serial Advanced Technology Attachment (Attachment) BUS, a Local Electronics Standard Association (vldo) BUS, a Local Association BUS, a BUS, or a combination of two or more of these as appropriate. Bus 1004 may include one or more buses, where appropriate. Although specific buses are described and shown in the embodiments of the present application, any suitable buses or interconnects are contemplated by the present application.

The disclosed embodiment also provides a computer readable storage medium, which may store a computer program, and when the computer program is executed by a processor, the processor is enabled to implement the road operation area early warning method provided by the disclosed embodiment.

The storage medium described above may include, for example, a memory 1002 of computer program instructions executable by a processor 1001 of the battery internal resistance detection device to perform the battery internal resistance detection method provided by the embodiments of the present disclosure. Alternatively, the storage medium may be a non-transitory computer readable storage medium, for example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a Compact Disc read only Memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

It is noted that, in this document, relational terms such as "first" and "second," and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the term "comprises/comprising" is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A road operation area early warning method is characterized by comprising the following steps:

acquiring a road image of a target vehicle in a forward direction;

performing road detection on the road image to obtain a lane range of a related lane of the target vehicle;

if the position of the warning device falls into the lane range, generating early warning information, wherein the early warning information is used for warning a road operation area.

2. The method of claim 1, wherein the performing road detection on the road image to obtain a lane range of a relevant lane of the target vehicle comprises:

carrying out lane line detection on the road image to obtain a fitted lane line contained in the road image;

determining a lane range of a relevant lane of the target vehicle based on the fitted lane line.

3. The method according to claim 2, wherein the performing lane line detection on the road image to obtain a fitted lane line included in the road image comprises:

carrying out lane line detection on the road image to obtain a lane line image;

projecting the lane line image to a vehicle coordinate system of the target vehicle according to shooting calibration parameters corresponding to the road image to obtain lane line projection points;

and fitting the lane line projection points corresponding to the target lane according to preset fitting parameters to obtain the fitted lane line.

4. The method of claim 2, wherein determining the lane range of the relevant lane of the target vehicle based on the fitted lane line comprises:

respectively determining the position of the target vehicle and the positions of all fitted points on the fitted lane line;

determining a lane range of a relevant lane of the target vehicle based on the position of the target vehicle and the positions of all fitted points on the fitted lane line.

5. The method of claim 1, wherein the detecting the warning device on the road image to obtain the position of the warning device comprises:

detecting a warning device on the road image to obtain a warning device image;

determining a location of the alert device based on the alert device image.

6. The method of claim 5, wherein determining the location of the alert device based on the alert device image comprises:

projecting the warning device image to a vehicle coordinate system of the target vehicle according to shooting calibration parameters corresponding to the road image to obtain a warning device projection point;

selecting a target projection point from the warning device projection points, wherein the target projection point comprises a lower left corner projection point and a lower right corner projection point of a warning device image;

and taking the midpoint of the projection point of the lower left corner and the projection point of the lower right corner as the position of the warning device.

7. The method of claim 2, wherein the lane range includes a first lane and a second lane adjacent to the first lane, the first lane being a lane in which the target vehicle is traveling;

wherein, before the generating the early warning information, the method further comprises:

calculating the maximum distance of a fitted lane line corresponding to any lane of the related lanes by the warning device based on the position of the warning device;

and if the maximum distance is smaller than a preset distance threshold value, determining that the position of the warning device falls into the lane range.

8. The method of claim 2, wherein the lane range includes a fitted lane line corresponding to a first lane, the first lane being a lane traveled by the target vehicle;

for the first lane, determining the number of the warning devices falling on each fitted lane line corresponding to the first lane based on the positions of the warning devices;

and if the number of the warning devices on the fitted lane line on at least one side is larger than the number threshold of the warning devices, determining that the positions of the warning devices fall into the lane range.

9. The method of claim 2, wherein prior to the generating the early warning information, the method further comprises:

determining a valid lane of the relevant lanes;

calculating the width of each lane in the relevant lanes;

acquiring the running speed of a front vehicle on each lane in the related lanes;

wherein; if the position of the warning device falls into the lane range, generating early warning information, including:

if the lane related to the warning device is an effective lane, the width of the lane related to the warning device is larger than a preset width threshold value, the lane related to the warning device is a driving speed of a front vehicle on the lane related to the warning device is smaller than a preset speed threshold value, and the warning information is generated.

10. The method of claim 9, wherein the determining the valid lane of the relevant lanes comprises:

acquiring the collection number of lane points of a fitted lane line corresponding to any lane aiming at any lane in the related lanes;

11. The method of claim 9, wherein said calculating the width of each of the relevant lanes comprises:

and aiming at each lane in the related lanes, calculating the width of each lane based on the fitted lane line on the left side and the fitted lane line on the right side of each lane.

12. The method of claim 9, wherein the obtaining the travel speed of the vehicle ahead in each of the relevant lanes comprises:

detecting a front vehicle on the road image to obtain a front vehicle image and a front vehicle grounding wire;

projecting the front vehicle image and the front vehicle grounding wire to a vehicle coordinate system of the target vehicle according to shooting calibration parameters corresponding to the road image to obtain a real-time position of the front vehicle;

13. The utility model provides a regional early warning device of road operation which characterized in that includes:

a lane range determining module configured to perform road detection on the road image to obtain a lane range of a lane related to the target vehicle;

and the early warning information generation module is configured to generate early warning information if the position of the warning device falls into the lane range, and the early warning information is used for warning a road operation area.

14. A road work area early warning device, comprising:

a processor;

a memory for storing executable instructions;

wherein the processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the road working area warning method according to any one of claims 1 to 12.

15. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, causes the processor to carry out the road working area warning method according to any one of claims 1 to 12.