CN115662190B

CN115662190B - Prompt message processing method and device for vehicle based on road abnormal state recognition

Info

Publication number: CN115662190B
Application number: CN202211662255.5A
Authority: CN
Inventors: 王源; 陈锋; 李萱
Original assignee: Shenzhen Xihua Technology Co Ltd
Current assignee: Shenzhen Xihua Technology Co Ltd
Priority date: 2022-12-23
Filing date: 2022-12-23
Publication date: 2023-03-21
Anticipated expiration: 2042-12-23
Also published as: CN116279501A; CN115662190A

Abstract

The embodiment of the application discloses a prompt message processing method and a device for a vehicle based on road abnormal state identification, wherein the method comprises the following steps: acquiring road surface information in a driving process; determining the road condition of a non-motor vehicle lane adjacent to the motor vehicle lane where the vehicle is located according to the road surface information; determining road conditions of other motor vehicle lanes in the same direction as the motor vehicle lane according to the road surface information; if the non-motor vehicle lane has a preset first abnormal condition and the other motor vehicle lanes have a preset second abnormal condition, outputting first prompt information; and if the non-motor vehicle lane has a preset first abnormal condition and the other motor vehicle lanes have no preset second abnormal condition, outputting second prompt information. The embodiment of the application can be used for monitoring, accurately identifying and prompting the safety hazards of the driving scenes of the adjacent non-motor vehicle lanes in real time to adjust the driving strategies, and improving the real-time performance, the accuracy and the intelligence of information processing of vehicles based on road abnormal conditions.

Description

Prompting information processing method and device for vehicle based on road abnormal state recognition

Technical Field

The application is applied to the technical field of general data processing of the Internet industry, and particularly relates to a prompt information processing method and device for a vehicle based on road abnormal state recognition.

Background

The intelligent driving technology can assist the vehicle to run on the motor vehicle road at a safe running speed and a safe running distance. However, during the driving process of the vehicle, a safety hazard that the non-motor vehicle enters the motor lane of the vehicle often occurs in a driving scene of the non-motor lane adjacent to the motor lane of the vehicle, and the current intelligent driving technology cannot assist the vehicle to accurately identify the safety hazard, so that the vehicle cannot timely adjust the driving strategy to avoid the potential driving risk.

Therefore, how to accurately identify the safety hazard in the non-motorway driving scene and implement an effective driving strategy during the driving of the vehicle is a technical problem being studied by those skilled in the art.

Disclosure of Invention

The embodiment of the application discloses a prompt information processing method and a prompt information processing device for a vehicle based on road abnormal state recognition, so that an intelligent driving area controller of the vehicle can monitor, accurately recognize and prompt a driving strategy to adjust aiming at potential safety hazards of a driving scene of an adjacent non-motor lane in real time so as to avoid potential driving risks, and the real-time performance, the accuracy and the intelligence of information processing of the vehicle based on road abnormal conditions are improved.

In a first aspect, an embodiment of the present application provides a method for processing a prompt message for a vehicle based on road abnormal state recognition, which is applied to an intelligent driving domain controller of a domain controller system of the vehicle, and the method includes:

acquiring road surface information in the driving process, wherein the road surface information is used for representing position information and/or motion states of objects in lanes in a road section where the vehicle is located;

determining the road condition of a non-motor lane adjacent to the motor lane of the vehicle according to the road surface information;

determining road conditions of other motor vehicle lanes in the same direction as the motor vehicle lane according to the road surface information;

if a preset first abnormal condition occurs in the non-motor lane and a preset second abnormal condition occurs in the other motor lane, outputting first prompt information, wherein the first abnormal condition is used for indicating that a potential safety hazard that the non-motor vehicle in the non-motor lane occupies the motor lane where the vehicle is located exists, the second abnormal condition is used for indicating that the other motor lane does not have a condition of allowing the vehicle to change lanes, and the first prompt information is used for prompting the first abnormal condition of the non-motor lane and prompting deceleration driving;

and if the non-motor vehicle lane has a preset first abnormal condition and the other motor vehicle lanes do not have a preset second abnormal condition, outputting second prompt information, wherein the second prompt information is used for prompting the first abnormal condition of the non-motor vehicle lane and prompting lane change driving.

In the method, under the condition that the road condition of the adjacent non-motor vehicle lane is determined to be abnormal, namely the potential safety hazard that the non-motor vehicle enters the motor vehicle lane exists, if the vehicle determines that the road condition of other motor vehicle lanes in the same direction is also abnormal, first prompt information is output to prompt the abnormal and decelerated driving; and if the lane change condition is met when the other motor vehicle lanes in the same direction are not abnormal, outputting second prompt information to prompt abnormal lane change driving.

That is, in the above method, the vehicle monitors the road condition of the adjacent non-motor vehicle lane in real time through the intelligent driving domain controller, and after the potential safety hazard that the non-motor vehicle enters the motor vehicle lane in the non-motor vehicle lane is accurately identified, the corresponding prompt information can be output according to the road condition of the motor vehicle lane in the same direction, so as to prompt the driver of the abnormal condition and suggest the driver to adjust the corresponding driving strategy. Therefore, the method can improve the real-time performance, accuracy and intelligence of the vehicle for processing the information based on the road abnormal condition.

With reference to the first aspect, in a possible implementation manner, the method further includes:

receiving driving parameters sent by a server when other vehicles pass through a motor lane where the vehicles are located within a preset time period;

determining the driving behaviors of the other vehicles within the preset time period according to the driving parameters of the other vehicles;

the first prompt message and the second prompt message are also used for prompting the driving behaviors of the other vehicles within the preset time period.

In the method, the vehicle performs information interaction with the other vehicles through the server, and combines the driving behaviors of the other vehicles when passing through the same motor lane within a preset time period with the road conditions of the adjacent non-motor lane and the same-direction motor lane to determine the corresponding driving assistance strategy. That is to say, the vehicle can more accurately identify the potential safety hazard that the non-motor vehicle enters the motor vehicle lane and output related prompt information by referring to the driving behaviors of other vehicles in a preset time period on the basis of determining the road condition, so that the driving safety of the vehicle is further improved.

Optionally, the driving parameter may be one or more of location information, vehicle speed, vehicle distance and light information, and the driving behavior may be deceleration, sudden braking or lane change.

With reference to the first aspect or any one of the foregoing possible implementations of the first aspect, in another possible implementation, the road surface information includes image information; the determining the road condition of the non-motor vehicle lane adjacent to the motor vehicle lane in which the vehicle is located according to the road surface information comprises the following steps:

analyzing the image information, and if at least one of the following conditions is met, determining that the non-motor vehicle lane is a first abnormal condition:

a preset construction mark or a road sealing mark exists in the image information;

the number of non-motor vehicles in the image information exceeds a first threshold value;

the distance between the non-motor vehicles in the image information is lower than a second threshold value.

In the method, the vehicle sets corresponding preset conditions aiming at a plurality of factors influencing the non-motor vehicle entering the motor vehicle lane in the non-motor vehicle lane, such as lane closure and lane congestion, and judges whether the non-motor vehicle lane is abnormal or not by comparing key information in the image information with the preset conditions. Therefore, the method can accurately identify the potential safety hazard that the non-motor vehicle enters the motor vehicle lane.

Optionally, the image information may be captured by a vehicle-mounted camera of the vehicle, or may be captured by a vehicle event data recorder of the vehicle.

With reference to the first aspect or any one of the foregoing possible implementation manners of the first aspect, in another possible implementation manner, the determining, according to the road surface information, a road condition of another motor vehicle lane in the same direction as the motor vehicle lane includes:

analyzing the image information, and determining that the other vehicle lane is a second abnormal condition if at least one of the following conditions is met:

a preset lane change prohibition mark exists in the image information;

the number of motor vehicles in the image information exceeds a third threshold value;

the distance between the motor vehicles in the image information is lower than a fourth threshold value.

In the method, the vehicle sets corresponding preset conditions for a plurality of factors influencing the lane change of the vehicle to the same-direction motor lane, such as lane closure, lane change prohibition and lane congestion, and then judges whether the same-direction motor lane has the lane change condition by comparing key information in the image information with the preset conditions. Therefore, the method can enhance the effectiveness of the driving-assist strategy.

With reference to the first aspect or any one of the foregoing possible implementations of the first aspect, in yet another possible implementation, the road surface information includes map information; the determining the road condition of the non-motor vehicle lane adjacent to the motor vehicle lane in which the vehicle is located according to the road surface information comprises the following steps:

analyzing the map information, and if one or more of preset construction marks, road closing marks and congestion marks exist on the non-motor vehicle lane in a preset range with the vehicle as the center in the map information, determining that the non-motor vehicle lane is in a first abnormal condition.

In the method, the vehicle sets corresponding preset conditions for a plurality of factors influencing the non-motor vehicle in the non-motor vehicle lane to enter the motor vehicle lane, such as lane closure and lane congestion, and judges whether the non-motor vehicle lane is abnormal or not by comparing the key information in the image information with the preset conditions. Therefore, the method can accurately identify the potential safety hazard that the non-motor vehicle enters the motor vehicle lane.

With reference to the first aspect or any one of the foregoing possible implementation manners of the first aspect, in a further possible implementation manner, the determining, according to the road surface information, a road condition of another vehicle lane in the same direction as the vehicle lane includes:

analyzing the map information, and if one or more of preset construction marks, road closing marks, congestion marks and lane change prohibition marks exist on the other motor vehicle lanes in a preset range with the vehicle as the center in the map information, determining that the other motor vehicle lanes are in a second abnormal condition.

In the method, the vehicle sets corresponding preset conditions for a plurality of factors influencing the lane change of the vehicle to the same-direction motor vehicle lane, such as lane closure, lane change prohibition and lane congestion, and judges whether the same-direction motor vehicle lane has the lane change condition or not by comparing key information in the map information with the preset conditions. Therefore, the method can enhance the effectiveness of the driving-assist strategy.

With reference to the first aspect, or any one of the foregoing possible implementation manners of the first aspect, in yet another possible implementation manner, before the collecting road surface information during driving, the method further includes:

acquiring vehicle distance information between the vehicle and surrounding vehicles through a sensor, wherein the surrounding vehicles comprise vehicles within the coverage range of the sensor equipment;

generating a driving strategy of the vehicle according to the vehicle distance information;

and if the non-motor vehicle lane has no preset first abnormal condition, outputting third prompt information, wherein the third prompt information is used for prompting to drive according to the driving strategy.

In the method, the vehicle acquires the vehicle distance information of the surrounding vehicle through a sensor in the driving process, and further determines the corresponding auxiliary driving strategy according to the vehicle distance information, for example, if the vehicle distance is lower than a preset threshold, the vehicle outputs the prompt information for deceleration. And if the vehicle determines that the non-motor vehicle lane is not abnormal, namely the probability that the non-motor vehicle enters the motor vehicle lane is low, maintaining the auxiliary driving strategy. Therefore, the method can ensure the running safety of the vehicle under normal conditions.

Alternatively, the sensor may be an infrared detector, a lidar, a millimeter wave radar or an ultrasonic radar.

With reference to the first aspect, or any one of the foregoing possible implementations of the first aspect, in yet another possible implementation, before the outputting the second prompt information, the method further includes:

selecting video information of at least two target roads from the video information of the other roads, wherein the two target roads are both roads on which the first abnormal condition occurs in the target non-motor vehicle lane and the preset second abnormal condition does not occur in the target motor vehicle lane, and the target motor vehicle lane and the target non-motor vehicle lane are separated by a motor vehicle lane;

calculating the duration of the first abnormal situation of the target non-motor vehicle lane and the preset second abnormal situation of the target motor vehicle lane in the video information of the target road, and averagely dividing the video information of the target road in the duration into N pieces of sub video information, wherein N is an integer greater than 1;

respectively calculating vehicle passing efficiency on the target motor vehicle lane in the N pieces of sub-video information;

determining the driving behaviors of a plurality of first vehicles in the target motor vehicle lane in the sub-video information with the highest vehicle passing efficiency;

determining the driving behaviors of a plurality of second vehicles in the target motor vehicle lane in the sub-video information with the lowest vehicle passing efficiency;

determining that a proportion of the vehicles whose driving behaviors include lane change is greater than a fifth threshold, and that a proportion of the vehicles whose driving behaviors include lane change is less than the fifth threshold.

In the method, the vehicle can refer to the driving behaviors of the vehicles in other roads with the same road conditions as the road on which the vehicle is positioned on the basis of determining the road conditions of the road on which the vehicle is positioned, more accurately identify the potential safety hazard that the non-motor vehicles enter the motor vehicle lane in the road on which the vehicle is positioned, output lane change prompt information and further improve the driving safety of the vehicle.

In a second aspect, an embodiment of the present application provides a vehicle intelligent driving area control device, where the device includes:

the system comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring road surface information in the driving process, and the road surface information is used for representing the position information and/or the motion state of an object in each lane in a road section where the vehicle is located;

the first determining unit is used for determining the road condition of a non-motor lane adjacent to the motor lane where the vehicle is located according to the road surface information;

the second determining unit is used for determining the road conditions of other motor vehicle lanes in the same direction as the motor vehicle lane according to the road surface information;

a first output unit, configured to output first prompt information if a preset first abnormal condition occurs in the non-motor lane and a preset second abnormal condition occurs in the other motor lane, where the first abnormal condition is used to indicate that there is a safety hazard that a non-motor vehicle in the non-motor lane occupies a motor lane where the vehicle is located, the second abnormal condition is used to indicate that the other motor lane does not have a condition that allows the vehicle to change lanes, and the first prompt information is used to prompt a first abnormal condition of the non-motor lane and prompt deceleration driving;

and the second output unit is used for outputting second prompt information if the non-motor vehicle lane has a preset first abnormal condition and the other motor vehicle lanes do not have a preset second abnormal condition, wherein the second prompt information is used for prompting the first abnormal condition of the non-motor vehicle lane and prompting lane change driving.

With reference to the second aspect, in a possible implementation manner, the apparatus further includes:

the system comprises a receiving unit, a processing unit and a processing unit, wherein the receiving unit is used for receiving driving parameters sent by a server when other vehicles pass through a motor lane where the vehicles are located within a preset time period, and the server is used for collecting the driving parameters of all vehicles connected with the server;

the third determining unit is used for determining the driving behaviors of the other vehicles in the preset time period according to the driving parameters of the other vehicles;

With reference to the second aspect or any one of the foregoing possible implementations of the second aspect, in another possible implementation, the road surface information includes image information; in terms of determining the road condition of the non-motor vehicle lane adjacent to the motor vehicle lane where the vehicle is located according to the road surface information, the first determining unit is specifically configured to:

With reference to the second aspect, or any one of the foregoing possible implementation manners of the second aspect, in yet another possible implementation manner, in the aspect of determining, according to the road surface information, a road condition of another vehicle lane in the same direction as the vehicle lane, the second determining unit is specifically configured to:

a preset lane change prohibition mark exists in the image information;

With reference to the second aspect or any one of the foregoing possible implementations of the second aspect, in yet another possible implementation, the road surface information includes map information; in the aspect of determining the road condition of the non-motor vehicle lane adjacent to the motor vehicle lane where the vehicle is located according to the road surface information, the first determining unit is specifically configured to:

With reference to the second aspect or any one of the foregoing possible implementation manners of the second aspect, in a further possible implementation manner, in the aspect of determining the road condition of another vehicle lane in the same direction as the vehicle lane according to the road surface information, the second determining unit is specifically configured to:

With reference to the second aspect or any one of the foregoing possible implementation manners of the second aspect, in yet another possible implementation manner, before the collecting road surface information during driving, the apparatus further includes:

a receiving unit configured to acquire, by a sensor, vehicle distance information between the vehicle and a nearby vehicle, the nearby vehicle including a vehicle within a coverage of the sensor device;

the analysis unit is used for generating a driving strategy of the vehicle according to the vehicle distance information;

and the third output unit is used for outputting third prompt information if the preset first abnormal condition does not occur in the non-motor lane, wherein the third prompt information is used for prompting to drive according to the driving strategy.

With reference to the second aspect, or any one of the foregoing possible implementations of the second aspect, in another possible implementation, before the outputting the second prompt information, the apparatus further includes:

the selecting unit is used for selecting the video information of at least two target roads from the video information of other roads, wherein the two target roads are both roads with the first abnormal situation of the target non-motor vehicle lane and without the preset second abnormal situation of the target motor vehicle lane, and the target motor vehicle lane and the target non-motor vehicle lane are separated by one motor vehicle lane;

the dividing unit is used for calculating the duration of the first abnormal situation of the target non-motor lane and the preset second abnormal situation of the target motor lane in the video information of the target road, and averagely dividing the video information of the target road in the duration into N pieces of sub-video information, wherein N is an integer greater than 1;

the calculating unit is used for respectively calculating the vehicle passing efficiency on the target motor vehicle lane in the N pieces of sub video information;

a fourth determining unit, configured to determine driving behaviors of a plurality of first vehicles in the target motor vehicle lane in the sub video information with the highest vehicle passing efficiency;

a fifth determining unit, configured to determine driving behaviors of a plurality of second vehicles in the target motor vehicle lane in the sub video information with the lowest vehicle passing efficiency;

a sixth determination unit that determines that the proportion of the plurality of first vehicles whose driving behaviors include lane change running is greater than a fifth threshold value, and that the proportion of the plurality of second vehicles whose driving behaviors include lane change running is less than the fifth threshold value.

In a third aspect, the present application provides a vehicle intelligent driving area controller, which includes a processor, a memory, and a communication interface, where the communication interface is configured to perform a receiving and/or sending operation under the control of the processor, the memory is configured to store a computer program, and the processor is configured to call the computer program to implement the method described in the first aspect or any one of the possible implementation manners of the first aspect.

In a fourth aspect, the present application provides a vehicle including an intelligent driving area controller, which is configured to implement the method described in the first aspect or any one of the possible implementation manners of the first aspect.

In a fifth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored, which, when executed on a processor, is configured to implement the method described in the first aspect or any one of the possible implementation manners of the first aspect. The beneficial effects of the technical methods provided by the second to fifth aspects of the present application can refer to the beneficial effects of the technical solution of the first aspect, and are not described herein again.

Drawings

The drawings that are required to be used in the description of the embodiments of the present application will now be briefly described.

Fig. 1A is a scene schematic diagram of a prompt information processing method for a vehicle based on road abnormal state identification according to an embodiment of the present application;

FIG. 1B is a schematic structural diagram of a vehicle domain controller system provided by an embodiment of the present application;

FIG. 2 is a schematic flowchart of a method for processing prompt information of a vehicle based on road abnormal state identification according to an embodiment of the present application;

fig. 3 is a schematic view of a scene in which a vehicle collects road surface information according to an embodiment of the present application;

FIG. 4 is a schematic view of a scenario in which a vehicle outputs a first prompt message according to an embodiment of the present application;

FIG. 5 is a schematic view of a scenario in which a vehicle outputs a second prompt message according to an embodiment of the present application;

FIG. 6 is a schematic view of a vehicle obtaining vehicle distance information according to an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a vehicle intelligent driving area control device 70 according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a vehicle intelligent driving area controller 80 according to an embodiment of the present application.

Detailed Description

The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

Referring to fig. 1A, fig. 1A is a schematic view of a scenario of processing a prompt message of a vehicle based on road abnormal state identification according to an embodiment of the present application. The scene includes a target vehicle 101, motor lanes 102-103 and a non-motor lane 104. The number of vehicles is not strictly limited in the present application, and the embodiment shown in fig. 1A is merely an example.

The target vehicle 101 is traveling in the vehicle lane 102, the vehicle lane 103 is an adjacent co-directional lane to the left of the vehicle lane 102, and the non-vehicle lane 104 is an adjacent non-vehicle lane to the right of the vehicle lane 102.

The target vehicle 101 may analyze the road conditions through the vehicle domain controller system and output prompt information to assist the driver in driving the vehicle. It should be noted that the type of the target vehicle is not strictly limited in the embodiments of the present application. Alternatively, the target vehicle 101 may be an automobile, a motorcycle, an agricultural transportation vehicle, a tractor, or a trailer; when the target vehicle 101 is an automobile, the target vehicle 101 may be a car, an off-road vehicle, a van, a bus, or a van.

For easy understanding, please refer to fig. 1B, and fig. 1B is a schematic structural diagram of a vehicle domain controller system according to an embodiment of the present application. The vehicle domain control system 105 may be a control system composed of a power domain controller 106, a chassis domain controller 107, a vehicle body domain controller 108, an intelligent cockpit domain controller 109, and an intelligent driving domain controller 110, and information interaction may be performed between the domain controllers. Each domain controller is a control component integrated by a plurality of electronic control units, and can receive information transmitted from a functional device in the target vehicle and control the functional device to perform a related operation.

The intelligent driving area controller 110 is configured to receive road information about the target vehicle 101 during driving, which is collected by the collecting device of the target vehicle 101, analyze a road condition, and control the output device of the target vehicle 101 to output prompt information for the road condition. Optionally, the road information may be picture information or map information, the collecting device may be a vehicle-mounted camera, a vehicle data recorder, or a navigation device in the target vehicle 101, and the output device may be a voice device such as a vehicle-mounted sound device, or a display device such as a console screen.

Specifically, during driving, the intelligent driving area controller 110 in the target vehicle 101 first obtains the road information about the vehicle lane 103 and the non-vehicle lane 104 collected by the collecting device, and then determines the road condition of the vehicle lane 103 and the road condition of the non-vehicle lane 104 respectively. Optionally, the road condition of the vehicle lane 103 may be a normal condition (e.g. normal traffic of the lane) preset by the intelligent driving area controller 110, and may be an abnormal condition (e.g. lane closure, lane congestion, or lane change prohibition) preset by the intelligent driving area controller 110; the road condition of the non-motor lane 104 may be a normal condition (e.g. normal traffic of the lane) preset by the intelligent driving area controller 110, and may be an abnormal condition (e.g. lane closure or lane congestion) preset by the intelligent driving area controller 110.

Under the condition that the road condition of the non-motor lane 104 is determined to be abnormal, namely the potential safety hazard that a non-motor vehicle enters a motor lane exists, if the intelligent driving area controller 110 determines that the road condition of the motor lane 103 is also abnormal, the intelligent driving area controller controls the output device to output first prompt information to prompt abnormal and decelerated driving; if the lane change condition is determined to be met without the abnormality of the motor vehicle lane 103, the control output device outputs second prompt information to prompt the abnormality and lane change driving.

In the scenario shown in fig. 1A, a target vehicle may monitor the road condition of an adjacent non-motor vehicle lane in real time through an intelligent driving area controller, and output corresponding prompt information according to the road condition of a co-directional motor vehicle lane adjacent to the motor vehicle lane to prompt a driver of an abnormal condition and to suggest the driver to perform corresponding driving operations for avoiding potential driving risks, for the potential safety hazard that the non-motor vehicle enters the motor vehicle lane where the non-motor vehicle is located.

Referring to fig. 2, fig. 2 is a schematic flowchart of a method for processing a prompt message based on road abnormal state identification for a vehicle according to an embodiment of the present application, where the method may be implemented based on the scenario shown in fig. 1A, and the method includes, but is not limited to, the following steps:

step S201: the intelligent driving area controller obtains road information in the driving process.

Specifically, the intelligent driving area controller may be the intelligent driving area controller 110 in the embodiment corresponding to fig. 1B, or may be another controller, configured to assist the target vehicle in executing the auxiliary driving strategy according to the road condition. The road surface information includes road surface information of a non-motor vehicle lane adjacent to the motor vehicle lane in which the target vehicle is located and road surface information of other motor vehicle lanes in the same direction as the motor vehicle lane in which the target vehicle is located.

The road surface information may be image information or map information. When the road surface information is image information, the road surface information may be collected by a vehicle-mounted camera or a vehicle data recorder of the target vehicle, and when the road surface information is map information, the map information may be collected by a navigation device of the target vehicle.

For easy understanding, the following describes different ways in which the intelligent driving range controller obtains the road surface information.

The first condition is as follows: the road information is image information and is collected by a plurality of vehicle-mounted cameras of the target vehicle.

Referring to fig. 3, fig. 3 is a schematic view of a scene in which a vehicle collects road surface information according to an embodiment of the present application. The target vehicle 301 in fig. 3 may be the target vehicle 101 in the embodiment corresponding to fig. 1A, or may be another vehicle. The body of the subject vehicle 301 is provided with a front-looking camera 302, a rear-looking camera 303, and side-looking cameras 304-309. The front-view camera 302 and the rear-view camera 303 are used for collecting image information of a motor vehicle lane 310 in which the target vehicle 301 is located, the side-view cameras 304-306 are used for collecting image information of a non-motor vehicle lane 312 adjacent to the motor vehicle lane 310 in which the target vehicle 301 is located, and the side-view cameras 307-309 are used for collecting image information of a same-direction motor vehicle lane 311 adjacent to the motor vehicle lane 310 in which the target vehicle 301 is located.

It should be noted that the field angle and the collection range of each camera in fig. 3 are only examples, and the embodiment of the present application is not limited thereto strictly, for example, the field angle a and the collection range (area shown in graph ABC) of the side view camera 304, and the field angle D and the collection range (area shown in graph DEF) of the side view camera 306 may be set according to the actual application scenario and requirements.

The plurality of vehicle-mounted cameras send the acquired road information to the intelligent driving area controller in the target vehicle 301. And a second condition: the road information is map information and is collected by the navigation device of the target vehicle. The navigation device of the target vehicle can acquire the positioning information of the target vehicle and acquire the map information according to the positioning information. The map information can distinguish real-time road conditions of each lane within a preset range with the target vehicle as the center by using different marks.

Alternatively, the positioning information may be provided by a Global Positioning System (GPS) system, a beidou system or other positioning systems.

The navigation equipment sends the collected road information to an intelligent driving area controller in the target vehicle.

Step S202: and the intelligent driving area controller determines the road condition of a non-motor lane adjacent to the motor lane where the target vehicle is located according to the road surface information.

The intelligent driving area controller sets corresponding preset conditions aiming at a plurality of factors influencing the entering of the non-motor vehicle into the motor lane in the non-motor lane adjacent to the motor lane where the target vehicle is located, such as lane closing and lane crowding, and judges whether the non-motor lane is abnormal or not by analyzing whether the road surface information contains the information which is the same as the preset conditions or not.

When the road information is image information, if the image shows that the non-motor vehicle lane is provided with a corresponding mark such as a construction mark or a road sealing mark, the non-motor vehicle lane is in a closed state; if the image shows that the number of the non-motor vehicles in the non-motor vehicle lane is large and/or the distance between the non-motor vehicles is small, the non-motor vehicle lane is in a congestion state. Therefore, the intelligent driving area controller can set corresponding preset conditions, compare the image information with the preset conditions and further determine whether the road condition of the non-motor vehicle lane is abnormal or not. For easy understanding, please refer to table 1, where table 1 is a table of correspondence between preset conditions and non-motor vehicle lane conditions provided in the embodiment of the present application:

optionally, the first threshold and the second threshold may be thresholds set by default for the target vehicle, or may be thresholds set according to actual application scenarios and requirements.

Alternatively, the construction mark may be a construction material (such as piled sand, cement or asphalt) required for road construction, a construction tool (such as a scraper conveyor, a road finisher or a road milling machine) required for road construction, or a traffic warning board directly indicating that lane change is prohibited. The closed mark can be a road closing tool (such as a fence and a warning rope) required by road closure, and can also be a traffic warning board for directly indicating the road closure.

Alternatively, the non-motorized vehicle may be a bicycle, a tricycle, a rickshaw, a truck, an electric vehicle, or a vehicle dedicated to disabled persons.

It should be noted that the number of the signs in the preset condition is not limited in the embodiment of the present application, and the number shown in table 1 is only an example, and it is understood that, when the number of the signs in the preset condition is more, the target vehicle can more accurately judge the road condition of the non-motor lane, so as to more accurately identify the potential safety hazard that the non-motor vehicle enters the motor lane.

When the road information is map information, if the map shows that the non-motor vehicle lane has corresponding marks such as construction marks or road sealing marks, the non-motor vehicle lane is in a closed state; if the map shows that the non-motor vehicle lane has a corresponding sign, such as a congestion sign, the non-motor vehicle lane is in a congestion state. Therefore, the intelligent driving area controller can set corresponding preset conditions, compare the map information with the preset conditions and further determine the road condition of the non-motor vehicle lane. Please refer to table 2, where table 2 is a table of correspondence between preset conditions and non-motor vehicle lane conditions provided in the embodiment of the present application:

the map information may be configured to distinguish the state of the non-motor vehicle lane by different colors, for example, if the motor vehicle lane is gray, the lane is closed, if the motor vehicle lane is yellow, the lane is closed, if the motor vehicle lane is red, the lane is congested, and if the motor vehicle lane is green, the lane is normal traffic. That is, the mark in the map information may be a color mark, a character mark, or an icon mark.

Step S203: and the intelligent driving area controller determines the road conditions of other motor lanes in the same direction as the motor lane where the target vehicle is located according to the road information.

The intelligent driving area controller sets corresponding preset conditions aiming at a plurality of factors influencing the lane change of the target vehicle to other motor vehicle lanes in the same direction of the motor vehicle lane where the target vehicle is located, such as lane closure, lane change prohibition and lane crowding, and judges whether the motor vehicle lane is abnormal or not by analyzing whether the road surface information contains information which is the same as the preset conditions or not.

When the road information is image information, if the image shows that the other motor vehicle lane is provided with a corresponding mark such as a construction mark or a road sealing mark, the non-motor vehicle lane is in a closed state; if the number of the motor vehicles in the other motor vehicle lane is larger and/or the distance between the motor vehicles is smaller, the other motor vehicle lane is in a congestion state, if the other motor vehicle lane is provided with a corresponding mark such as a lane change prohibition mark, the other motor vehicle lane is in a lane change prohibition state. Therefore, the intelligent driving area controller can set corresponding preset conditions, compare the image information with the preset conditions and further determine whether the road conditions of the other motor vehicle lanes are abnormal or not. Please refer to table 3, where table 3 is a table of correspondence between preset conditions and road conditions of a motorway provided in the embodiment of the present application:

optionally, the third threshold and the fourth threshold may be thresholds set by default for the target vehicle, or may be thresholds set according to actual application scenarios and requirements.

Alternatively, the stationary lane change mark may be a solid mark on the other vehicle lane, or may be a traffic warning board directly indicating that lane change is prohibited.

When the road information is map information, if the map shows that the other motor vehicle lane has corresponding marks such as construction marks or road sealing marks, the other motor vehicle lane is in a closed state; if the map shows that the other motor vehicle lane has corresponding signs such as congestion signs, the other motor vehicle lane is in a congestion state; if the map shows that the other motor vehicle lane has corresponding marks such as lane change forbidding marks, the other motor vehicle lane is in a lane change forbidding state. Therefore, the intelligent driving area controller can set corresponding preset conditions, compare the map information with the preset conditions and further determine the road condition of the non-motor vehicle lane. Please refer to table 4, where table 4 is a table of correspondence between preset conditions and road conditions of a motorway provided in the embodiment of the present application:

the map information can distinguish the state of the non-motor vehicle lane by different colors, that is, the mark in the map information can be a color mark, a character mark or an icon mark.

It should be noted that the intelligent driving area controller may select the type of the obtained road information according to the actual scene and the actual requirement, so as to accurately determine the road conditions of the non-motor vehicle lane and the other motor vehicle lanes. For example, when the road section where the target vehicle is located is remote and detailed map information cannot be acquired, the intelligent driving area controller can judge the road condition of the lane according to the image information; for example, when the target vehicle runs at night and the definition of image information is not high, the intelligent driving area controller can judge the road condition of a lane according to map information; for another example, when the road section where the target vehicle is located is a place where traffic accidents occur frequently, the intelligent driving area controller may determine the road condition of the lane by integrating the image information and the map information.

Step S204: and if the non-motor vehicle lane has a preset first abnormal condition and other motor vehicle lanes have a preset second abnormal condition, the intelligent driving area controller outputs first prompt information.

Specifically, the first prompt message is used for prompting a first abnormal condition of the non-motor lane and prompting deceleration driving.

For convenience in understanding, please refer to fig. 4, and fig. 4 is a schematic view of a scenario in which a vehicle outputs first prompt information according to an embodiment of the present application. T is ₁ At the moment, the target vehicle 401 is driving in the motor vehicle lane 402, the intelligent driving area controller in the target vehicle 401 determines the road condition of the non-motor vehicle lane 403 as a first abnormal condition according to the road-closing sign 409 in the image information of the non-motor vehicle lane 403, and determines the road condition of the motor vehicle lane 404 as a second abnormal condition by analyzing that the number of other vehicles 405-408 in the image information of the motor vehicle lane 404 exceeds a third threshold value. That is, the target vehicle 401 recognizes that the non-motorized lane 403 has a safety hazard of a non-motorized vehicle entering the motorized lane 402 and that the motorized lane 404 does not have a lane change condition. Thus, the intelligent driving range controller outputs first prompt information for prompting the first abnormal situation of the non-motor lane 403 and prompting the driver to run at a reduced speed by controlling the output device of the target vehicle 401. The driver of the target vehicle 401 may choose to reduce the vehicle speed after receiving the first prompt message. That is, T ₂ At the moment when the speed of the target vehicle 401 is less than T ₁ The speed of the target vehicle 401 at that time.

Optionally, the output device may be a voice device such as a car stereo, or a display device such as a console screen; the first prompt message can be output in a voice broadcasting mode or a video playing mode.

For example, the first prompt message may be a voice prompt message "the right non-motor vehicle lane is closed, the driver is asked to adjust the vehicle speed in time to keep driving safely".

Step S205: and if the non-motor vehicle lane has a preset first abnormal condition and other motor vehicle lanes do not have a preset second abnormal condition, the intelligent driving area controller outputs second prompt information.

Specifically, the second prompt message is used for prompting the first abnormal condition of the non-motor lane and prompting lane change driving.

Please refer to fig. 5, fig. 5 is a schematic view of a scenario that a vehicle outputs second prompt information according to an embodiment of the present application. T is ₁ At that time, the target vehicle 501 is traveling in the vehicle lane 502, the intelligent driving area controller in the target vehicle 501 determines that the vehicle lane 503 is in a congested state, i.e., the vehicle condition of the vehicle lane 503 is a first abnormal condition, by displaying the vehicle lane 503 as a red lane in the map information, and determines that the vehicle lane 504 is in a normal traffic state, i.e., the vehicle lane 504 is in a normal condition, by displaying the vehicle lane 504 as a green lane in the map information. That is, the intelligent driving area controller recognizes that there is a safety hazard that the non-motor vehicle enters the motor vehicle lane 502 in the non-motor vehicle lane 503, and the motor vehicle lane 504 has a lane change condition. Thus, the intelligent driving range controller outputs second prompt information for prompting the first abnormal situation of the non-motor vehicle lane 503 and prompting the driver to change the lane by controlling the output device of the target vehicle 501. The driver of the target vehicle 501, upon receiving the second prompt, may choose to change lanes to the motor lane 504. That is, T ₂ At which time the target vehicle 501 changes lanes from the vehicle lane 502 to the vehicle lane 504 ₃ At which point the target vehicle 501 has changed lane to the motorway 504.

Optionally, the output device may be a voice device such as a car audio, or a display device such as a center console screen; the second prompt message can be output in a voice broadcast mode or a video play mode.

For example, the second prompt message may be a voice prompt message "right-side non-motorway is congested, and the driver is advised to change lane to left-side.

According to the embodiment of the application, the target vehicle outputs corresponding prompt information according to the road condition of the equidirectional motor lane under the condition that the potential safety hazard that the non-motor vehicle enters the motor lane is determined to exist through the intelligent driving domain controller, the prompt information is used for prompting the abnormal condition of the driver and suggesting the driver to adjust the corresponding driving strategy, the potential driving risk can be avoided, and the real-time performance, the accuracy and the intelligence of information processing of the vehicle based on the abnormal condition of the road can be improved.

In an optional embodiment, the intelligent driving area controller may obtain video information of other roads through the first server, analyze road conditions of lanes in the video information of the other roads, and select video information of at least two target roads from the video information, where the two target roads are both roads where the first abnormal condition occurs in the target non-motor vehicle lane and the preset second abnormal condition does not occur in the target motor vehicle lane. It should be noted that the target vehicle lane is separated from the target non-vehicle lane by a vehicle lane. That is, the road conditions of the two target roads are the same as the road conditions of the target vehicle. It should be noted that the video information may reflect the actual vehicle passing conditions of each lane in the other roads and the road surface details of each lane. Optionally, the first server may be a physical device such as a server or a host, or may be a virtual device such as a virtual machine or a container. For example, the first server may be a cloud, such as a single service in the cloud or a server cluster composed of multiple servers, or may be a local device, such as a local single service or a server cluster composed of multiple servers. The first server and the target vehicle, the roadside device and the monitoring camera in the other road can be connected in a wireless communication mode, for example, intangible media such as a wireless local area network, bluetooth, a mobile communication network and the like can be used for assisting the target vehicle to acquire the video information of the other road shot by the roadside device or the monitoring camera.

Then, aiming at each target road, the intelligent driving area controller calculates the duration of a first abnormal condition of the target non-motor vehicle lane and a second abnormal condition which is not preset in the target motor vehicle lane in the video information of the target road, averagely divides the video information of the target road into N pieces of sub video information according to the duration, and respectively calculates the vehicle passing efficiency on the target motor vehicle lane in the N pieces of sub video information, wherein N is an integer larger than 1.

It should be noted that, the intelligent driving area controller may select a fixed marker on the target motor lane as a reference object, and calculate the number of vehicles passing through the fixed marker in the time of each sub-video.

Further, the intelligent driving area controller determines the driving behaviors of a plurality of first vehicles in the target motor lane in the sub-video information with the highest vehicle passing efficiency, and determines the driving behaviors of a plurality of second vehicles in the target motor lane in the sub-video information with the lowest vehicle passing efficiency.

If the proportion of the vehicles with the driving behaviors of lane change driving in the first vehicles in the target motor lane is larger than a fifth threshold value and the proportion of the vehicles with the driving behaviors of lane change driving in the second vehicles in the target motor lane is smaller than the fifth threshold value in each of the two target roads, the target vehicles output second indication information through an output device, wherein the second indication information is used for prompting a first abnormal condition of the non-motor lane, prompting lane change driving behaviors of the vehicles in the other roads and prompting lane change driving. That is, the intelligent driving area controller judges the effectiveness of executing the lane-change driving strategy by analyzing the influence of the vehicle lane-change driving behavior of the target motor lane in other roads on the vehicle passing efficiency of the target motor vehicle.

Optionally, the output device may be a voice device such as a car stereo, or a display device such as a console screen; the second prompt message can be output in a voice broadcast mode or a video play mode.

Optionally, the fifth threshold may be a threshold set by default for the target vehicle, or may be a threshold set according to an actual application scenario and requirements.

For example, the second prompt message may be a voice prompt message "the right side is congested with non-motor vehicle lanes, most vehicles on other roads choose to drive in a lane change mode when the same condition is met, and the driver is recommended to drive in a lane change mode to the left side".

In the embodiment of the application, under the condition that the potential safety hazard that the non-motor vehicle enters the motor lane is determined to exist by the intelligent driving domain controller, if the other motor lane in the same direction is not abnormal, namely the condition of lane change is met, the driving behaviors of the vehicles in other roads which are the same as the road condition of the target vehicle are further referred to, the potential safety hazard that the non-motor vehicle enters the motor lane can be more accurately identified, second prompt information indicating lane change is output, and the intelligence of information processing of the vehicles based on the abnormal road condition is further improved.

Further, if the non-motor vehicle lane does not have a preset first abnormal condition and other motor vehicle lanes do not have a preset second abnormal condition, the target vehicle outputs a third prompt message.

Specifically, in the driving process, the intelligent driving area controller can acquire the vehicle distance information between the target vehicle and the surrounding vehicles through a sensor of the vehicle body. Please refer to fig. 6, and fig. 6 is a schematic view illustrating a scene where a vehicle acquires vehicle distance information according to an embodiment of the present application. The intelligent driving area controller in the target vehicle 601 can obtain the distance information between the surrounding vehicles 602-604 within the coverage area (the area shown in the graph 605) of the sensor through the sensor, and when the surrounding

vehicles

602 and 603 enter the dangerous distance range (the area shown in the graph 606) preset by the target vehicle, that is, the distance between the target vehicle 601 and the surrounding vehicle 602 and the distance between the target vehicle and the surrounding vehicle 603 are less than or equal to the third threshold value, the intelligent driving area controller outputs the third prompt information for prompting the driver to decelerate through the control output device.

Alternatively, the nearby vehicles 602-604 may be motor vehicles or non-motor vehicles. The sensor may be an infrared detector, a lidar, a millimeter wave radar or an ultrasonic radar.

Optionally, the third threshold may be a threshold set by the target vehicle as a default, or may be a threshold set according to an actual application scenario and a requirement.

Optionally, the third prompt message may be output in a voice broadcast manner or a video play manner.

For example, the third prompt message may be a voice prompt message "please the driver pay attention to keeping the vehicle distance from the nearby vehicle, and recommend deceleration".

According to the embodiment of the application, the target vehicle can identify potential driving risks through the intelligent driving area controller according to the distance information of the surrounding vehicles, and the prompting information is output to prompt the abnormal condition of the driver and suggest the driver to execute corresponding driving operation, so that the intelligence of information processing of the vehicle based on the road abnormal condition can be improved.

In an optional embodiment, the intelligent driving area controller may further perform information interaction with other vehicles through a second server, acquire a driving parameter, sent by the second server, of the other vehicles passing through a motor lane where the target vehicle is located within a preset time period, and determine driving behaviors of the other vehicles according to the driving parameter. The target vehicle may output the first information, the second information, or the third information with reference to the driving behavior of the other vehicle on the basis of determining the road condition of the adjacent non-motor vehicle lane and the road condition of the co-directional motor vehicle lane. Specifically, the first information, the second information and the third information are further used for prompting the driving behavior of the other vehicle within the preset time period.

Optionally, the second server may be a physical device such as a server or a host, or may also be a virtual device such as a virtual machine or a container. For example, the second server may be a cloud, such as a single service in the cloud or a server cluster composed of multiple servers, or may be a local device, such as a local single service or a server cluster composed of multiple servers. The second server and the vehicle can be connected in a wireless communication mode, such as an intangible medium of a wireless local area network, bluetooth, a mobile communication network and the like, and is used for assisting information interaction between the vehicles.

Optionally, the preset time period may be a time period set by the default of the target vehicle, or may be a time period set according to an actual application scenario and a requirement.

For example, the intelligent driving area controller determines that a preset first abnormal condition occurs in the non-motor lane and a preset second abnormal condition does not occur in other motor lanes, and then judges that the other vehicles perform sudden braking operation according to the speed information of the other vehicles in a preset time period, so that second prompt information is output through controlling an output device, wherein the second prompt information is used for prompting the first abnormal condition of the non-motor lane, the driving behaviors of the other vehicles and prompting lane change driving. The second prompt message can be a voice prompt message 'congestion of a non-motorized vehicle lane on the right side, emergency braking is carried out before other vehicles on the lane in which the vehicle is located are five minutes away, and the driver is advised to change lanes to drive on the left side'.

In the embodiment of the application, the target vehicle can refer to the driving behaviors of other vehicles in a preset time period on the basis of determining the road conditions of the non-motor vehicle lane and other motor vehicle lanes through the intelligent driving area controller, more accurately identify the potential safety hazard that the non-motor vehicle enters the motor vehicle lane and output prompt information, and further improve the accuracy of information processing of the vehicle based on the abnormal condition of the road.

While the method of the embodiments of the present application has been described in detail above, to facilitate better implementation of the above-described aspects of the embodiments of the present application, the apparatus of the embodiments of the present application is provided below accordingly.

It is understood that, the apparatus provided in the embodiments of the present application, for example, a vehicle intelligent driving domain control apparatus, includes a hardware structure, a software module, or a combination of the hardware structure and the software structure for performing the functions in the foregoing method embodiments, and the like.

Those of skill in the art will readily appreciate that the various illustrative elements and steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. A person skilled in the art may implement the foregoing method embodiments in different usage scenarios by using different device implementations, and the different implementation manners of the device should not be considered as exceeding the scope of the embodiments of the present application.

The embodiment of the application can divide the functional modules of the device. For example, each functional module may be divided for each function, or two or more functions may be integrated into one functional module. The integrated module can be realized in a form of hardware or a form of a software functional module. It should be noted that, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and there may be another division manner in actual implementation. For example, taking as an example the case where the respective functional modules of the apparatus are divided in an integrated manner, the present application exemplifies several possible processing apparatuses.

Referring to fig. 7, fig. 7 is a schematic structural diagram of a vehicle intelligent driving area control device according to an embodiment of the present application, where the vehicle intelligent driving area control device 70 may be the target vehicle 101 shown in fig. 1A, or a device in the target vehicle 101; the vehicle intelligent driving area control device 70 may include an obtaining unit 701, a first determining unit 702, a second determining unit 703, a first output unit 704, and a second output unit 705, which are connected by a bus, wherein the detailed description of each unit is as follows:

the acquiring unit 701 is configured to acquire road surface information in a driving process, where the road surface information is used to represent position information and/or a motion state of an object in each lane in a road section where the vehicle is located;

the first determining unit 702 is configured to determine a road condition of a non-motor lane adjacent to a motor lane where the vehicle is located according to the road surface information;

the second determining unit 703 is configured to determine, according to the road surface information, a road condition of another vehicle lane in the same direction as the vehicle lane;

a first output unit 704, configured to output first prompt information if a preset first abnormal condition occurs in the non-motor lane and a preset second abnormal condition occurs in the other motor lane, where the first abnormal condition is used to indicate that there is a safety hazard that a non-motor vehicle in the non-motor lane occupies a motor lane where the vehicle is located, the second abnormal condition is used to indicate that the other motor lane does not have a condition that allows the vehicle to change lanes, and the first prompt information is used to prompt a first abnormal condition of the non-motor lane and prompt deceleration driving;

the second output unit 705 is configured to output a second prompt message if a preset first abnormal condition occurs in the non-motor vehicle lane and a preset second abnormal condition does not occur in the other motor vehicle lane, where the second prompt message is used to prompt the first abnormal condition of the non-motor vehicle lane and prompt lane change driving.

In one possible implementation manner, the vehicle smart driving range control device 70 further includes:

the receiving unit is used for receiving driving parameters sent by a server when other vehicles pass through a motor lane where the vehicles are located within a preset time period, wherein the server is used for collecting the driving parameters of all vehicles connected with the server;

the first prompt message and the second prompt message are further used for prompting the driving behaviors of the other vehicles within the preset time period.

In another possible implementation, the road surface information includes image information; in terms of determining the road condition of the non-motor vehicle lane adjacent to the motor vehicle lane where the vehicle is located according to the road surface information, the first determining unit 702 is specifically configured to:

analyzing the image information, and determining that the non-motor vehicle lane is a first abnormal condition if at least one of the following conditions is met:

In another possible implementation manner, in the aspect of determining the road condition of another vehicle lane in the same direction as the vehicle lane according to the road surface information, the second determining unit 703 is specifically configured to:

analyzing the image information, and if at least one of the following conditions is met, determining that the other motor vehicle lane is in a second abnormal condition:

a preset lane change prohibition mark exists in the image information;

In yet another possible implementation, the road surface information includes map information; in the aspect of determining the road condition of the non-motor vehicle lane adjacent to the motor vehicle lane where the vehicle is located according to the road surface information, the first determining unit 702 is specifically configured to:

analyzing the map information, and if one or more of preset construction marks, road closure marks, congestion marks and lane change prohibition marks exist on the other motor vehicle lanes in a preset range taking the vehicle as the center in the map information, determining that the other motor vehicle lanes are in a second abnormal condition.

In yet another possible implementation manner, the vehicle smart driving area control device 70 further includes:

a receiving unit for acquiring vehicle distance information between the vehicle and a surrounding vehicle through a sensor, wherein the surrounding vehicle comprises vehicles within the coverage range of the sensor device;

In yet another possible implementation manner, before the outputting the second prompt message, the vehicle smart driving area control device 70 further includes:

the selecting unit is used for selecting the video information of at least two target roads from the video information of the other roads, wherein the two target roads are both roads on which the first abnormal condition occurs in the target non-motor vehicle lane and the preset second abnormal condition does not occur in the target motor vehicle lane, and the target motor vehicle lane and the target non-motor vehicle lane are separated by a motor vehicle lane;

the calculating unit is used for respectively calculating the vehicle passing efficiency on the target motor vehicle lane in the N pieces of sub-video information;

a fourth determination unit, configured to determine driving behaviors of a plurality of first vehicles in the target motor vehicle lane in the sub video information with the highest vehicle passing efficiency;

a sixth determination unit that determines that a proportion of the vehicles whose driving behaviors include lane change traveling among the plurality of first vehicles is larger than a fifth threshold value, and that a proportion of the vehicles whose driving behaviors include lane change traveling among the plurality of second vehicles is smaller than the fifth threshold value.

It should be noted that, in the embodiment of the present application, specific implementation and technical effects of each unit may also be correspondingly described with reference to corresponding embodiments in fig. 1A, fig. 1B, and fig. 2 to fig. 6.

Referring to fig. 8, fig. 8 is a vehicle intelligent driving domain controller 80 provided in an embodiment of the present application, where the vehicle intelligent driving domain controller 80 includes a processor 801, a memory 802, and a communication interface 803, and the processor 801, the memory 802, and the communication interface 803 are connected to each other through a bus.

The processor 801 may be one or more Central Processing Units (CPUs), and in the case that the processor 801 is one CPU, the CPU may be a single-core CPU or a multi-core CPU.

The memory 802 includes, but is not limited to, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), or a portable read-only memory (CD-ROM), and the memory 802 is used for related computer programs and data.

The communication interface 803 is used to receive and transmit data. Optionally, the communication interface 803 obtains road surface information and sends the road surface information to the processor 801; optionally, the communication interface 803 receives the prompt message sent by the processor 801 and outputs the prompt message.

The processor 801 is configured to read the computer program code stored in the memory 802, and perform the following operations:

acquiring road surface information in a driving process, wherein the road surface information is used for representing position information and/or motion states of objects in each lane in a road section where the vehicle is located;

In a possible implementation manner, the processor 801 is further configured to receive driving parameters sent by a server when other vehicles pass through a lane where the vehicle is located within a preset time period, where the server is configured to collect the driving parameters of all vehicles connected to the server;

In another possible implementation, the road surface information includes image information; in the aspect of determining the road condition of the non-motor vehicle lane adjacent to the motor vehicle lane where the vehicle is located according to the road surface information, the processor 801 is specifically configured to:

In yet another possible implementation manner, in the aspect of determining the road condition of the other vehicle lane in the same direction as the vehicle lane according to the road surface information, the processor 801 is specifically configured to:

a preset lane change prohibition mark exists in the image information;

In yet another possible implementation, the road surface information includes map information; in the aspect of determining the road condition of the non-motor vehicle lane adjacent to the motor vehicle lane where the vehicle is located according to the road surface information, the processor 801 is specifically configured to:

analyzing the map information, and if one or more of a preset construction mark, a road closing mark and a congestion mark exists on the non-motor vehicle lane in a preset range taking the vehicle as the center in the map information, determining that the non-motor vehicle lane is in a first abnormal condition.

In yet another possible implementation manner, before the collecting the road information during driving, the processor 801 is further configured to:

In yet another possible implementation manner, before the outputting the second prompting message, the processor 801 is further configured to:

calculating the duration of the first abnormal condition of the target non-motor vehicle lane and the preset second abnormal condition of the target motor vehicle lane in the video information of the target road, and averagely dividing the video information of the target road in the duration into N pieces of sub-video information, wherein N is an integer greater than 1;

It should be noted that, implementation of each operation may also correspond to the corresponding description of the embodiment with reference to fig. 1A, fig. 1B, and fig. 2 to fig. 6.

An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored, and when the computer program runs on a network device, the method flow shown in fig. 2 is implemented.

In the embodiments of the present application, the "plurality" refers to two or more, "and/or" describes an association relationship of the associated objects, which means that there may be three relationships, for example, a and/or B, which may mean: a alone, both A and B, and B alone, wherein A, B may be singular or plural. And, unless stated to the contrary, "first" in the first abnormal condition, the first prompt message, the first threshold, the first output unit, the first determination unit mentioned in the embodiments of the present application is used merely for name identification and is not used to limit the order, timing, priority, or importance of the plurality of objects. The same applies to "second", "third" and "fourth", etc.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or substitutions within the technical scope of the present application, and these modifications or substitutions should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A prompt message processing method for vehicle based on road abnormal state recognition is characterized in that the method is applied to an intelligent driving domain controller of a domain controller system of a vehicle, and comprises the following steps:

if the detected road condition of the non-motor lane is a preset first abnormal condition of the non-motor lane and the detected road condition of the other motor lane is a preset second abnormal condition of the other motor lane, outputting first prompt information, wherein the first abnormal condition is used for indicating that a potential safety hazard that the non-motor vehicle in the non-motor lane occupies the motor lane where the vehicle is located exists, the second abnormal condition is used for indicating that the other motor lane does not have a condition of allowing the vehicle to change lanes, and the first prompt information is used for prompting the first abnormal condition of the non-motor lane and prompting deceleration driving;

if the detected road condition of the non-motor vehicle lane is that the first abnormal condition occurs on the non-motor vehicle lane, and the detected road condition of the other motor vehicle lane is that the second abnormal condition does not occur on the other motor vehicle lane, outputting second prompt information, wherein the second prompt information is used for prompting the first abnormal condition of the non-motor vehicle lane and prompting lane change driving;

before the outputting the second prompt message, the method further comprises:

selecting video information of at least two target roads from video information of other roads, wherein the two target roads are both roads on which the first abnormal condition occurs in the target non-motor vehicle lane and the preset second abnormal condition does not occur in the target motor vehicle lane, and the target motor vehicle lane and the target non-motor vehicle lane are separated by one motor vehicle lane;

determining driving behaviors of a plurality of second vehicles in the target motor vehicle lane in the sub-video information with the lowest vehicle passing efficiency;

2. The method of claim 1, further comprising:

3. The method according to claim 1 or 2, characterized in that the road surface information comprises image information; the determining the road condition of the non-motor vehicle lane adjacent to the motor vehicle lane in which the vehicle is located according to the road surface information comprises the following steps:

4. The method of claim 3, wherein determining the road conditions of other vehicle lanes in the same direction as the vehicle lane from the road surface information comprises:

a preset lane change prohibition mark exists in the image information;

5. The method according to claim 1 or 2, characterized in that the road surface information comprises map information; the determining the road condition of the non-motor vehicle lane adjacent to the motor vehicle lane in which the vehicle is located according to the road surface information comprises the following steps:

6. The method of claim 5, wherein determining the road conditions of other motor vehicle lanes in the same direction as the motor vehicle lane from the road surface information comprises:

7. A vehicle smart driving domain control apparatus, characterized in that the apparatus comprises:

the system comprises an acquisition unit, a processing unit and a display unit, wherein the acquisition unit is used for acquiring road surface information in the driving process, and the road surface information is used for representing the position information and/or the motion state of an object in each lane in a road section where the vehicle is located;

the second determining unit is used for determining the road conditions of other motor lanes in the same direction as the motor lane according to the road surface information;

the second output unit is used for outputting second prompt information if a preset first abnormal condition occurs in the non-motor lane and a preset second abnormal condition does not occur in the other motor lanes, wherein the second prompt information is used for prompting the first abnormal condition of the non-motor lane and prompting lane change driving;

before the outputting the second prompt message, the apparatus further includes:

the selection unit is used for selecting video information of at least two target roads from video information of other roads, wherein the two target roads are both roads on which the first abnormal condition occurs in a target non-motor vehicle lane and a preset second abnormal condition does not occur in the target motor vehicle lane, and the target motor vehicle lane and the target non-motor vehicle lane are separated by a motor vehicle lane;

a sixth determination unit configured to determine that a proportion of the plurality of first vehicles whose driving behaviors include lane change traveling is greater than a fifth threshold value, and that a proportion of the plurality of second vehicles whose driving behaviors include lane change traveling is less than the fifth threshold value.

8. A vehicle intelligent driving domain controller, characterized by comprising a processor, a memory and a communication interface, wherein the communication interface is used for executing receiving and/or sending operation under the control of the processor, the memory is used for storing a computer program, and the processor is used for calling the computer program to realize the method of any one of claims 1-6.

9. A vehicle comprising an intelligent driving area controller, wherein the controller is the control device of claim 7 or the controller of claim 8.

10. A computer-readable storage medium, in which a computer program is stored which, when run on a processor, carries out the method of any one of claims 1-6.