CN116844377A

CN116844377A - Vehicle early warning method and device, electronic equipment and storage medium

Info

Publication number: CN116844377A
Application number: CN202310912351.9A
Authority: CN
Inventors: 闫善鑫; 张建; 王超; 王御; 谢飞; 洪日; 李扬; 李雅欣
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2023-07-24
Filing date: 2023-07-24
Publication date: 2023-10-03

Abstract

The invention discloses a vehicle early warning method, a vehicle early warning device, electronic equipment and a storage medium. The vehicle early warning method comprises the following steps: collecting an incoming lane image through an image collecting device of a first target vehicle, wherein the incoming lane image comprises a plurality of second target vehicles, the first target vehicle is a vehicle running on a target road, and the second target vehicle is a vehicle positioned in a parking space of an incoming lane; determining pre-entry data in the entry lane image, and determining a pre-entry vehicle in the second target vehicle based on the pre-entry data; and carrying out vehicle early warning on the first target vehicle based on the pre-remittance vehicle. According to the technical scheme provided by the embodiment of the invention, the pre-remittance vehicle in the remittance lane can be identified under the condition that the current vehicle runs on a relatively narrow road where the vehicle is parked at the roadside, so that the vehicle early warning is carried out, the risk of collision of the vehicle is avoided, and the driving safety is ensured.

Description

Vehicle early warning method and device, electronic equipment and storage medium

Technical Field

The present invention relates to the field of computer application technologies, and in particular, to a vehicle early warning method, a device, an electronic device, and a storage medium.

Background

In the investigation, it was found that the user is particularly concerned about the collision early warning function of avoiding the collision with respect to the auxiliary driving function of the vehicle. With the continuous development of traffic, the current road situation is more and more complex, so that it is difficult for a driver to fully pay attention to possible road risks during driving.

Currently, there are often many traffic collisions that occur based on the merging vehicles. In the prior art, a vehicle early warning method for an incoming vehicle comprises the steps of obtaining motion track data, judging whether a vehicle track coincides with a vehicle track, and performing collision early warning. The method comprises the steps of obtaining surrounding environment visual information of a current vehicle to determine a safety area boundary, and carrying out collision early warning and the like when an early warning area exceeds the safety area, wherein error early warning usually occurs, and in the prior art, vehicle early warning accuracy based on an incoming vehicle is poor.

Disclosure of Invention

The invention provides a vehicle early warning method, a vehicle early warning device, electronic equipment and a storage medium, and aims to solve the technical problem of poor accuracy of vehicle early warning based on an incoming vehicle.

According to an aspect of the present invention, there is provided a vehicle early warning method, wherein the method includes:

collecting an incoming lane image through an image collecting device of a first target vehicle, wherein the incoming lane image comprises a plurality of second target vehicles, the first target vehicle is a vehicle running on a target road, and the second target vehicle is a vehicle positioned in a parking space of an incoming lane;

determining pre-entry data in the entry lane image, and determining a pre-entry vehicle in the second target vehicle based on the pre-entry data;

and carrying out vehicle early warning on the first target vehicle based on the pre-remittance vehicle.

According to another aspect of the present invention, there is provided a vehicle warning device, wherein the device includes:

the image acquisition module is used for acquiring an incoming lane image through an image acquisition device of a first target vehicle, wherein the incoming lane image comprises a plurality of second target vehicles, the first target vehicle is a vehicle running on a target road, and the second target vehicle is a vehicle positioned in a parking space of an incoming lane;

the data processing module is used for determining pre-remittance data in the remittance lane image and determining a pre-remittance vehicle in the second target vehicle based on the pre-remittance data;

and the vehicle early warning module is used for carrying out vehicle early warning on the first target vehicle based on the pre-remittance vehicle.

According to another aspect of the present invention, there is provided an electronic apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle warning method according to any one of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a vehicle warning method according to any one of the embodiments of the present invention.

According to the technical scheme, an image acquisition device of a first target vehicle is used for acquiring an incoming lane image, wherein the incoming lane image comprises a plurality of second target vehicles, the first target vehicle is a vehicle running on a target road, and the second target vehicles are vehicles positioned in parking spaces of an incoming lane; determining pre-entry data in the entry lane image, and determining a pre-entry vehicle in the second target vehicle based on the pre-entry data; and carrying out vehicle early warning on the first target vehicle based on the pre-remittance vehicle. Under the condition that the current vehicle runs on a relatively narrow road where the vehicle is parked beside the road, the pre-remittance vehicle in the remittance lane can be identified to perform vehicle early warning, so that the risk of vehicle collision is avoided, and the driving safety is ensured.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a vehicle warning method according to a first embodiment of the present invention;

FIG. 2 is a scene graph of a vehicle pre-warning implementing an embodiment of the invention;

fig. 3 is a flowchart of a vehicle early warning method according to a second embodiment of the present invention;

FIG. 4 is an overall flow chart of a vehicle warning method provided in accordance with an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a vehicle early warning device according to a third embodiment of the present invention;

fig. 6 is a schematic structural diagram of an electronic device for implementing a vehicle early warning method according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

Fig. 1 is a flowchart of a vehicle early warning method according to an embodiment of the present invention, where the method may be applied to a situation of vehicle control, and the method may be performed by a vehicle early warning device, where the vehicle early warning device may be implemented in a form of hardware and/or software, and the vehicle early warning device may be configured in a first target vehicle. As shown in fig. 1, the method includes:

s110, collecting an incoming lane image through an image collecting device of the first target vehicle, wherein the incoming lane image comprises a plurality of second target vehicles.

The first target vehicle may be understood as a vehicle that travels on a target road. In the embodiment of the present invention, the first target vehicle may be preset according to a scene requirement, which is not specifically limited herein. Alternatively, the first target vehicle may be a car, a bus, a van, or the like. The target road may be understood as a road on which the first target vehicle travels. In the embodiment of the present invention, the target road may be set according to a scene requirement, which is not specifically limited herein. Alternatively, the target road may be a motor vehicle lane.

The image capturing device may be understood as a device mounted on the first target vehicle and having an image capturing function. In the embodiment of the present invention, the image acquisition device may be preset according to a scene requirement, which is not specifically limited herein. Alternatively, the image capturing device may be a front view camera.

The entry lane image may be understood as an image of an entry lane. It is to be understood that the vehicles in the afflux lane may be afflux to the target road on which the first target vehicle is traveling.

The second target vehicle may be understood as a vehicle in the merging lane image. Alternatively, the second target vehicle may be a vehicle located in a parking space of the afflux lane. In the embodiment of the present invention, the merging lanes may be preset according to scene requirements, which is not specifically limited herein. Alternatively, the merge lane may be a non-motorized lane that includes a parking space.

Optionally, before the collecting the image of the merging lane by the image collecting device of the first target vehicle, the method further includes:

and starting the data acquisition device of the first target vehicle in response to the target function starting operation.

Wherein the target function starting operation may be understood as an operation of starting a target function. The target functions may include data acquisition, pre-remittance vehicle identification, vehicle early warning and the like corresponding to the first target vehicle. In the embodiment of the present invention, the target function starting operation may be preset according to a scene requirement, which is not specifically limited herein. Alternatively, the target function initiation operation may be triggering a target button.

It should be understood that the present invention is mainly applied to a case where the target road is a relatively narrow road where vehicles are parked by the road side (refer to fig. 2) so as to avoid collision of the vehicles. Thus, when there is no vehicle around the first target vehicle that is likely to be imported, for example, the target road is a one-way lane where no parking space exists, there is no need to activate the target function of the first target vehicle. Therefore, the data acquisition device of the first target vehicle is started based on the target function starting operation, waste of vehicle resources is avoided, and energy conservation and emission reduction are realized.

S120, determining pre-remittance data in the remittance lane image, and determining a pre-remittance vehicle in the second target vehicle based on the pre-remittance data.

The pre-entry data may be understood as data for identifying the pre-entry vehicle in the entry lane image. In the embodiment of the present invention, the pre-assembled data may be preset according to the scene requirement, which is not specifically limited herein. Optionally, the pre-pooling data may include at least one of a wheel status and a tail light status.

The pre-entry vehicle may be understood as a vehicle of the second target vehicle that is pre-entered the target road.

S130, carrying out vehicle early warning on the first target vehicle based on the pre-remittance vehicle.

Optionally, the pre-remittance vehicle is used for pre-warning the first target vehicle, including:

determining the speed of the first target vehicle, and determining an early warning distance threshold according to the speed;

determining an afflux distance between the first target vehicle and the pre-afflux vehicle;

and under the condition that the merging distance is smaller than the early warning distance threshold value, carrying out vehicle early warning on the first target vehicle.

The early warning distance threshold may be understood as a distance threshold for performing vehicle early warning on the first target vehicle. In an embodiment of the present invention, the early warning distance threshold may be related to a current speed of the first target vehicle. The greater the current speed of the first target vehicle, the greater the corresponding pre-warning distance threshold may be.

The entry distance may be understood as the distance between the first target vehicle and the pre-entry vehicle. Optionally, determining an incoming distance between the first target vehicle and the pre-entry vehicle by an image ranging algorithm.

Optionally, the vehicle early warning method further includes:

determining a braking distance threshold value according to the speed of the first target vehicle, wherein the braking distance threshold value is smaller than the early warning distance threshold value;

and carrying out emergency braking on the first target vehicle under the condition that the afflux distance is smaller than the braking distance threshold value.

The braking distance threshold value may be understood as a threshold value for emergency braking of the first target vehicle. In an embodiment of the present invention, the braking distance threshold may be related to a current speed of the first target vehicle. The greater the current speed of the first target vehicle, the greater the corresponding braking distance threshold may be. It is understood that the braking distance threshold may be less than the warning distance threshold.

Example two

Fig. 3 is a flowchart of a vehicle early warning method according to a second embodiment of the present invention, where the method is performed by refining the pre-entry data in the determined entry lane image in the above embodiment. As shown in fig. 3, the method includes:

s210, collecting an incoming lane image through an image collecting device of the first target vehicle, wherein the incoming lane image comprises a plurality of second target vehicles.

S220, determining the wheel area and the tail light area in the converged lane image.

The wheel region may be understood as a region of the entry lane image in which the wheels of the second target vehicle are located.

The tail light area may be understood as an area of the second target vehicle where the tail light is located in the entry lane image.

It will be appreciated that the merging lane image may comprise a plurality of the wheel areas and a plurality of the tail light areas.

Optionally, the determining the wheel area and the tail light area in the merging lane image includes:

and identifying the input remittance lane image through an interesting area identification model to obtain a wheel area and a tail lamp area corresponding to the remittance lane image, wherein the interesting area identification model is obtained by training a deep learning model based on a sample remittance image.

The region-of-interest recognition model may be understood as a model for region-of-interest recognition of the entry lane image. The sample import image may be understood as a sample image that trains the region of interest recognition model.

S230, identifying the wheel state corresponding to each wheel area and the tail lamp state corresponding to each tail lamp area.

The wheel state may be understood as a state of the wheel corresponding to each of the wheel areas. Alternatively, the wheel condition may include a first direction stationary and a second direction yaw. Wherein the first direction may be a direction horizontal to a vehicle body of the second target vehicle at present. The second direction may be a direction of the target link relative to the entry lane.

The tail light state may be understood as a state of the tail light corresponding to each of the tail light regions. Alternatively, the may include an on state and an off state.

S240, determining a pre-remittance vehicle in the second target vehicle based on the pre-remittance data.

Optionally, the determining a pre-remittance vehicle in the second target vehicle based on the pre-remittance data includes:

determining a vehicle region corresponding to each second target vehicle in the converging lane image;

and determining the second target vehicle corresponding to the current vehicle region as the pre-entry vehicle when the vehicle region is the same as the wheel region in which the wheel state is the second direction deflection and the tail lamp region in which the tail lamp state is the lighting state.

The vehicle region may be understood as a region of each second target vehicle in the merging lane image. It is understood that the wheel area and the tail light area may be located at the same time in the same vehicle area.

The pre-remittance vehicle is determined based on the wheel state and the tail lamp state, the wheel state is the second direction deflection state and the tail lamp state is the lighting state and is used as the condition for determining the pre-remittance vehicle, the situation that the pre-remittance vehicle is misjudged due to the fact that the wheels of the roadside parked vehicle are not aligned is avoided, the accuracy of the determined pre-remittance vehicle is ensured, and the early warning accuracy of the vehicle is ensured.

S250, carrying out vehicle early warning on the first target vehicle based on the pre-remittance vehicle.

According to the technical scheme, the wheel area and the tail light area which are converged in the lane image are determined; and identifying the wheel state corresponding to each wheel area and the tail lamp state corresponding to each tail lamp area. The wheel status and the tail light status are used as pre-entry data simultaneously to determine a pre-entry vehicle. The comprehensiveness of the pre-remittance data for determining the pre-remittance vehicle is improved, and the accuracy of the determined pre-remittance vehicle is further ensured.

FIG. 4 is an overall flow chart of a vehicle warning method provided in accordance with an embodiment of the present invention; as shown in fig. 4, alternatively, the overall flow of the vehicle early warning method may be:

1. in a road scene meeting the conditions, the collision early warning function of the own vehicle (first target vehicle) can be selected to be started. The road scene meeting the condition can be a structured road with good visual field, and the invention can be applied to a road where vehicles are parked at a relatively narrow road side. The early warning function of the current vehicle is selected to be started, namely whether the early warning function is started or not can be selected autonomously, so that the requirements of different drivers are met. The collision warning function described is for the case where the front side vehicle has just started, is ready or is converging into the own lane.

2. After the collision early warning function is started, the vehicle obtains pre-remittance data through the front-view camera and a corresponding visual recognition algorithm, wherein the pre-remittance data comprises a wheel state and a tail lamp state. The visual recognition algorithm may be a deep learning-based target detection algorithm or a feature-based image processing analysis algorithm, in order to obtain the wheel state and the tail lamp state of the second target vehicle. The wheel state mainly refers to the rotation angle information of the wheels, and can be simplified whether the front wheels face the road where the vehicle is running, for example, for a right-side parked vehicle, the wheels can be divided into two states of vertical forward and left deflection.

3. The wheels are associated with the associated vehicle. The association between the wheel and the vehicle can be determined by the position information provided by the recognition algorithm, for example, the position of the vehicle is rectangle 1 in the image, the wheel is rectangle 2, the rectangle 2 is rectangle 1, and the relationship between the wheel and the vehicle can be determined. Further, the relationship between the front wheels and the rear wheels of the vehicle can be judged; for example, rectangle a represents a vehicle, rectangle B, C is two wheels of the vehicle, and in the case where the vehicle is normally parked forward, the rectangle representing the front wheel should be at the upper left of the screen, with its pixel abscissa being smaller in value.

4. The wheel state and the tail light state are identified. The method comprises the steps of obtaining the state of wheels through an identification algorithm, and taking the state of the wheels as a first early warning triggering condition if the vehicle is oriented to a vehicle lane; the tail lamp state is a second early warning triggering condition, and the reason for setting is that: if the wheels of the roadside parked vehicle (the second target vehicle) are not aligned, false detection is easy to cause; the tail light state is a state of the tail light of the vehicle, and whether the tail light is in a lighting state can be determined by using an image analysis method, for example, judging the red pixel proportion of the tail light part of the vehicle.

5. If the conditions are met, whether the relative distance between the two vehicles is smaller than a set threshold value is judged, and the set threshold value takes different values according to different vehicle speeds. The relative distance between two vehicles should be the real world distance, which can be obtained by an image ranging algorithm. The threshold value should consider the mapping relation of vehicle speed and distance, and the higher the vehicle speed is, the larger the safety distance should be reserved.

6. If the conditions are met, early warning information is sent to a driver or the vehicle actively brakes, so that collision is avoided. There are various ways to send the driver a warning message, which may be a voice prompt such as "carefully vehicle is gathered-! ", tactile information, such as vibrations from the steering wheel, visual information, such as graphic text cues for dashboards, etc.; further, the collision avoidance may be active braking of the vehicle in a manner similar to that of an active braking system (Autonomous Emergency Braking, AEB), and the sensitivity and braking strength should be selectable by the user.

According to the invention, by identifying the front wheel state of the vehicle and referring to whether the tail lamp is lightened or not, the possible behavior of the surrounding vehicle can be judged before the surrounding vehicle does not move or the risk of collision when the surrounding vehicle slowly enters the self-vehicle lane and is not easy to notice is reduced by sending a corresponding prompt to a driver or controlling the vehicle to brake, and the risk of collision when the vehicle is started to enter in a lateral parking space in running is reduced.

Example III

Fig. 5 is a schematic structural diagram of a vehicle early warning device according to a third embodiment of the present invention. As shown in fig. 5, the apparatus includes: an image acquisition module 310, a data processing module 320, and a vehicle pre-warning module 330; wherein, the liquid crystal display device comprises a liquid crystal display device,

the image acquisition module 310 is configured to acquire an image of an incoming lane through an image acquisition device of a first target vehicle, where the image of the incoming lane includes a plurality of second target vehicles, the first target vehicle is a vehicle running on a target road, and the second target vehicle is a vehicle located in a parking space of the incoming lane; a data processing module 320, configured to determine pre-entry data in the entry lane image, and determine a pre-entry vehicle in the second target vehicle based on the pre-entry data; the vehicle early warning module 330 is configured to perform vehicle early warning on the first target vehicle based on the pre-remittance vehicle.

Optionally, the pre-remittance data includes at least one of a wheel state and a tail light state, and the data processing module 320 includes: a region determination unit and a state recognition unit; wherein, the liquid crystal display device comprises a liquid crystal display device,

the area determining unit is used for determining a wheel area and a tail lamp area in the converging lane image;

the state identifying unit is used for identifying the wheel state corresponding to each wheel area and the tail lamp state corresponding to each tail lamp area.

Optionally, the wheel states include a first direction stationary and a second direction deflected, the tail light states include an on state and an off state, and the data processing module 320 is configured to:

Optionally, the vehicle early warning module 330 is configured to:

Optionally, the vehicle early warning device further includes a vehicle braking module for:

Optionally, the area determining unit is configured to:

Optionally, the vehicle early warning device further includes a function starting module, configured to:

before an image of an afflux lane is acquired by an image acquisition device of a first target vehicle, a data acquisition device of the first target vehicle is started in response to a target function start operation.

The vehicle early warning device provided by the embodiment of the invention can execute the vehicle early warning method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example IV

Fig. 6 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 6, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a vehicle warning method.

In some embodiments, the vehicle warning method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle warning method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the vehicle warning method in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. A vehicle warning method, comprising:

2. The method of claim 1, wherein the pre-entry data comprises at least one of a wheel status and a tail light status, and wherein the determining the pre-entry data in the entry lane image comprises:

determining a wheel area and a tail light area in the converged lane image;

and identifying the wheel state corresponding to each wheel area and the tail lamp state corresponding to each tail lamp area.

3. The method of claim 2, wherein the wheel states include a first direction stationary and a second direction deflected, the tail light states include an on state and an off state, the determining a pre-entry vehicle of the second target vehicle based on the pre-entry data comprises:

4. The method of claim 1, wherein the pre-warning the first target vehicle based on the pre-entry vehicle comprises:

5. The method as recited in claim 4, further comprising:

6. The method of claim 2, wherein the determining the wheel area and the tail light area in the merging lane image comprises:

7. The method of claim 1, further comprising, prior to acquiring the merging lane image by the image acquisition device of the first target vehicle:

8. A vehicle warning device, characterized by comprising:

9. An electronic device, the electronic device comprising:

at least one processor; and

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle warning method of any one of claims 1-7.

10. A computer readable storage medium storing computer instructions for causing a processor to perform the vehicle warning method of any one of claims 1-7.