TWI758713B - Warning method for vehicle changing lane, vehicle-mounted device - Google Patents

Abstract

The present invention provides a waming method for a vehicle to change lanes. The method includes: identifying styles of two traffic markings corresponding to a current lane of the vehicle; determining whether the vehicle is changing lane; determining whether the vehicle violates a traffic rule according to the styles of the two traffic markings when the vehicle is changing lane; and issuing a reminder according to a preset reminder when the vehicle violates the traffic rule. The present invention also provides a vehicle-mounted device that implements the waming method. The present invention can issue a prompt promptly when the vehicle violates the traffic rule.

Description

Warning method and in-vehicle device for vehicle lane change

The invention relates to the technical field of vehicle auxiliary safety management, in particular to a warning method and a vehicle-mounted device for changing lanes of vehicles.

Vehicles have become an essential tool in people's lives. Drivers often need to change lanes while driving. However, if changing lanes is not carried out in accordance with traffic rules, in addition to receiving a fine notice, traffic safety is often affected.

In view of the above, it is necessary to provide a vehicle lane changing warning method and a vehicle-mounted device, which can determine whether the vehicle violates the traffic rules according to the pattern of the traffic markings when the vehicle is performing the operation of changing lanes, and send out a warning message when it is determined that the traffic rules are violated. Prompt, so as to achieve timely reminders of the driver's violations, in order to stop the driver's violations.

The method for warning a vehicle to change lanes includes: identifying patterns of two traffic markings corresponding to the lane where the vehicle is located; determining whether the vehicle is performing an operation of changing lanes; when it is determined that the vehicle is performing an operation of changing lanes , determining whether the vehicle changes lanes violates traffic rules according to the patterns of the two traffic markings; and when it is determined that the vehicle changes lanes violates traffic rules, a prompt is issued according to a preset prompt mode.

Preferably, the identifying the patterns of the two traffic lines corresponding to the lane where the vehicle is located includes: using a positioning device to locate the lane where the vehicle is located on a preset high-precision map; The precise map obtains the styles of the two traffic markings corresponding to the lane where the vehicle is located.

Preferably, the recognizing the styles of the two traffic markings corresponding to the lane where the vehicle is located comprises: using a camera to capture an image, the image including the two traffic markings corresponding to the lane where the vehicle is located; and using the image The recognition algorithm recognizes, from the image, patterns of two traffic markings corresponding to the lane in which the vehicle is located.

Preferably, using an image recognition algorithm to identify the patterns of the two traffic lines corresponding to the lane where the vehicle is located from the image includes: using an image recognition algorithm to recognize the pattern from the image. Image features of two traffic markings, wherein the image features include color features or shape features.

Preferably, the operation of determining whether the vehicle is changing lanes comprises: detecting the distance between the vehicle and the two traffic lines in real time; and based on the distance between the vehicle and the two traffic lines The distance between the two traffic markings determines whether the vehicle is performing an operation of changing lanes; wherein, when the distance between the vehicle and one of the two traffic markings becomes gradually smaller, and the other traffic marking The distance between the lines gradually increases, and when it is recognized that the vehicle overlaps with one of the traffic markings, it is determined that the vehicle is performing an operation of changing lanes.

Preferably, the vehicle lane changing warning method utilizes a camera to detect the distance between the vehicle and the two traffic markings in real time.

Preferably, the operation of determining whether the vehicle is changing lanes includes: using a positioning device to instantly locate the coordinates of the vehicle on a preset high-precision map; when the coordinates of the vehicle are located on the high-precision map When the vehicle is in another lane, it is determined that the vehicle is performing an operation of changing lanes.

Preferably, the determining whether the vehicle changes lanes violates traffic rules further comprising: acquiring an electrical signal of the direction light of the vehicle; when the electrical signal of the direction light indicates that the vehicle does not turn on the direction light; and/or all When the style of one of the traffic markings indicates that lane changing is prohibited, it is determined that the vehicle violates the traffic rules; when the electrical signal of the direction light indicates that the vehicle has turned on the direction light; and the style of the one of the traffic markings indicates that the vehicle is in violation of the traffic rules; When changing lanes, it is determined that the vehicle does not violate traffic rules.

Preferably, the method for warning a vehicle to change lanes further includes: when it is determined that the vehicle violates traffic rules, storing relevant information of the vehicle, the relevant information including driver information of the vehicle. information, the license plate number of the vehicle, the location of the vehicle, and the time when the traffic rules were violated.

The in-vehicle device includes a memory and at least one processor, wherein the memory stores at least one instruction, and when the at least one instruction is executed by the at least one processor, implements the warning method for changing lanes of the vehicle.

Compared with the prior art, the vehicle lane-changing warning method and the vehicle-mounted device can determine whether the vehicle violates the traffic rules according to the pattern of the traffic markings when the vehicle is performing the lane-changing operation, and when it is determined that the traffic rules are violated. Issue prompts to stop driver violations in a timely manner.

100: Vehicle

3: Vehicle device

32: Processor

31: Storage

30: Warning system for vehicle lane change

301: Identify the module

302: Judgment Module

303: Execute the module

34: Camera

35: Display screen

36: Positioning Devices

37: Directional lights

39: High-precision map

2: Road

FIG. 1 is a structural diagram of a vehicle-mounted device according to a preferred embodiment of the present invention.

FIG. 2 is a functional module diagram of a warning system for vehicle lane changing according to a preferred embodiment of the present invention.

FIG. 3 is a flowchart of a warning method for vehicle lane changing according to a preferred embodiment of the present invention.

Figure 4 illustrates the traffic markings corresponding to the lanes.

Figure 5 illustrates the distance between the edge of the vehicle and the traffic line.

In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments may be combined with each other under the condition of no conflict.

In the following description, many specific details are set forth in order to facilitate a full understanding of the present invention, and the described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention.

Referring to FIG. 1 , it is a structural diagram of a vehicle-mounted device provided by a preferred embodiment of the present invention.

In this embodiment, the in-vehicle device 3 is installed on the vehicle 100 . The in-vehicle device 3 can also be called an in-vehicle computer, and includes a storage 31 , at least one processor 32 , a camera 34 , a display screen 35 , a positioning device 36 , and a direction light 37 that are electrically connected to each other.

Those skilled in the art should understand that the structure of the vehicle-mounted device 3 shown in FIG. 1 does not constitute a limitation of the embodiment of the present invention, and the vehicle-mounted device 3 may also include more or less other hardware or software than that shown in FIG. 1 , Or a different component arrangement.

It should be noted that the vehicle-mounted device 3 is only an example, and other existing or future vehicle-mounted devices that can be adapted to the present invention should also be included within the protection scope of the present invention, and are incorporated herein by reference.

In some embodiments, the storage 31 may be used to store program codes and various data of computer programs. For example, the storage 31 can be used to store the warning system 30 and the high-precision map 39 installed in the vehicle-mounted device 3 for changing lanes of the vehicle, and realize the high-speed and automatic completion of the program or the high-precision map 39 during the operation of the vehicle-mounted device 3 access to data. The storage 31 may include a Read-Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (Erasable). Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electronically-Erasable Programmable Read-Only Memory (Electrically-Erasable Programmable Read-Only Memory, EEPROM), Compact Disc Read-Only Memory (CD-ROM) or other optical disk storage, magnetic disk storage, magnetic tape storage, or any other non-volatile computer capable of carrying or storing data readable storage medium.

In some embodiments, the at least one processor 32 may be comprised of an integrated circuit. For example, it can be composed of a single packaged integrated circuit, or it can be composed of a plurality of integrated circuits packaged with the same function or different functions, including one or more central processing units (Central Processing Unit, CPU), microprocessor A combination of computer, digital word processing chip, graphics processor and various control chips, etc. The at least one processor 32 is the control core (Control Unit) of the in-vehicle device 3, and uses various interfaces and lines to connect various components of the entire in-vehicle device 3, and executes programs or modules stored in the storage 31 by executing the program or module. Or commands, and call the data stored in the storage 31 to execute various functions of the vehicle-mounted device 3 and process data, for example, the function of warning illegal lane changes (for details, please refer to the introduction to FIG. 3 later) .

In this embodiment, the camera 34 may be installed at the position of the front windshield of the vehicle 100 , as long as the camera 34 can capture the traffic signs on the left and right sides corresponding to the lane where the vehicle 100 is located. Line (Traffic Index Line) can be.

In this embodiment, the traffic markings refer to markings on the left and right sides of the lane to convey traffic information such as guidance, restrictions, and warnings to traffic participants by lines. For example, referring to FIG. 4 , when the vehicle 100 is driving in the lane d of the road 2, the traffic markings d1 and d2 on the left and right sides of the lane d.

The display screen 35 can be a touch display screen for displaying various data of the vehicle-mounted device 3 , such as displaying a user interface of the high-precision map 39 . In this embodiment, the high-precision map 39 may be a Baidu high-precision map or other maps such as a Google high-precision map.

In this embodiment, the high-precision map 39 indicates the traffic markings on the left and right sides corresponding to each lane of each road, the style of each traffic marking, and other characteristics.

It should be noted that the style of the traffic marking of the lane indicates whether the vehicle can change lanes in the lane. For example, when the pattern of the traffic line on the left side of the lane where the vehicle 100 is located is a white dotted line, the pattern of the left side traffic line indicates that the vehicle 100 can change lanes to the left. For another example, when the pattern of the traffic line on the right side of the lane where the vehicle 100 is located is a solid white line, the pattern of the right side traffic line indicates that the vehicle 100 cannot change lanes to the right, that is, it is forbidden to change lanes to the right.

In this embodiment, the positioning device 36 may be used to locate the current position of the vehicle 100 (such as latitude and longitude information). In one embodiment, the positioning device 36 may be a Global Positioning System (Global Positioning System, GPS for short), Assisted Global Positioning System (Assisted Global Positioning System, AGPS for short), BeiDou Navigation Satellite System (BeiDou Navigation Satellite) System, BDS), or a combination of one or more of GLOBAL NAVIGATION SATELLITE SYSTEM (GLONASS).

The direction light 37 is an indicator light that is turned on when the vehicle 100 turns to remind other vehicles and pedestrians in the front, rear, left, right, and rear of the vehicle 100 to pay attention. The direction light 37 includes a left turn signal and a right turn signal.

In this embodiment, the warning system 30 for changing lanes of vehicles may include one or more modules, and the one or more modules are stored in the memory 31 and are processed by at least one or more processors (the present The embodiment is that the processor 32) executes to realize the function of alerting the illegal lane change.

In this embodiment, the warning system 30 for vehicle lane changing can be divided into multiple modules according to the functions it performs. Referring to FIG. 2 , the plurality of modules include an identification module 301 , a judgment module 302 , and an execution module 303 . The module referred to in the present invention refers to a series of computer-readable instruction segments that can be executed by at least one processor (such as the processor 32 ) and can perform fixed functions, which are stored in a memory (such as the in-vehicle device 3 ). storage 31). In this embodiment, the functions of each module will be described in detail with reference to FIG. 3 later.

In this embodiment, the integrated unit implemented in the form of a software function module can be stored in a non-volatile readable storage medium. The above-mentioned software function module includes one or more computer-readable instructions, and the in-vehicle device 3 or a processor (processor) implements part of the method of each embodiment of the present invention by executing the one or more computer-readable instructions, For example, as shown in FIG. 3 , the method for warning illegal lane changes is shown.

In a further embodiment, referring to FIG. 2 , the at least one processor 32 can execute the operating device of the in-vehicle device 3 and various installed application programs (such as the vehicle lane changing warning system 30 ), programs code, etc.

In a further embodiment, the storage 31 stores program codes of computer programs, and the at least one processor 32 can call the program codes stored in the storage 31 to execute related functions. can. For example, each module of the vehicle lane changing warning system 30 in FIG. 2 is a program code stored in the memory 31 and executed by the at least one processor 32, thereby realizing the various modules function in order to achieve the purpose of warning the illegal lane change.

In one embodiment of the present invention, the storage 31 stores one or more computer-readable instructions, and the one or more computer-readable instructions are executed by the at least one processor 32 to implement lane change for violations purpose of warning. Specifically, for the specific implementation method of the above computer-readable instructions by the at least one processor 32, please refer to the description of FIG. 3 below.

FIG. 3 is a flowchart of a warning method for vehicle lane change provided by a preferred embodiment of the present invention.

In this embodiment, the vehicle lane changing warning method can be applied to the vehicle-mounted device 3 . For the vehicle-mounted device 3 that needs to perform the vehicle lane-changing warning, the vehicle-mounted device 3 can be directly integrated with the method provided by the method of the present invention. The function for warning the vehicle to change lanes, or run on the in-vehicle device 3 in the form of a software development kit (Software Development Kit, SDK).

As shown in FIG. 3 , the method for warning a vehicle to change lanes specifically includes the following steps. According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted.

Step S1, the recognition module 301 recognizes the styles of the two traffic markings corresponding to the lane where the vehicle 100 is currently located.

In this embodiment, the two traffic markings corresponding to the lane where the vehicle 100 is currently located are also the traffic markings on the left and right sides of the lane where the vehicle 100 is currently located. For example, referring to FIG. 4 , assuming that the vehicle 100 is currently in the lane d, the recognition module 301 recognizes the patterns of the traffic markings on the left and right sides of the lane d, namely d1 and d2. For example, it is recognized that the pattern of the traffic line d1 is a solid white line, and the pattern of the traffic line d2 is a white dotted line.

In the first embodiment, the pattern of identifying the two traffic markings corresponding to the lane where the vehicle 100 is currently located includes: using the positioning device 36 to locate the lane where the vehicle 100 is currently located on the preset high-precision map 39; and The styles of the two traffic lines corresponding to the lane where the vehicle 100 is currently located are obtained from the preset high-precision map 39 . In this embodiment, the high-precision map 39 indicates the The traffic markings on the left and right sides corresponding to each lane, and the style of each traffic marking, such as features such as shape or color.

In the second embodiment, the recognizing the patterns of the two traffic markings corresponding to the lane where the vehicle 100 is currently located includes: using the camera 34 to capture an image, the image including the two traffic markings corresponding to the lane where the vehicle 100 is currently located. and using an image recognition algorithm to identify the patterns of two traffic lines corresponding to the lane where the vehicle 100 is currently located from the image.

In this embodiment, the camera 34 may be installed at the position of the front windshield of the vehicle 100 , on both sides of the vehicle body or on the water tank cover, as long as the camera 34 can capture the lane where the vehicle 100 is located The traffic markings on the left and right sides are sufficient.

In this embodiment, the recognition module 301 uses an image recognition algorithm to recognize the patterns of the two traffic lines corresponding to the lane where the vehicle 100 is currently located from the image. Image features of the two traffic markings are identified in the image, wherein the image features include color features or shape features.

In this embodiment, the image recognition algorithm may be a template matching method. For example, the recognition module 301 may use traffic markings of various styles (such as solid white lines, solid yellow lines, dashed white lines, and dashed yellow lines) as templates, and match each template with the captured image. When the patterned traffic line matches the left or right traffic line in the captured image, it is determined that the pattern of the left or right traffic line is the certain pattern. It should be noted that the certain style is any one of the various styles, such as traffic markings of different shapes or colors.

Step S2, the determination module 302 determines whether the vehicle 100 is performing an operation of changing lanes. When it is determined that the vehicle 100 is performing an operation of changing lanes, step S3 is performed.

In the first embodiment, the operation of determining whether the vehicle 100 is performing a lane change includes (a1)-(a2):

(a1) Instantly detect the distance between the vehicle 100 and each of the two traffic lines.

In this embodiment, the distance between the vehicle 100 and each of the two traffic markings may refer to: in the image captured by the camera 34 , the left edge of the vehicle 100 and the The total number of primitives occupied by the shortest straight line between the traffic markings on the left, and the total number of primitives occupied by the shortest straight line between the right edge of the vehicle 100 and the traffic markings on the right. For example, referring to FIG. 5 , the total number of primitives occupied by the shortest straight line L2 between the left edge of the vehicle 100 and the left traffic line d2 in the image 341 is the distance between the vehicle 100 and the left traffic line Distance; the total number of primitives occupied by the shortest straight line L1 between the right edge of the vehicle 100 and the right traffic line d1 is the distance between the vehicle 100 and the right traffic line.

(a2) It is determined whether the vehicle 100 is performing an operation of changing lanes based on the distance between the vehicle 100 and each of the two traffic lines.

In this embodiment, when the distance between the vehicle 100 and one of the two traffic markings gradually decreases, while the distance between the vehicle 100 and the other traffic marking gradually increases, the identification When the vehicle 100 overlaps with one of the traffic markings, it is determined that the vehicle 100 is performing an operation of changing lanes. In this embodiment, the overlap between the edge of the vehicle 100 and the one of the traffic markings means that the total number of primitives occupied by the shortest straight line between the edge of the vehicle 100 and the one of the traffic markings is less than a preset number value.

In other embodiments, as long as the judging module 302 recognizes that the vehicle 100 overlaps with one of the traffic markings, the judging module 302 can determine that the vehicle 100 is performing an operation of changing lanes.

In the second embodiment, the judging module 302 can use the coordinate positions of lanes, markings or traffic signs stored in the high-precision map 39, and real-time on the preset high-precision map 39 according to the positioning device 36 The coordinates of the location of the vehicle 100 are located. When it is recognized that the coordinates of the vehicle 100 are changed from the current lane to the adjacent lane of the current lane (ie the left lane or the right lane of the current lane), it is determined that the vehicle 100 is performing the lane changing operation.

In one embodiment, when the vehicle 100 travels from the current lane to the adjacent lane of the current lane, it may mean that a preset part of the body of the vehicle 100, such as 1/4 of the body, is located in the adjacent lane area, but the body of the vehicle 100 is not completely in the adjacent lane. That is, the vehicle 100 has not successfully changed lanes.

In the third embodiment, the operation of determining whether the vehicle 100 is changing lanes includes: using the positioning device 36 to locate the current lane of the vehicle 100 on the preset high-precision map 39 in real time; When the position of the vehicle 100 approaches one of the two traffic lines and a specific traffic line is recognized through the high-precision map 39, it is determined that the vehicle 100 is performing an operation of changing lanes. The specific traffic line refers to another adjacent traffic line of the one of the traffic lines.

It should be noted that, the position of the vehicle 100 approaching one of the two traffic lines means that the distance between the vehicle 100 and the one of the traffic lines is continuously smaller than that of the vehicle The distance between the vehicle 100 and the other one of the two traffic lines is gradually reduced, and the distance between the vehicle 100 and the one of the traffic lines gradually decreases.

It should also be noted that the two traffic lines corresponding to the lane where the vehicle 100 is currently located are adjacent traffic lines. Therefore, the other adjacent traffic line of one of the traffic lines refers to a traffic line corresponding to an adjacent lane of the lane where the vehicle 100 is currently located. The two traffic lines corresponding to the adjacent lanes include the one of the traffic lines and the specific traffic line.

For example, when the high-precision map 39 stores the location coordinates of the traffic lines d1, d2, and d3, please also refer to FIG. range), locate the coordinates of the vehicle 100 on the high-precision map 39 in real time through the positioning device 36 and return the position of the vehicle 100 , and identify the coordinates through the coordinate information provided by the high-precision map 39 When the coordinates of the vehicle 100 fall within the coordinate range of the traffic lines d2 and d3 (ie, lane c), it is determined that the vehicle 100 is performing an operation of changing lanes.

Step S3, when it is determined that the vehicle 100 is performing an operation of changing lanes, the execution module 303 determines whether the vehicle 100 is changing lanes in violation of traffic rules according to the patterns of the two traffic markings. When it is determined that the vehicle 100 changes lanes in violation of the traffic rules, step S4 is performed.

In one embodiment, the execution module 303 determines that the vehicle 100 violates a traffic rule when the pattern of the designated one of the two traffic markings indicates that lane changing is prohibited.

It should be noted that the designated traffic marking refers to the traffic marking corresponding to the direction in which the vehicle 100 changes lanes among the two traffic markings corresponding to the lane where the vehicle 100 is currently located. For example, when the vehicle 100 changes lanes to the left, the designated traffic line refers to the traffic line on the left side of the lane where the vehicle 100 is currently located. In one embodiment, the execution module 303 determines whether the vehicle 100 violates the traffic rules by combining the electrical signal of the turn signal 37 .

Specifically, the determining whether the vehicle 100 changes lanes violates traffic rules including (b1)-(b2):

(b1) Obtaining the electrical signal of the direction lamp 37 of the vehicle 100 .

Specifically, the electrical signal of the direction light 37 can be obtained from the can bus bar of the vehicle-mounted device 3 . The electrical signal of the direction light 37 is the can signal.

(b2) when the electrical signal of the direction light 37 indicates that the vehicle 100 does not turn on the direction light 37, and/or the pattern of the designated traffic line among the two traffic lines indicates that lane changing is prohibited, determine the The vehicle 100 violates the traffic rules; when the electrical signal of the direction light 37 indicates that the vehicle 100 has the direction light 37 turned on; and the pattern of the designated traffic line indicates that the lane can be changed, it is determined that the vehicle 100 does not violate the traffic rules .

Step S4, when it is determined that the vehicle 100 changes lanes in violation of the traffic rules, the execution module 303 issues a prompt according to a preset prompt manner.

In one embodiment, when it is determined that the vehicle 100 changes lanes in violation of traffic rules, the execution module 303 further controls the vehicle 100 to decelerate. This allows the driver of the vehicle 100 to have more time to adjust the vehicle 100 back to the correct lane.

In one embodiment, the preset prompting manner may refer to displaying text information on the display screen 35, and using the text information to prompt the driver of the vehicle 100 to change lanes to violate traffic rules.

In other embodiments, the preset prompting manner may further include prompting the driver of the vehicle 100 to change lanes to violate traffic rules by way of voice broadcast.

In one embodiment, when it is determined that the vehicle 100 changes lanes and violates the traffic rules, the execution module 303 stores the relevant information of the vehicle 100 . For example, the relevant information of the vehicle 100 may be stored in a server communicatively connected to the vehicle-mounted device 3 , and the server may be a server of a vehicle management company such as a taxi company or a logistics company. Thus, it is convenient for the vehicle management company to manage each vehicle. Of course, the execution module 303 may also store the relevant information of the vehicle 100 in the storage 31 of the vehicle-mounted device 3 .

In one embodiment, the relevant information includes driver information of the vehicle 100 (such as the driver's name, driver's license number, etc.), the license plate number of the vehicle 100, the current location of the vehicle 100, traffic violations The time of the rule (that is, the current time).

In one embodiment, the execution module 303 or the server may also periodically analyze the violation of traffic rules by changing lanes of all vehicles based on the stored relevant information of all vehicles, including, but not limited to: statistics corresponding to traffic violations The driver with the most/least number of rules.

The execution module 303 or the server may also implement rewards and punishments for the driver based on the periodic analysis results in combination with the reward and punishment mechanism. For example, the bonus amount is deducted for the driver who violates the traffic rules the most within a predetermined period of time (eg, within one month).

In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are only illustrative. For example, the division of the modules is only a logical function division, and other division methods may be used in actual implementation.

The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical units, that is, they can be located in one place or distributed to multiple networks. on the unit. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware, or can be implemented in the form of hardware plus software function modules.

It will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments are to be regarded in all respects as illustrative and not restrictive, and the scope of the present invention is defined by the appended claims rather than the foregoing description, and is therefore intended to fall within the scope of the claims. All changes within the meaning and range of the equivalents of , are included in the present invention. Any reference sign in a claim shall not be construed as limiting the claim to which it relates. Furthermore, it is clear that the word "comprising" does not exclude other units or, and the singular does not exclude the plural. Multiple units or means stated in the device claim may also be implemented by one unit or means through software or hardware. The terms first, second, etc. are used to denote names and do not denote any particular order.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above preferred embodiments, those of ordinary skill in the art should The technical solutions can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention.

Claims (9)

A warning method for changing lanes of a vehicle, wherein the method comprises: identifying patterns of two traffic markings corresponding to the lane where the vehicle is located, wherein the two traffic markings corresponding to the lane where the vehicle is located refer to the lane where the vehicle is located traffic markings on the left and right sides of the vehicle; determining whether the vehicle is performing an operation of changing lanes, including: real-time detection of the distance between the vehicle and the two traffic markings; and based on the vehicle and the two traffic markings The distance between the two traffic lines determines whether the vehicle is performing an operation of changing lanes, wherein when the distance between the vehicle and one of the two traffic lines becomes gradually smaller, while The distance from another traffic line gradually increases, and when it is recognized that the vehicle overlaps with one of the traffic lines, it is determined that the vehicle is performing an operation of changing lanes, wherein the vehicle and the One of the traffic markings overlaps means that the total number of primitives occupied by the shortest straight line between the edge of the vehicle and one of the traffic markings is less than a preset value; when it is determined that the vehicle is performing an operation of changing lanes, Determine whether the vehicle changing lanes violates traffic rules according to the patterns of the two traffic markings; and when it is determined that the vehicle changing lanes violates traffic rules, a prompt is issued according to a preset prompting manner. The method for warning a vehicle to change lanes according to claim 1, wherein the identifying the styles of the two traffic markings corresponding to the lane where the vehicle is located comprises: using a positioning device to locate the vehicle on a preset high-precision map and obtaining from the preset high-precision map the styles of the two traffic markings corresponding to the lane where the vehicle is located. The method for warning a vehicle to change lanes according to claim 1, wherein the recognizing the styles of the two traffic markings corresponding to the lane where the vehicle is located comprises: using a camera to capture an image, the image including the lane where the vehicle is located the corresponding two traffic markings; and The patterns of two traffic markings corresponding to the lane where the vehicle is located are identified from the image by using an image recognition algorithm. The method for warning a vehicle to change lanes according to claim 3, wherein the using an image recognition algorithm to identify the styles of the two traffic markings corresponding to the lane where the vehicle is located from the image comprises: using a graph An image recognition algorithm recognizes image features of the two traffic lines from the image, wherein the image features include color features or shape features. The method for warning a vehicle to change lanes according to claim 1, wherein the method for warning a vehicle to change lanes utilizes a camera to instantly detect the distance between the vehicle and the two traffic markings, wherein the vehicle and the The distance between the two traffic markings refers to: in the image captured by the camera, the total number of primitives occupied by the shortest straight line between the left edge of the vehicle and the left traffic marking, and The total number of primitives occupied by the shortest straight line between the right edge of the vehicle and the right traffic line. The method for warning a vehicle to change lanes according to claim 1, wherein the operation of determining whether the vehicle is changing lanes further comprises: using a positioning device to instantly locate the coordinates of the vehicle on a preset high-precision map ; When the coordinates of the vehicle are located in another lane of the high-precision map, it is determined that the vehicle is performing an operation of changing lanes. The method for warning a vehicle changing lanes according to claim 1, wherein the determining whether the vehicle changing lanes violates traffic rules comprises: acquiring an electrical signal of a turn signal of the vehicle; when the electrical signal of the turn signal indicates The vehicle does not turn on the turn signal; and/or when the pattern of one of the traffic markings indicates that lane changing is prohibited, it is determined that the vehicle violates the traffic rules; when the electrical signal of the turn signal indicates that the vehicle has turn on the turn signal ; and when the style of one of the traffic markings indicates that the lane can be changed, it is determined that the vehicle does not violate the traffic rules. The method for warning a vehicle to change lanes according to claim 1 or 7, wherein the method for warning a vehicle to change lanes further comprises: when it is determined that the vehicle violates traffic rules, storing relevant information of the vehicle, the relevant information Including the driver information of the vehicle, the license plate number of the vehicle, the location of the vehicle, and the time when the traffic rules were violated. An in-vehicle device, wherein the in-vehicle device comprises a memory and at least one processor, the memory stores at least one instruction, and when the at least one instruction is executed by the at least one processor, implements as claimed in items 1 to 8 The warning method for vehicle lane changing according to any one of the above.

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