CN116252809A

CN116252809A - Vehicle reverse driving prompting method and device, electronic equipment and storage medium

Info

Publication number: CN116252809A
Application number: CN202111505860.7A
Authority: CN
Inventors: 方伟; 王晶昕
Original assignee: Shanghai Pateo Network Technology Service Co Ltd
Current assignee: Shanghai Pateo Network Technology Service Co Ltd
Priority date: 2021-12-10
Filing date: 2021-12-10
Publication date: 2023-06-13

Abstract

The invention discloses a prompting method and a device for vehicle reverse driving, electronic equipment and a storage medium, wherein the prompting method comprises the following steps: detecting whether the front driving image comprises reverse driving lane information or not; if so, judging whether the vehicle can drive into the reverse traffic lane according to the steering wheel rotation angle data; if yes, generating prompt information. According to the prompting method and device for the reverse running of the vehicle, the electronic equipment and the storage medium, the detection of the front running image is performed, the judgment is performed based on the steering wheel corner data, and the prompt is timely made when the vehicle is found to enter the reverse running lane, so that traffic accidents caused by reverse running are effectively avoided; and detection and judgment based on the front driving image can be directly based on the real scene to carry out timely and accurate retrograde judgment without vehicle navigation.

Description

Vehicle reverse driving prompting method and device, electronic equipment and storage medium

Technical Field

The invention relates to the technical field of vehicle auxiliary driving, in particular to a prompting method and device for vehicle reverse driving, electronic equipment and a storage medium.

Background

Drivers who are unskilled in driving, or who are inattentive due to fatigue or the like, or who are in a short time spent in a strange area, are likely to drive the vehicle onto a reverse lane, thereby violating traffic regulations and even causing serious traffic accidents.

Disclosure of Invention

The invention aims to overcome the defect that a driver easily drives into a reverse traffic lane in the prior art, and provides a method and a system for generating a vehicle reverse driving prompt.

The invention solves the technical problems by the following technical scheme:

the invention provides a prompting method for vehicle reverse driving, which comprises the following steps:

detecting whether the front driving image comprises reverse driving lane information or not;

if so, judging whether the vehicle can drive into a reverse traffic lane according to the steering wheel rotation angle data;

if yes, generating prompt information.

The invention also provides a prompt device for the reverse running of the vehicle, which comprises an acquisition unit, one or more processing units and a storage unit, wherein the one or more processing units are respectively in communication connection with the acquisition unit and the storage unit;

the acquisition unit is used for acquiring steering wheel angle data of the vehicle;

the storage unit is configured to store instructions that, when executed by the one or more processing units, cause the one or more processing units to perform steps comprising:

if yes, generating prompt information.

The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the prompting method of the reverse running of the vehicle when executing the computer program.

The invention also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, implements the above-mentioned method for prompting reverse running of a vehicle.

The method has the positive progress effects that through providing the prompting method and device for the reverse running of the vehicle, the electronic equipment and the storage medium, the detection of the front running image is used for judging based on the steering wheel angle data, and the prompt is timely made when the vehicle is found to enter the reverse running lane, so that the traffic accident caused by the reverse running is effectively avoided; and detection and judgment based on the front driving image can be performed without vehicle navigation, but based on a real scene, timely and accurate retrograde judgment can be performed.

Drawings

Fig. 1 is a flowchart of a method for presenting a reverse running of a vehicle according to embodiment 1 of the present invention.

Fig. 2 is a schematic diagram of an application scenario of the method for prompting reverse driving of a vehicle according to embodiment 1 of the present invention.

Fig. 3 is an application scenario schematic diagram of a method for prompting reverse driving of a vehicle according to embodiment 1 of the present invention.

Fig. 4 is a schematic diagram of an application scenario of the method for prompting reverse driving of a vehicle according to embodiment 1 of the present invention.

Fig. 5 is a schematic block diagram of a prompt device for a reverse driving of a vehicle according to embodiment 2 of the present invention.

Fig. 6 is a block diagram showing the structure of an electronic device according to embodiment 3 of the present invention.

Detailed Description

The invention is further illustrated by means of the following examples, which are not intended to limit the scope of the invention.

Example 1

Referring to fig. 1, the embodiment specifically provides a method for prompting reverse driving of a vehicle, which includes the following steps:

s1, detecting whether a forward driving image comprises reverse driving lane information or not; if so, executing the step S2;

s2, judging whether the vehicle can drive into a reverse traffic lane according to the steering wheel rotation angle data; if yes, executing a step S3;

s3, generating prompt information.

Step S1 detects a front driving image, which may be obtained, for example, from a front video image during driving captured by a driving recorder, a vehicle panoramic camera, or the like. The reverse traffic lane in this embodiment may be a reverse traffic lane when the host vehicle enters the lane according to the current driving tendency and does not match the driving direction specified by the lane. The reverse traffic lane information includes, but is not limited to, information that can be used to indicate that a reverse traffic lane exists or specifically indicates a reverse traffic lane, such as pavement markers, signs, and the like. Step S2, when the fact that the forward driving image comprises reverse driving lane information is detected, whether the vehicle enters the reverse driving lane or not is judged according to steering wheel angle data, namely whether the vehicle enters the reverse driving lane or not is judged through estimation of steering trend of the vehicle. Step S3, generating a prompt can include, but is not limited to, prompting a driver by sending out a warning image on a screen of the vehicle, playing a warning sound through a loudspeaker and the like; raising the angle of the seat back to prompt the driver to see the front road clearly; automatically turning on double-jump lights of the vehicle or automatically sending out a sound signal to prompt surrounding vehicles, etc.

As a preferred embodiment, step S2 includes:

s21, if the steering wheel angle exceeds a first preset angle, judging that the vehicle can drive into a reverse traffic lane; if the vehicle speed is not exceeded, the vehicle is judged not to enter the reverse traffic lane.

In this embodiment, the steering wheel angle is determined, that is, if the steering wheel angle exceeds the first preset angle, it is determined that the vehicle will enter the reverse traffic lane, and if the steering wheel angle exceeds the first preset angle, it will not enter the reverse traffic lane. Referring to fig. 2, at most T-junctions or crossroads, the corresponding reverse lane is the left hand direction of the current driving direction when the vehicle turns left, so there is often a more pronounced tendency to turn left when entering the reverse lane. In this embodiment, a first preset angle is set for the application scene, that is, the turning trend of the vehicle is measured by the steering wheel angle amplitude, and when the first preset angle is exceeded, the turning trend of the vehicle is considered to coincide with the reverse lane, so as to determine that the vehicle will drive into the reverse lane, and vice versa. According to the method, the steering wheel angle is judged by setting the first preset angle, so that judgment on whether the vehicle will reverse in the scenes such as the vertical intersection or not can be quickly determined, and corresponding prompt information can be timely and accurately generated.

As a preferred embodiment, step S2 includes:

s22, determining the wheel deflection direction of the vehicle according to steering wheel corner data;

s23, acquiring the inlet direction of a reverse traffic lane;

s24, if the included angle between the deflection direction and the entrance direction of the vehicle is smaller than a preset angle threshold value, judging that the vehicle will drive into the reverse traffic lane.

In the present embodiment, step S22 obtains the vehicle yaw direction of the vehicle as the basis for determining the forward trend of the vehicle. Although the angles of the steering wheel and the wheels are generally in the process of dynamically adjusting and restoring when the vehicle enters other lanes from the current lane, it can be considered that the steering wheel angle data at a certain moment and the corresponding vehicle deflection direction can be used for representing the expected steering of the driver, and the comparison between the angle between the steering wheel angle data and the inlet direction of the reverse lane acquired in the step S23 and the preset angle threshold can be used for judging whether the vehicle enters the reverse lane. Referring to fig. 3, for example, the wheel deflection direction of the vehicle is forward left 40 °, as shown by angle α in fig. 3; the entrance direction of a single-lane, i.e., the reverse lane, is forward-left-offset by 35 °, and if the angle β shown in fig. 3 is 5 °, the wheel yaw direction and the entrance direction of the reverse lane assume that the preset angle threshold is 10 °, the vehicle is considered to be driving into the reverse lane. According to the method, the included angle between the steering of the wheels and the entrance of the reverse traffic lane is compared with the preset angle threshold, the possibility that the vehicle drives into the reverse traffic lane can be effectively detected on some irregular road conditions, prompt is facilitated in time, and reverse traffic is avoided.

As a preferred embodiment, step S22 includes:

s221, acquiring a steering ratio parameter of the vehicle;

s222, determining the wheel deflection direction according to the steering ratio parameter and steering wheel angle data.

In step S211, the steering ratio parameter of the vehicle, that is, the steering gear ratio, refers to the ratio of the steering angle of the steering wheel and the steering angle of the wheels in the vehicle, for example, if the steering wheel rotates 60 ° to drive the wheels to rotate 30 °, the steering ratio parameter is 2:1. The larger the steering ratio, the larger the magnitude of the direction of rotation of the vehicle steering wheel, and the smaller the force required to rotate the steering wheel; the smaller the reverse steering ratio, the smaller the magnitude of the desired direction of rotation of the steering wheel, and the faster the steering reaction. According to the method, the deflection direction of the wheel is determined through the steering ratio parameters, so that the deflection direction of the wheel can be accurately determined, the wheel is accurately and reasonably compared with the reverse road condition, and the accuracy of reverse detection is improved.

As an alternative embodiment, the reverse traffic lane information includes a reverse traffic road sign; step S23 includes: in the forward driving image, the road entrance where the reverse road sign is located is determined as the entrance direction of the reverse lane.

The reverse road sign in the present embodiment includes, but is not limited to, an arrow road sign on the road surface, a text prompting road sign, etc.; determining whether it is reverse lane information, for example, by judging an arrow direction or a character direction; in step S23, the reverse road sign is identified, so that the road surface on which the reverse road sign is located can be determined as a reverse road, and the road entrance of the reverse road can be determined in combination with processing such as image detection.

As another alternative embodiment, the reverse traffic lane information includes a reverse traffic sign; step S23 includes: in the forward driving image, the road entrance to which the reverse direction sign points is determined as the entrance direction of the reverse lane.

The reverse direction sign in the present embodiment includes, but is not limited to, a standing bar type sign, a hanging type sign, etc.; such as some reverse traffic indication signs, tide variable lane indication signs, one-way traffic forbidden indication signs, etc., the road pointed by the indication symbol on the indication sign is usually the reverse traffic lane. In the present embodiment, the road entrance performed on the reverse sign is determined to be the reverse lane based on the inspection of the forward driving image, and the entrance of the reverse lane may be determined by processing such as image detection.

As a preferred embodiment, step S2 includes:

s25, determining a target area to be driven into by the vehicle according to steering wheel angle data;

s26, acquiring track road network data in a target area;

s27, judging whether the vehicle can drive into the reverse traffic lane according to the advancing direction of the track road network data.

The track road network data is large data accumulated based on historical tracks, and a road network layer of a certain area is formed by overlapping a plurality of tracks passing through the area, so that the track road network data can be used for clearly and intuitively representing the historical driving state on a road section of the area. For each track forming the track road network, the track is taken as an independent linear entity and is usually composed of longitude and latitude coordinate points obtained by dotting at certain time intervals, so that the direction, the movement speed, the passing time of each point and the like of the track can be represented. Step S25 determines a target area to be driven into by the vehicle according to steering wheel angle data, wherein the target area can comprise but is not limited to rectangular, trapezoidal, fan-shaped areas and the like defined by taking the vehicle head as a reference, step S27 judges according to the track road network data in the target area obtained in step S26, and can comprise but is not limited to judging the direction passing through the track road network in the target area; for example, in fig. 4, the track road network data included in the target area L2 is a plurality of tracks in the area L1, and the directions of the tracks are opposite to the current driving direction and the driving trend direction represented by the current steering wheel corner data, so that it can be determined that the vehicle will drive into the reverse driving lane. According to the method, the target area is determined through the steering wheel care-of data, the trace road network big data resource is utilized for carrying out retrograde analysis, and the judgment result can be accurately and objectively obtained, so that corresponding retrograde prompt can be carried out in time.

As a preferred embodiment, the method for prompting reverse driving of the vehicle in this embodiment further includes step S0: acquiring steering wheel angle data of a vehicle; if the steering wheel angle exceeds the second preset angle, executing the step S1; since the reverse running in most scenes is unlikely to happen under the condition that the vehicle runs straight or approximately straight, the steering wheel angle data of the vehicle is detected in advance in the embodiment, and the detection of the front driving image is further executed only when the steering wheel angle data exceeds a second preset angle, namely the vehicle has a certain amplitude of turning trend, so that the detection efficiency can be effectively improved in most application scenes, and the calculation resources for detection are saved.

As a preferred implementation manner, the prompting method of the present embodiment further includes: when the judgment result of the step S2 is yes, executing the step S4;

s4, generating a control instruction, wherein the control instruction is used for controlling the vehicle to stop turning and/or controlling the vehicle to decelerate.

The present embodiment generates a control command for the vehicle, such as stopping the vehicle to change direction or slow down, when the vehicle is detected to be about to reverse, by controlling the vehicle to automatically brake, controlling the steering wheel to lock, or reducing the steering ratio of the steering wheel to increase the steering damping, etc. The control instruction in the actual application scene can further grasp the surrounding road conditions by combining the surrounding radar of the vehicle and the rear driving image, and then control the vehicle accordingly, so as to avoid rear-end collision and other situations.

The prompting method for the reverse running of the vehicle in the embodiment judges based on steering wheel corner data by detecting the front running image and timely prompts when the vehicle is found to run into a reverse running lane, so that traffic accidents caused by reverse running are effectively avoided; and detection and judgment based on the front driving image can be carried out without vehicle navigation, and timely and accurate retrograde judgment based on a real scene is carried out.

Example 2

Referring to fig. 5, the embodiment specifically provides a prompting device for a vehicle to travel in a reverse direction, where the prompting device includes an acquisition unit 50, one or more processing units 51, and a storage unit 52, and the one or more processing units 51 are respectively connected with the acquisition unit 50 and the storage unit 52 in a communication manner;

the acquisition unit 50 is used for acquiring steering wheel angle data of the vehicle;

the storage unit 52 is configured to store instructions that, when executed by the one or more processing units 51, cause the one or more processing units 51 to perform steps comprising:

s1, detecting whether a front driving image comprises reverse driving lane information or not, and if so, executing a step S2;

s2, judging whether the vehicle can drive into a reverse traffic lane according to the steering wheel rotation angle data, and if so, executing a step S3;

s3, generating prompt information.

Step S1 detects a front driving image, which may be obtained, for example, from a front video image during driving captured by a driving recorder, a vehicle panoramic camera, or the like. The reverse traffic lane in this embodiment may be a reverse traffic lane when the host vehicle enters the lane according to the current driving tendency and does not match the designed driving direction of the lane. The reverse traffic lane information includes, but is not limited to, information that can be used to indicate that a reverse traffic lane exists or specifically indicates a reverse traffic lane, such as pavement markers, signs, and the like. Step S2, when the fact that the forward driving image comprises reverse driving lane information is detected, whether the vehicle enters the reverse driving lane or not is judged according to steering wheel angle data, namely whether the vehicle enters the reverse driving lane or not is judged through estimation of steering trend of the vehicle. Step S3, generating a prompt can include, but is not limited to, prompting a driver by sending out a warning image on a screen of the vehicle, playing a warning sound through a loudspeaker and the like; raising the angle of the seat back to prompt the driver to see the front road clearly; automatically turning on double-jump lights of the vehicle or automatically sending out a sound signal to prompt surrounding vehicles, etc.

The prompting device for the reverse running of the vehicle in the embodiment judges based on steering wheel corner data by detecting the front running image and timely prompts when the vehicle is found to enter a reverse running lane, so that traffic accidents caused by reverse running are effectively avoided; and detection and judgment based on the front driving image can be carried out without vehicle navigation, and timely and accurate retrograde judgment based on a real scene is carried out.

Example 3

Referring to fig. 6, the present embodiment provides an electronic device 30, which includes a processor 31, a memory 32, and a computer program stored in the memory 32 and capable of running on the processor 31, and the processor 31 implements the method for prompting the vehicle to travel in the reverse direction in embodiment 1 when executing the program. The electronic device 30 shown in fig. 6 is merely an example, and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.

The electronic device 30 may be in the form of a general purpose computing device, which may be a server device, for example. Components of electronic device 30 may include, but are not limited to: the at least one processor 31, the at least one memory 32, a bus 33 connecting the different system components, including the memory 32 and the processor 31.

The bus 33 includes a data bus, an address bus, and a control bus.

Memory 32 may include volatile memory such as Random Access Memory (RAM) 321 and/or cache memory 322, and may further include Read Only Memory (ROM) 323.

Memory 32 may also include a program/utility 325 having a set (at least one) of program modules 324, such program modules 324 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.

The processor 31 executes a computer program stored in the memory 32 to thereby execute various functional applications and data processing such as a method of prompting reverse running of the vehicle in embodiment 1 of the present invention.

The electronic device 30 may also communicate with one or more external devices 34 (e.g., keyboard, pointing device, etc.). Such communication may be through an input/output (I/O) interface 35. Also, model-generating device 30 may also communicate with one or more networks, such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet, via network adapter 36. Network adapter 36 communicates with the other modules of model-generating device 30 via bus 33. Other hardware and/or software modules may be used in connection with the model-generating device 30, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, data backup storage systems, and the like.

It should be noted that although several units/modules or sub-units/modules of an electronic device are mentioned in the above detailed description, such a division is merely exemplary and not mandatory. Indeed, the features and functionality of two or more units/modules described above may be embodied in one unit/module in accordance with embodiments of the present invention. Conversely, the features and functions of one unit/module described above may be further divided into ones that are embodied by a plurality of units/modules.

Example 4

The present embodiment provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the prompting method of reverse travel of the vehicle in embodiment 1.

More specifically, among others, readable storage media may be employed including, but not limited to: portable disk, hard disk, random access memory, read only memory, erasable programmable read only memory, optical storage device, magnetic storage device, or any suitable combination of the foregoing.

In a possible embodiment, the invention can also be realized in the form of a program product comprising program code for causing a terminal device to carry out the prompting method for realizing the reverse run of the vehicle in example 1, when the program product is run on the terminal device.

Wherein the program code for carrying out the invention may be written in any combination of one or more programming languages, the program code may execute entirely on the user device, partly on the user device, as a stand-alone software package, partly on the user device, partly on a remote device or entirely on the remote device.

While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the principles and spirit of the invention, but such changes and modifications fall within the scope of the invention.

Claims

1. The prompting method for the reverse running of the vehicle is characterized by comprising the following steps of:

if yes, generating prompt information.

2. The method for prompting reverse driving of a vehicle according to claim 1, wherein the step of judging whether the vehicle is to drive into a reverse driving lane according to steering wheel angle data comprises:

if the steering wheel angle exceeds a first preset angle, judging that the vehicle can drive into a reverse traffic lane; if the vehicle does not exceed the reverse driving lane, judging that the vehicle does not drive into the reverse driving lane.

3. The method for prompting reverse driving of a vehicle according to claim 1, wherein the step of judging whether the vehicle is to drive into a reverse driving lane according to steering wheel angle data comprises:

determining a wheel deflection direction of the vehicle according to the steering wheel angle data;

acquiring the entrance direction of the reverse traffic lane;

and if the included angle between the deflection direction of the vehicle and the entrance direction is smaller than a preset angle threshold value, judging that the vehicle will drive into the reverse traffic lane.

4. The method for prompting reverse running of a vehicle according to claim 3, wherein the step of determining a wheel deflection direction of the vehicle based on the steering wheel angle data comprises:

acquiring a steering ratio parameter of the vehicle;

and determining the wheel deflection direction according to the steering ratio parameter and the steering wheel angle data.

5. The method for prompting reverse driving of a vehicle according to claim 3, wherein the reverse driving lane information includes a reverse driving road sign; the step of acquiring the entrance direction of the reverse traffic lane includes:

and in the front driving image, determining a road entrance where the reverse road sign is positioned as an entrance direction of the reverse driving lane.

6. The method for prompting reverse driving of a vehicle according to claim 3, wherein the reverse driving lane information includes a reverse driving direction board; the step of acquiring the entrance direction of the reverse traffic lane includes:

and in the front driving image, determining the road entrance pointed by the reverse direction indicator as the entrance direction of the reverse lane.

7. The method for prompting reverse driving of a vehicle according to claim 3, wherein the step of judging whether the vehicle is to drive into a reverse driving lane according to steering wheel angle data comprises:

determining a target area to be driven into by the vehicle according to the steering wheel angle data;

acquiring track road network data in the target area;

and judging whether the vehicle can drive into the reverse traffic lane according to the advancing direction of the track road network data.

8. The method for prompting reverse running of a vehicle according to claim 1, wherein the generating method comprises:

acquiring steering wheel angle data of the vehicle;

and if the steering wheel angle exceeds a second preset angle, executing the step of detecting whether the forward driving image comprises reverse driving lane information.

9. The method for prompting reverse driving of a vehicle according to claim 1, wherein the step of judging whether the vehicle is driven into a reverse driving lane according to steering wheel rotation angle data further comprises:

if yes, generating a control instruction, wherein the control instruction is used for controlling the vehicle to stop turning and/or controlling the vehicle to decelerate.

10. The prompting device for the reverse running of the vehicle is characterized by comprising an acquisition unit, one or more processing units and a storage unit, wherein the one or more processing units are respectively in communication connection with the acquisition unit and the storage unit;

if yes, generating prompt information.

11. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method for prompting reverse travel of a vehicle according to any one of claims 1-9 when the computer program is executed by the processor.

12. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the method for prompting reverse travel of a vehicle according to any one of claims 1-9.