WO2022057645A1 - 辅助驾驶提醒、地图辅助驾驶提醒方法、装置和地图 - Google Patents

辅助驾驶提醒、地图辅助驾驶提醒方法、装置和地图 Download PDF

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Publication number
WO2022057645A1
WO2022057645A1 PCT/CN2021/116524 CN2021116524W WO2022057645A1 WO 2022057645 A1 WO2022057645 A1 WO 2022057645A1 CN 2021116524 W CN2021116524 W CN 2021116524W WO 2022057645 A1 WO2022057645 A1 WO 2022057645A1
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WIPO (PCT)
Prior art keywords
vehicle
information
lane
map
target intersection
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PCT/CN2021/116524
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English (en)
French (fr)
Inventor
吴锦飞
苏德润
张桂成
Original Assignee
华为技术有限公司
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Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to EP21868472.8A priority Critical patent/EP4206609A1/en
Publication of WO2022057645A1 publication Critical patent/WO2022057645A1/zh
Priority to US18/123,191 priority patent/US20230227057A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3697—Output of additional, non-guidance related information, e.g. low fuel level
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3658—Lane guidance
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle

Definitions

  • the present application relates to the field of connected vehicles, and in particular, to a driving assistance reminder, a map-assisted driving reminder method, device, and map.
  • map navigation software by using map navigation software, driving suggestions can be given during the driving process of the vehicle, but because the driver may not choose the driving route planned by the navigation or the driving experience based on the actual road conditions at that time or his own driving experience judgment. Do not use navigation; in addition, when using map navigation software for navigation, it relies on the accuracy of the map in the navigation software. For remote areas or newly developed road sections, the map in the navigation software may not be accurate, thus giving wrong driving suggestions.
  • the present application provides an assisted driving reminder, a map assisted driving reminder method, device and map, which are used to improve vehicle driving experience and driving safety.
  • the present application provides an assisted driving reminder method, which can be executed by an assisted driving reminder device;
  • the assisted driving reminder device can be a communication device or a communication device capable of supporting the communication device to realize the functions required by the method, such as a chip system.
  • the assisted driving reminder device may be a server, a terminal device, a vehicle or an in-vehicle device.
  • the method includes: predicting a target intersection according to the map information, the positioning position of the vehicle and the motion state of the vehicle, and the target intersection is the intersection that the vehicle will first pass through in the future; according to the map information and the positioning of the vehicle
  • the position determines the distance of the vehicle relative to the target intersection; when the distance of the vehicle relative to the target intersection is less than a first threshold, according to the status of the turn signal of the vehicle and the target intersection with respect to the location of the vehicle
  • the first turning rule of the first lane generates prompt information, where the prompt information is used to prompt that the state of the turn signal does not conform to the first turning rule.
  • the intersection that the current vehicle is about to enter can be predicted based on the map information, the positioning position of the vehicle, and the motion state of the vehicle.
  • the first steering rule of the first lane where the vehicle is located may be determined according to the map information and the positioning position of the vehicle, so that by comparing the status of the turn signals of the vehicle Similar to the first steering rule, when it can be determined that the current vehicle driving state does not conform to the steering rule of the lane, a prompt message needs to be sent to the user to prompt the driver to adjust the driving state of the vehicle in time to avoid turning signs and driving in bad weather conditions or lane ground.
  • the traffic rules are violated because the driver misjudges the lane, and the driving experience and driving safety of the vehicle are improved.
  • Mode 1 and Mode 2 are used as examples below to illustrate.
  • the prompt information is further used to prompt the vehicle to change from the first lane to the second lane , the turn signal state conforms to the second turning rule of the target intersection with respect to the second lane, wherein the second threshold is smaller than the first threshold.
  • the vehicle when the distance of the vehicle relative to the target intersection is less than the first threshold value and greater than the second threshold value, the vehicle may be at the dotted line position, and the driver may be prompted to enter the Lanes with the same turn signal status, for example, when changing from the first lane to the second lane, reserve enough time for the lane change, so that the driver can have enough time to judge whether to change lanes according to the prompt information, so as to improve the driver's performance. driving experience.
  • the prompt information is further used to prompt that the vehicle should pass through the target intersection on the first lane according to the first steering rule, wherein the second threshold is smaller than the first threshold.
  • the vehicle when the distance of the vehicle relative to the target intersection is less than the second threshold, it may be that the vehicle has entered a solid line position where it cannot change lanes.
  • the driver cannot change lanes at this time, and should drive into the target intersection through the first lane according to the first steering rule on the first lane, so as to avoid the driver not discovering the first steering rule of the first lane and the driver after driving to the solid line.
  • the state of wanting to drive is inconsistent, which leads to potential safety hazards and violations of traffic rules caused by the driver's emergency steering or lane change, and improves the driving safety of the driver.
  • the prompt information may also be generated according to other scenarios where it may not be possible to change lanes, to prompt the driver to pass the target intersection in the first lane according to the first steering rule, which is not limited here.
  • the first threshold is related to at least one of the length of the solid line of the first lane, the speed of the vehicle, or the degree of traffic congestion near the location of the vehicle.
  • the second threshold is related to at least one of the length of the solid line of the first lane, the speed of the vehicle, or the degree of traffic congestion near the location of the vehicle.
  • the first threshold or the second threshold can be determined according to various factors, for example, the length of the solid line of the first lane, the driving speed of the vehicle, or the degree of traffic congestion near the location of the vehicle, which is beneficial to improve The accuracy of the timing of generating prompt information to adapt to a variety of different scenarios.
  • the target intersection satisfies: an intersection with road bifurcation or merging, and an intersection with the closest distance to the vehicle.
  • the generation of prompt information can be triggered only at intersections with bifurcations or merging, so as to reduce the power consumption of the assisted driving reminder device.
  • the target intersection includes an elevated exit or an elevated entrance; the prompt information is also used to prompt that the front intersection includes a lane of an elevated exit or an elevated entrance.
  • the driver when the target intersection is a special intersection, the driver can be reminded that there is an elevated exit or an elevated entrance in front of the lane, and the prompt information can be adaptively generated, thereby helping the driver to prepare the driving route in advance and avoid driving in bad weather conditions or When the lane ground turning signs do not conform to the driving habits, the driver is not familiar with the changes of the lane, resulting in reduced driving experience and even violation of traffic rules.
  • a possible implementation is to determine the distance between the vehicle and the target intersection according to the GNSS positioning information of the vehicle and the position of the intersection stop line in the map.
  • the distance between the vehicle and the target intersection can be determined accurately and quickly, which is easy to implement and helps to improve the generation efficiency of prompt information.
  • the positioning data is collected by the laser radar; the lane where the vehicle is located is determined according to the matching between the positioning data collected by the laser radar and the lane information of the high-precision map.
  • the lane where the vehicle is located can be accurately obtained, thereby helping the assisted driving reminding device to generate a prompt according to the state of the turn signal of the vehicle and the first turning rule of the target intersection regarding the first lane where the vehicle is located information to improve the accuracy of the prompt information.
  • the method further includes: reporting first information to a server; or, storing the first information; wherein, the first information is generated according to the prompt information, and is used to record the target intersection
  • the first lane of is an easy-to-steer violation lane.
  • the first information can be generated to record the first lane of the target intersection as an easy-to-turn violation lane, and store the first information or report the first information to the server. , so as to provide corresponding reminder information for other vehicles driving to the intersection based on the first information generated by the auxiliary driving reminder device, or to inquire about the driver, owner and other personnel of the current vehicle, and also provide assistance for subsequent driving. information to enhance the driving experience.
  • the first information includes at least one item of a first identifier of the vehicle or first identity information of a current driver of the vehicle.
  • the relevant information of the vehicle or the driver can be carried in the first information, thereby providing more possibilities for the subsequent application of the first information.
  • the present application provides a map.
  • the map may be generated by a map generating device; the map generating device may be a communication device or a communication device capable of supporting the functions required by the communication device to implement the method. device, such as a system-on-a-chip.
  • the map generating apparatus may be a map server, a terminal device, a vehicle or a vehicle-mounted device.
  • the map may be used or stored by a device using the map; the device may be a communication device or a communication device capable of supporting the functions required by the communication device to implement the method, such as a chip system.
  • the device may be a map server, a terminal device, a vehicle or a vehicle-mounted device.
  • the map includes the first information according to any one of the first aspects.
  • the map includes the first information, so that the device using the map can query the first information, and provide more reference information for subsequent navigation or query using the map, so that the driver, especially the unfamiliar
  • the driver of the route can have an expectation of the easy-to-turn illegal lane, which improves the driver's driving experience.
  • the present application provides a map.
  • the map may be generated by a map generating device; the map generating device may be a communication device or a communication device capable of supporting the functions required by the communication device to implement the method. device, such as a system-on-a-chip.
  • the map generating apparatus may be a map server, a terminal device, a vehicle or a vehicle-mounted device.
  • the map may be used or stored by a device using the map; the device may be a communication device or a communication device capable of supporting the functions required by the communication device to implement the method, such as a chip system.
  • the device may be a map server, a terminal device, a vehicle or a vehicle-mounted device.
  • the map includes first information; the first information is used to record that at least one lane of at least one target intersection is an easy-to-steer violation lane.
  • the first information may be information customized for a specific user, or may be general information obtained by processing big data of a large number of users.
  • the first information is generated according to prompt information, and the prompt information is used to prompt that the state of the turn signal of the vehicle does not conform to the steering rule of the lane where the vehicle is located.
  • the first information is information customized for a specific user, the first information is only generated according to the prompt information for the specific user, without referring to the prompt information for other users.
  • the map includes the first information that the first lane of the target intersection is an easy-to-steer illegal lane, so that the device using the map can query the first information for subsequent use of the map for navigation or query.
  • Provide more reference information so that drivers, especially those unfamiliar with routes, can have expectations about the lanes that are easy to turn into violations, and improve the driving experience of drivers.
  • the first information includes at least one item of a first identifier of the vehicle or first identity information of a current driver of the vehicle.
  • the relevant information of the vehicle or the driver can be carried in the first information, which provides more possibilities for the application of the map, and improves the applicability of the map and the user experience of using the map.
  • the first information is reported by the vehicle to the server, or the first information is stored by the vehicle.
  • the assisted driving reminder device After the assisted driving reminder device generates the prompt information, it generates the first information, and stores the first information or reports the first information to the server, so as to subsequently provide other vehicles driving to the intersection based on the map including the first information.
  • Use the map to provide corresponding reminder information, or query the current vehicle driver, owner and other personnel through the map, and also provide auxiliary information for subsequent driving to improve the driving experience.
  • the prompt information is that when the distance of the vehicle relative to the target intersection is less than a first threshold, according to the status of the turn signal of the vehicle and the target intersection, the first information about the vehicle is located at the intersection.
  • the first turning rule of the lane the generated prompt information.
  • the target intersection is the target intersection predicted according to the map information, the positioning position of the vehicle and the motion state of the vehicle; the target intersection is the intersection that the vehicle will first pass through in the future; the distance of the vehicle relative to the target intersection It is determined according to the map information and the positioning position of the vehicle.
  • the generation method of the prompt information included in the first information may be generated by a driving assistance reminder device
  • the driving assistance reminder device may be a communication device or a communication device capable of supporting the communication device to realize the functions required by the method, such as a chip system.
  • the assisted driving reminder device may be a server, a terminal device, a vehicle or an in-vehicle device.
  • the intersection that the current vehicle is about to enter, that is, the target intersection, and the distance between the vehicle and the target intersection can be predicted based on the map information, the positioning position of the vehicle, and the motion state of the vehicle.
  • the first steering rule of the first lane where the vehicle is located may be determined according to the map information and the positioning position of the vehicle, so that by comparing the status of the turn signals of the vehicle Similar to the first steering rule, when it can be determined that the current vehicle driving state does not conform to the steering rule of the lane, a prompt message needs to be sent to the user to prompt the driver to adjust the driving state of the vehicle in time to avoid turning signs and driving in bad weather conditions or lane ground.
  • the traffic rules are violated because the driver misjudges the lane, and the driving experience and driving safety of the vehicle are improved.
  • the prompt information is further used to prompt the vehicle to change from the first lane To a second lane, the turn signal state complies with a second steering rule of the target intersection with respect to the second lane, wherein the second threshold is less than the first threshold.
  • the vehicle when the distance of the vehicle relative to the target intersection is less than the first threshold value and greater than the second threshold value, the vehicle may be at the dotted line position, and the driver may be prompted to enter the Lanes with the same turn signal status, for example, when changing from the first lane to the second lane, reserve enough time for the lane change, so that the driver can have enough time to judge whether to change lanes according to the prompt information, so as to improve the driver's performance. driving experience.
  • the prompt information is further used to prompt that the vehicle should pass through the first lane according to the first steering rule. the target intersection, wherein the second threshold is less than the first threshold.
  • the vehicle when the distance of the vehicle relative to the target intersection is less than the second threshold, it may be that the vehicle has entered a solid line position where it cannot change lanes.
  • the driver cannot change lanes at this time, and should drive into the target intersection through the first lane according to the first steering rule on the first lane, so as to avoid the driver not discovering the first steering rule of the first lane and the driver after driving to the solid line.
  • the state of wanting to drive is inconsistent, which leads to potential safety hazards and violations of traffic rules caused by the driver's emergency steering or lane change, and improves the driving safety of the driver.
  • the prompt information may also be generated according to other scenarios where it may not be possible to change lanes, to prompt the driver to pass the target intersection in the first lane according to the first steering rule, which is not limited here.
  • the first threshold is related to at least one of the length of the solid line of the first lane, the speed of the vehicle, or the degree of traffic congestion near the location of the vehicle.
  • the second threshold is related to at least one of the length of the solid line of the first lane, the speed of the vehicle, or the degree of traffic congestion near the location of the vehicle.
  • the first threshold or the second threshold can be determined according to various factors, for example, the length of the solid line of the first lane, the driving speed of the vehicle, or the degree of traffic congestion near the location of the vehicle, which is beneficial to improve The accuracy of the timing of generating prompt information to adapt to a variety of different scenarios.
  • the present application provides a map-assisted driving reminder method, which can be executed by a map-assisted driving reminder device;
  • the map-assisted driving reminder device can be a communication device or a communication device capable of supporting the communication device to realize the functions required by the method , such as system-on-a-chip.
  • the assisted driving reminder device may be a server, a terminal device, a vehicle or an in-vehicle device.
  • the method includes: determining, according to a travel path planning result, that the vehicle will pass through the target intersection in a first direction; The first lane of the target intersection, the first lane is one lane in at least one easy-to-steer violation lane recorded by the first information in the map; generating reminder information, the reminder information is used for The driver is reminded that the first lane that may pass through in the future based on the planned driving route is a lane prone to steering violations.
  • reminder information can be generated to remind the driver that the first lane that may pass through in the future is an easy-to-steer violation lane, so that the driver can choose to avoid the first lane according to the reminder information, Or, when driving to the first lane, you can drive according to the steering rules of the lane, without the need for the driver to remind the driver when a violation occurs, thereby improving the applicability of the reminder and improving the driver's driving experience.
  • the first information further includes historical user identity information that has a risk of steering violation when the first lane passes through the target intersection, and the historical user identity information includes the first identification or all at least one item of the first identity information
  • the method further includes: acquiring current user identity information, where the current user identity information includes at least one of the identity of the vehicle or the identity information of the current driver of the vehicle item;
  • the generating reminder information includes: generating the reminder information according to a result of the consistency comparison between the current user identity information and the historical user identity information.
  • different reminder information can be generated for different drivers after driving to the target intersection with the first information, so as to realize the personalized generation of reminder information and improve the reminder information. It can improve the orientation ability and improve the accuracy of map-assisted reminders.
  • the present application provides a map-assisted driving reminder method, which can be executed by a map-assisted driving reminder device;
  • the map-assisted driving reminder device can be a communication device or a communication device capable of supporting the communication device to realize the functions required by the method , such as system-on-a-chip.
  • the assisted driving reminder device may be a server, a terminal device, a vehicle or an in-vehicle device.
  • the method includes: determining, according to a travel path planning result, that a vehicle will pass through the target intersection in a first direction;
  • the lane is one of the at least one easy-to-turn violation lanes recorded by the first information in the map; wherein, the map includes first information; the first information is generated according to the prompt information and is used to record all the lanes of the target intersection.
  • the first lane is an easy-to-steer violation lane; the prompt information is used to prompt that the turn signal status of the vehicle does not conform to the first steering rule of the first lane where the vehicle is located; and the reminder information is used to remind the driver to use the planning
  • the first lane that may be passed by the driving route in the future is an easy-to-turn violation lane.
  • the map includes the first information that the first lane of the target intersection is an easy-to-steer illegal lane, so that the map can assist driving.
  • the reminder device can query the first information to determine that the vehicle is about to pass through the first lane, or may pass through the first lane. At this time, reminder information can be generated to remind the driver that the first lane that may pass through in the future is easy to steer.
  • Illegal lane so that the driver can choose to avoid the first lane according to the reminder information, or, when driving to the first lane, he can drive according to the steering rules of the lane, and the driver does not need to remind the driver when the violation occurs, thereby Improve the applicability of reminders, so that drivers, especially those unfamiliar with routes, can have expectations on the lanes that are prone to steering violations, improving the driver's driving experience.
  • the first information includes at least one item of a first identifier of the vehicle or first identity information of a current driver of the vehicle.
  • the relevant information of the vehicle or the driver can be carried in the first information, which provides more possibilities for the application of the map, and improves the applicability of the map and the user experience of using the map.
  • the first information is reported by the vehicle to the server, or the first information is stored by the vehicle.
  • the assisted driving reminder device After the assisted driving reminder device generates the prompt information, it generates the first information, and stores the first information or reports the first information to the server, so as to subsequently provide other vehicles driving to the intersection based on the map including the first information.
  • Use the map to provide corresponding reminder information, or query the current vehicle driver, owner and other personnel through the map, and also provide auxiliary information for subsequent driving to improve the driving experience.
  • the prompt information is generated according to the state of the turn signal of the vehicle and the first steering rule of the target intersection when the distance of the vehicle relative to the target intersection is less than a first threshold.
  • the target intersection is the predicted target intersection according to the map information, the positioning position of the vehicle and the motion state of the vehicle; the target intersection is the intersection that the vehicle will first pass through in the future; the distance of the vehicle relative to the target intersection The distance is determined according to the map information and the positioning position of the vehicle.
  • the prompt information is further used to prompt the vehicle to change from the first lane To a second lane, the turn signal state complies with a second steering rule of the target intersection with respect to the second lane, wherein the second threshold is less than the first threshold.
  • the prompt information is further used to prompt that the vehicle should pass through the first lane according to the first steering rule. the target intersection, wherein the second threshold is less than the first threshold.
  • the first threshold is related to at least one of the length of the solid line of the first lane, the speed of the vehicle, or the degree of traffic congestion near the location of the vehicle.
  • the second threshold is related to at least one of the length of the solid line of the first lane, the speed of the vehicle, or the degree of traffic congestion near the location of the vehicle.
  • the present application provides an assisted driving reminder device, which may be a communication device or a communication device capable of supporting the communication device to implement the functions required by the method, such as a chip system.
  • the assisted driving reminder device may be a server, a terminal device, a vehicle or an in-vehicle device.
  • the device includes:
  • a prediction module configured to predict a target intersection according to the map information, the positioning position of the vehicle and the motion state of the vehicle, and the target intersection is the intersection that the vehicle will first pass through in the future;
  • a distance determination module configured to determine the distance of the vehicle relative to the target intersection according to the map information and the positioning position of the vehicle
  • a prompt information generation module is configured to, when it is determined by the distance determination module that the distance of the vehicle relative to the target intersection is less than a first threshold, according to the status of the turn signal of the vehicle and the target intersection with respect to where the vehicle is located.
  • the first turning rule of the first lane generates prompt information, where the prompt information is used to prompt that the state of the turn signal does not conform to the first turning rule.
  • the prompt information is further used to prompt the vehicle From the first lane to the second lane, the turn signal state conforms to a second steering rule of the target intersection with respect to the second lane, wherein the second threshold is less than the first threshold.
  • the prompt information is further used to prompt that the vehicle should be driven on the first lane according to the required method.
  • the first steering rule passes through the target intersection, wherein the second threshold is less than the first threshold.
  • the first threshold is related to at least one of the length of the solid line of the first lane, the speed of the vehicle, or the degree of traffic congestion near the location of the vehicle.
  • the second threshold is related to at least one of the length of the solid line of the first lane, the speed of the vehicle, or the degree of traffic congestion near the location of the vehicle.
  • a possible implementation further includes: a sending module; the sending module is configured to: report the first information to the server;
  • a storage module for storing the first information
  • the first information is generated according to the prompt information, and is used to record that the first lane of the target intersection is an easy-to-steer violation lane.
  • the first information includes at least one item of a first identifier of the vehicle or first identity information of a current driver of the vehicle.
  • the present application provides an assisted driving reminder device, which includes a processor for implementing the method described in the first aspect above.
  • the apparatus may also include a memory for storing programs and instructions.
  • the memory is coupled to a processor, and when the processor executes the program instructions stored in the memory, the method described in the first aspect can be implemented.
  • the apparatus may also include an interface circuit for the apparatus to communicate with other devices, for example, the interface circuit may be a transceiver, circuit, bus, module or other type of interface circuit.
  • the assisted driving reminder device may be a map server, or a chip provided in the map server.
  • the transceiver is implemented by, for example, an antenna, a feeder, a codec, etc.
  • the interface circuit is, for example, a communication interface in the chip, which The communication interface is connected with the radio frequency transceiver component in the map server, so as to realize the sending and receiving of information through the radio frequency transceiver component.
  • the assisted driving reminder device may be a terminal device, a vehicle or a vehicle-mounted device, or a chip provided in the terminal device, a vehicle or a vehicle-mounted device.
  • the transceiver is implemented by, for example, an antenna, a feeder, a codec, etc.
  • the interface circuit is, for example, a communication interface in the chip, the communication interface It is connected with the radio frequency transceiver component in the vehicle-mounted device, so as to realize the transmission and reception of information through the radio frequency transceiver component.
  • the present application provides a map-assisted driving reminder device, which may be a communication device or a communication device capable of supporting the communication device to implement the functions required by the method, such as a chip system.
  • the map-assisted driving reminder device may be a server, a terminal device, a vehicle or a vehicle-mounted device.
  • the device includes:
  • a determining module configured to determine that the vehicle will pass through the target intersection in a first direction according to the travel path planning result; the first lane at the intersection, where the first lane is one of the at least one easy-to-steer violation lanes recorded by the first information in the map;
  • the reminder information generating module is used for generating reminder information, and the reminder information is used to remind the driver that the first lane that the driver may pass through in the future based on the planned driving route is a lane that is prone to steering violations.
  • the first information further includes historical user identity information that has a risk of steering violation when the first lane passes through the target intersection, and the historical user identity information includes the first identification or all at least one item of the first identity information, the device further includes:
  • an acquisition module configured to acquire current user identity information, where the current user identity information includes at least one of the identity of the vehicle or the identity information of the current driver of the vehicle;
  • the reminding information generating module generates the reminding information, including generating the reminding information according to the consistency comparison result between the current user identity information and the historical user identity information.
  • the present application provides a map-assisted driving reminder device, which may be a communication device or a communication device capable of supporting the communication device to implement the functions required by the method, such as a chip system.
  • the map-assisted driving reminder device may be a server, a terminal device, a vehicle or a vehicle-mounted device.
  • the device includes:
  • the determining module is configured to determine that the vehicle will pass through the target intersection in a first direction according to the travel path planning result, and determine the first lane that can be used to pass through the target intersection from the first direction according to the map, and the first lane A lane is one lane in at least one easy-to-steer violation lane recorded by the first information in the map; wherein the map includes first information; the first information is generated according to the prompt information and is used to record the target intersection.
  • the first lane is a lane that is prone to steering violations; the prompt information is used to prompt that the state of the turn signal of the vehicle does not conform to the first steering rule of the first lane where the vehicle is located;
  • the reminder information generating module is used for generating reminder information, and the reminder information is used to remind the driver that the first lane that the driver may pass through in the future based on the planned driving route is a lane that is prone to steering violations.
  • the prompt information is generated according to the state of the turn signal of the vehicle and the first steering rule of the target intersection when the distance of the vehicle relative to the target intersection is less than a first threshold.
  • the target intersection is the predicted target intersection according to the map information, the positioning position of the vehicle and the motion state of the vehicle; the target intersection is the intersection that the vehicle will first pass through in the future; the distance of the vehicle relative to the target intersection The distance is determined according to the map information and the positioning position of the vehicle.
  • the first information includes at least one of a first identifier of the vehicle or first identity information of a current driver of the vehicle.
  • the first information is reported by the vehicle to the server, or the first information is stored by the vehicle.
  • the prompt information is further used to prompt the vehicle to change from the first lane To a second lane, the turn signal state complies with a second steering rule of the target intersection with respect to the second lane, wherein the second threshold is less than the first threshold.
  • the prompt information is further used to prompt that the vehicle should pass through the first lane according to the first steering rule. the target intersection, wherein the second threshold is less than the first threshold.
  • the first threshold is related to at least one of the length of the solid line of the first lane, the speed of the vehicle, or the degree of traffic congestion near the location of the vehicle.
  • the second threshold is related to at least one of the length of the solid line of the first lane, the speed of the vehicle, or the degree of traffic congestion near the location of the vehicle.
  • the first information further includes historical user identity information that has a risk of steering violation when the first lane passes through the target intersection, and the historical user identity information includes the first identification or all at least one item of the first identity information, the device further includes:
  • an acquisition module configured to acquire current user identity information, where the current user identity information includes at least one of the identity of the vehicle or the identity information of the current driver of the vehicle;
  • the reminding information generating module generates the reminding information, including generating the reminding information according to the consistency comparison result between the current user identity information and the historical user identity information.
  • the present application provides a map-assisted driving reminding device, which includes a processor for implementing the method described in the fourth aspect or the fifth aspect.
  • the apparatus may also include a memory for storing programs and instructions.
  • the memory is coupled to a processor, and when the processor executes the program instructions stored in the memory, the method described in the fourth aspect or the fifth aspect can be implemented.
  • the apparatus may also include an interface circuit for the apparatus to communicate with other devices, for example, the interface circuit may be a transceiver, circuit, bus, module or other type of interface circuit.
  • the map-assisted driving reminder device may be a map server, or a chip provided in the map server.
  • the transceiver is implemented by, for example, an antenna, a feeder, a codec, etc. in the map server, or, if the map assisted driving reminder device is a chip set in the map server, the interface circuit is, for example, a communication interface in the chip, The communication interface is connected with the radio frequency transceiver component in the map server, so as to realize the sending and receiving of information through the radio frequency transceiver component.
  • the map-assisted driving reminder device may be a terminal device, a vehicle or a vehicle-mounted device, or a chip provided in the terminal device, vehicle or vehicle-mounted device.
  • the transceiver is implemented by, for example, an antenna, a feeder, a codec, etc.
  • the interface circuit is, for example, a communication interface in the chip, and the communication The interface is connected with the radio frequency transceiver component in the vehicle-mounted device, so as to realize the transmission and reception of information through the radio frequency transceiver component.
  • the ninth aspect or the tenth aspect reference may be made to the introduction to the technical effects of the corresponding implementations of the fourth aspect or the fifth aspect.
  • the present application provides a computer-readable storage medium, comprising computer instructions, which, when the computer instructions are executed by a processor, cause the assisted driving reminder device to execute the method according to any one of the first aspects .
  • the present application provides a computer-readable storage medium, comprising computer instructions, when the computer instructions are executed by a processor, the map assisting driving reminder device map to perform any of the fourth or fifth aspects. one of the methods described.
  • the present application provides a computer program product that, when the computer program product runs on a processor, causes the driving assistance reminder device to execute the method according to any one of the first aspects.
  • the present application provides a computer program product that, when the computer program product runs on a processor, causes the map-assisted driving reminder device to execute the method according to any one of the fourth aspect or the fifth aspect .
  • a fifteenth aspect provides a communication system, the communication system includes the assisted driving reminder device according to the sixth aspect or the seventh aspect, and may also include the map assisted driving according to the eighth aspect, the ninth aspect or the tenth aspect reminder device.
  • FIG. 1 is a schematic diagram of a communication system architecture to which an embodiment of the application is applicable;
  • FIG. 2 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
  • FIG. 3 is a schematic flowchart of a method for assisted driving reminder provided by an embodiment of the present application
  • FIGS. 4a-4d are schematic diagrams of application scenarios of an assisted driving reminder method provided by an embodiment of the present application.
  • 4e is a schematic diagram of a setting interface for prompt information provided by an embodiment of the present application.
  • 5a is a schematic diagram of a query interface for prompt information provided by an embodiment of the present application.
  • 5b-5c are schematic diagrams of a display interface for prompt information provided by an embodiment of the present application.
  • FIG. 6 is a schematic flowchart of another map-assisted driving reminder method provided by an embodiment of the present application.
  • FIGS. 7a-7b are schematic diagrams of application scenarios of the another map-assisted driving reminder method provided by an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of a first assisted driving reminder device proposed by an embodiment of the application.
  • FIG. 9 is a schematic structural diagram of a second type of driving assistance reminder device proposed by an embodiment of the application.
  • FIG. 10 is a schematic structural diagram of a first map-assisted driving reminder device proposed in an embodiment of the application.
  • FIG. 11 is a schematic structural diagram of a second map-assisted driving reminder device proposed by an embodiment of the application.
  • FIG. 12 is a schematic structural diagram of a third map-assisted driving reminder device according to an embodiment of the present application.
  • the method for assisting driving reminder provided by the embodiment of the present application can be used in an intelligent transportation system.
  • Vehicles in an intelligent transportation system can use maps to implement traffic services.
  • the application scenarios can be unmanned driving, autonomous driving, intelligent driving, connected driving, etc. It can also be applied in scenarios such as advanced driver-assistance systems (ADAS), where ADAS can use radar to perceive the environment around the vehicle to provide blind spot monitoring, lane change assistance, collision warning or adaptive cruise. 's assistant.
  • ADAS advanced driver-assistance systems
  • the traffic services described in the embodiments of the present application may be various automatic driving or assisted driving services, such as route planning or providing driving risk warning for manual driving. The above traffic services are only examples.
  • V2X vehicle-to-vehicle communication
  • V2V vehicle to vehicle
  • V2I vehicle-to-installation
  • the high-precision map includes road information at the lane level.
  • lane information in driving scenarios such as intersections, lane changes, or main roads and auxiliary roads of viaducts may include, but is not limited to, any one or more of the following: starting and ending points of lanes, lane changing points, starting and ending points of right-turn lanes, The attribute information of the lane or the lane availability information.
  • the starting and ending points of the lane include the starting point of the lane and the ending point of the lane.
  • Lane start and end points include the start and end points of several lane lines on a road.
  • the start point of the lane is the point on the start line of the lane
  • the end point of the lane is the point on the stop line of the lane.
  • the lane change point can be the bifurcation point caused by the additional turning lanes added when some roads approach the intersection, or the junction point caused by entering a new road through the intersection and reducing one lane, or it can be the exit of the expressway/viaduct.
  • the lane changing points may include, but are not limited to, any one or more of the following: bifurcation points where lanes change from less to more, junctions where lanes change from more to less, and highways (and/or viaducts).
  • the starting and ending points of the special right-turn lane include the starting and ending intersections of the lane line (or the extension line of the lane line) of the right-turn lane and the two connected lane lines.
  • the position of the lane may represent the position of the lane by the coordinate value of the lane in the global positioning system (global positioning system, GPS) coordinate system, that is, the lane information may include the geographic coordinates of the lane.
  • the position of each lane can be collected by manual labeling.
  • the location can be determined in this way for right-turn lane start-stop and lane start-stop. It should be noted that each example of the method for determining the position of the lane is only exemplary, and is not limited in the present application.
  • the lane information may include one or more of the following: the identification ID of the lane, the identification ID of the road corresponding to the lane, the serial number of the lane corresponding to the lane, or the type of the lane.
  • the lane information can be represented by Table 1.
  • the road identifier (road_ID) is used to indicate the ID of the road on which the lane information is mapped to the navigation map, used to distinguish different roads, and used to establish a mapping relationship between the lane information and the road of the navigation map.
  • road_ID is derived from the attributes of road lines in traditional navigation maps.
  • the lane identifier can be a lane serial number or a lane line serial number (lane_num), which is used to indicate the serial number of the lane where the lane information is located, and is used to distinguish different lane lines or lane directions. For example, for two-way roads, including forward lanes, reverse lanes, tide lanes, etc.
  • serial number [-n...-1] to represent the nth lane in the reverse direction - the first lane in the reverse direction
  • [0] to represent the center lane line
  • serial number [1...n] to represent the first lane in the forward direction - positive towards the nth lane.
  • sequence number [0...n] can be used to indicate the 0th lane in the forward direction - the nth lane in the forward direction.
  • Type 4 (type_4) of lane information.
  • Type 1 of lane information may include lane change points, lane start and end points, and right-turn lane start and end points. Different types are indicated by different serial numbers, index numbers or IDs. For example, 0 may be used to indicate the lane change point, 1 may be used to indicate the start and end of the lane, and 2 may be used to indicate the start and end of the right-turn lane.
  • Type 2 of lane information is a further refinement of Type 1 of lane information.
  • Type 1 of lane information may be further indicated with a different sequence number, index number or ID.
  • use -1 to indicate that the lane change point subtype changes from more to less lanes.
  • Use 1 to indicate that the lane change point subtype changes from less to more lanes.
  • Use -1 to indicate that the lane start and end subtype is the lane start.
  • Use 1 to indicate that the lane start and end subtype is the lane end point.
  • Use -1 to indicate that the subtype of the start and end points of the right-turn lane is the start point of the right-turn lane, and use 1 to indicate that the subtype of the right-turn lane's start and end point is the end point of the right-turn lane.
  • the type 3 (type_3) of the lane information can indicate that the lane is attribute features such as left turn, straight road, right turn, main road, auxiliary road, etc., and can also include the direction information of the lane, and attribute information such as the curvature and slope of the road/lane.
  • the attribute information of the lanes may also include: merged lanes, fork lanes, one-way lanes, two-way lanes, tidal lanes and other information.
  • Type 4 (type_4) of lane information can represent lane availability information, information indicating whether the lane is currently available, for example, traffic control, road maintenance, traffic rules (such as bus lane information, speed limit information, large vehicle lanes, small information such as lanes, traffic restrictions, etc.), road conditions, congestion and other information.
  • lane_num, type, type_2, type_3, and type_4 can be obtained when drawing a high-resolution map or updating a high-resolution map.
  • a virtual lane line layer can also be included on the high-resolution map.
  • the virtual lane line can be generated based on the lane information generated by the high-precision map layer, and is used to indicate the driving direction and the lane boundary of the drivable lane on the road without the lane line marking.
  • it can be a virtual curve connecting the lanes entering and exiting the intersection, it can also be considered as a reference trajectory line for vehicles driving in the intersection area, or it can be a road under construction, a road or tunnel that is blocked by lane lines in different environments, etc. .
  • At least one item (single, species) of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.
  • FIG. 1 is a schematic structural diagram of a possible communication system to which an embodiment of the present application is applied.
  • the communication system shown in FIG. 1 includes a terminal device 101 , a network device 102 , a server 103 (which may include a map server, a positioning server, a cloud server, etc.) and an access device 104 . It should be understood that FIG.
  • the applicable communication system may also include other devices, such as core network devices, wireless relay devices, and wireless backhaul devices.
  • the network device 102 is a special core network device, whether the network device 102 belongs to the core network does not affect the implementation of the embodiment of the present application, which is not limited in the embodiment of the present application.
  • FIG. 1 is only a schematic diagram of the architecture of the communication system, and the number of network devices 102 , the number of access devices 104 , and the number of terminal devices 101 in the communication system are not limited in the embodiments of the present application, and the In addition to the network device 102, the access device 104, the server 103, and the terminal device 101, the applicable communication system may also include other devices, such as core network devices, wireless relay devices, and wireless backhaul devices.
  • the network device 102 is a special core network device, whether the network device 102 belongs to the core network does not affect the implementation of the embodiment of the present application, which is not limited in the embodiment of the present application.
  • the terminal device 101 can be connected to the access device 104 in a wireless manner, and establishes a communication link with the network device 102 through the access device 104 .
  • There may be more than one terminal device 101 and the terminal device 101 may also be connected to the access device 104 in a wireless manner, and a communication connection between the terminal devices 101 may be established through the access device 104 .
  • the terminal device 101 may also establish a communication connection between the terminal devices 101 in a wired manner, which is not limited herein.
  • the quantitative relationship between various devices is not limited. For example, there may be multiple terminal devices communicating with the same access device, and multiple access devices may also communicate with the same network device. communicate, etc.
  • the communication systems applicable to the above system architecture include but are not limited to: Time Division Duplexing-Long Term Evolution (TDD LTE), Frequency Division Duplexing-Long Term Evolution (FDD LTE) , Long Term Evolution-Advanced (LTE-A), and other evolved various wireless communication systems, such as the 5th generation (5th generation, 5G) new radio (New Radio, NR) communication system, or for Evolving various wireless communication systems.
  • the access device 104 may be a device capable of communicating with a terminal device, for example, the access device may be any device with a wireless transceiver function.
  • any information transmission between the terminal device 101 and the network device 102 includes the meaning that the terminal device 101 and the network device 102 realize information transmission by means of the access device 104.
  • the terminal device 101 is a device with a wireless transceiver function.
  • the terminal device 101 can send a request to the network device 102 and obtain data such as high-precision map data and prompt information from the network device 102 .
  • the terminal device 101 can realize the positioning function and the navigation function through the high-precision map data, and can also provide the user with the assisted driving reminding function through the prompt information.
  • the terminal device 101 may be an intelligent terminal such as an unmanned vehicle, a robot, or the like, or a vehicle-mounted terminal for realizing an unmanned driving function, or may be a mobile phone, a tablet computer, a vehicle-mounted navigation terminal, or the like.
  • the terminal device may also be a handheld device with a wireless connection function, a vehicle-mounted device, or the like.
  • the terminal device in this application can be: vehicle radar, mobile phone, tablet computer, notebook computer, palmtop computer, mobile internet device (MID), wearable device, such as smart watch, smart bracelet, pedometer, etc. .
  • the terminal device may also be a device with a GNSS positioning function.
  • the network device 102 may integrate all functions in an independent physical device, or may distribute functions on multiple independent physical devices, which is not limited in this embodiment of the present application.
  • the network device 102 is a device with a wireless transceiver function, and can implement certain service functions according to the service information of the terminal device acquired by other devices in the core network.
  • the network device may be an edge computing (mobile edge computing, MEC) network element.
  • MEC network elements can deploy applications, content, and part of the service processing and resource scheduling functions of the mobile broadband (MBB) core network to the network edge close to the access side (access device). And the collaboration of applications, content and networks to provide reliable and ultimate business experience.
  • the network device 102 when the network device 102 is an MEC network element, an application program may be loaded in the MEC network element, so that the MEC network element performs the steps performed by the network device 102 in the data transmission method provided in the embodiment of the present application , so as to provide services for user terminals at the edge of the core network close to the access side, so as to reduce the interaction delay.
  • Data interaction may be performed between the server and the network device 102 through the core network.
  • the map server may be a server in the Internet (Internet), a single server with a large storage space, a server cluster composed of multiple servers, or a server with a large storage space cloud server.
  • Map servers are usually deployed in one or more fixed locations.
  • the map server may store map data of high-precision maps. Since the storage space of the map server is large enough, map data of high-precision maps within a large coverage area may be stored.
  • High-precision maps can be stored in the form of map files, wherein the map file can be an open format for spatial data, which is a file that describes the geometric and attribute features of spatial data and is used to store geographic elements.
  • the map files of high-precision maps mainly include geometric information and attribute information.
  • the geometric information is the spatial coordinates of the lane information, that is, the location of the lane information.
  • the attribute information is information about the attributes of the lane information, such as whether the current lane is the main road lane or the auxiliary road lane; whether the current lane is a straight-through lane, a right-turn lane, a left-turn lane or other lanes, etc.
  • the high-precision map can provide precise indications for the vehicle in the driving scene. For example, in typical scenarios where the weather conditions are bad or the lane-ground turning signs do not conform to driving habits, high-precision maps can provide lane-level road information to generate prompt information to avoid traffic violations caused by drivers misjudging the lane. behavior. Alternatively, it can also provide positioning and lane information for vehicles in scenarios where there are no lane signs or tunnels and other scenarios where GNSS cannot locate, thereby improving the driving experience of the vehicle.
  • FIG. 2 it is a functional block diagram of a vehicle provided by an embodiment of the present application.
  • the vehicle may be configured in a fully or partially automatic driving mode, or the vehicle may be configured in a fully manual driving mode, which is not limited herein.
  • a vehicle may include various subsystems, such as a user interface, a positioning system, a sensor system, a computer system, a control system, a travel system, one or more peripherals, and a computer system and user interface, among others.
  • the positioning system may include: a high-precision map module, a positioning module, a navigation module, and the like.
  • the vehicle may include more or fewer subsystems, and each subsystem may include multiple elements. Additionally, each subsystem and element of the vehicle may be interconnected by wire or wirelessly. Among them, the specific functions realized by each system and module are as follows:
  • the user interface can realize the information interaction between the vehicle and the user during the driving process. For example, when it is determined that the prompt information is generated during the driving of the vehicle, the prompt information can be popped up on the user interface. In response to the user's operation on the prompt information (the operation may be a voice operation, a touch operation, a key operation or a gesture operation, etc., which is not limited here), other prompt information can be displayed, thereby improving the user's driving experience. experience.
  • the navigation module when the user needs to travel, the navigation module will pop up an instruction on the user interface, instructing the user to input the travel destination on the user interface; for another example, when the user has set the travel destination, and the After the driving planning module determines the optimal driving path, the driving path finally determined by the navigation module can be displayed on the user interface. Further, historical prompt information can also be displayed. For another example, the navigation module can update the current position of the vehicle and the road conditions on the driving path in real time on the user interface during the driving process of the vehicle, such as congestion conditions, impassable conditions, and road repair conditions.
  • the positioning system which can be a GPS system, a Beidou system or other positioning systems, can be used to estimate the geographic location of the terminal device, and can also be used to receive the location information of the terminal device sent by the positioning server.
  • the positioning system can determine the position of the terminal device through the GNSS positioning method.
  • the positioning system can also include the positioning network element in the core network.
  • the positioning network element can be a service capability exposure function in the core network. , SCEF) network element, and/or, location server.
  • SCEF service capability exposure function in the core network.
  • the SCEF network element may acquire the location information of the terminal device 101 from the location server.
  • the positioning server may adopt one of the positioning method based on the cell ID (Cell ID), the positioning method based on the time difference of arrival (TDOA), the positioning method based on the angle of arrival (AOA), etc.
  • Cell ID the cell ID
  • TDOA time difference of arrival
  • AOA angle of arrival
  • the location server may be an enhanced serving mobile location center (enhanced serving mobile location center, E-SMLC) network element, and/or a gateway mobile location center (Gateway Mobile Location Center), or one or more devices with similar functions
  • E-SMLC enhanced serving mobile location center
  • Gateway Mobile Location Center Gateway Mobile Location Center
  • the positioning module may be provided on a car, or the positioning module is an in-vehicle device.
  • the positioning terminal may be set on the roof of the vehicle, or may be set at other positions that need to be positioned.
  • the positioning module may be provided on the non-vehicle device such as a mobile phone.
  • the positioning module on the terminal device 101 can send a positioning request to the positioning server, and receive the position information of the positioning module returned by the positioning server.
  • the high-precision map module is used to store the lane-level road information of the high-precision map.
  • the high-precision map module can also be used to receive the map data of the high-precision map sent by the map server.
  • the high-precision map data in the high-precision map module may also be periodically updated, which is not limited here.
  • the high-precision map data in the high-precision map module can be the high-precision map pre-stored on the terminal device, or the high-precision map sent by the map server to the terminal device.
  • the update method of the high-precision map can also be determined by the vehicle or the map. server to execute.
  • the lane information collected for the vehicle can be sent to the map server, and the latest lane information can be determined by the map server.
  • the map server can actively send the updated high-precision map to the terminal device, or can return the updated lane information corresponding to the high-precision map according to the query request sent by the terminal device.
  • the map data of the high-precision map of the corresponding area can be sent during the navigation process to save the high-precision map data that the terminal device 101 needs to store, and the high-precision map data of multiple areas can also be pre-delivered for the map server.
  • the high-precision map data in the high-precision map module is updated according to the need of updating the high-precision map data.
  • the high-precision map module can determine the location of the high-precision map where the terminal device is located through the geographic location of the terminal device determined by the positioning system, and its positioning accuracy is the lane-level positioning accuracy. According to the information of the surrounding environment of the vehicle determined by the sensor system and the computer vision system, the vehicle can perform feature matching with the high-precision map data to determine the positioning position of the vehicle under the high-precision map, and its accuracy can reach the lane-level positioning accuracy.
  • a navigation map module which can store navigation map data, generate a navigation track based on the navigation map, and then implement a navigation function.
  • Navigation maps can provide users with navigation information to meet the navigation needs of driving routes.
  • a navigation map can provide navigation information such as how many lanes the current road has, speed limit information, turn information, and route planning.
  • these driving paths can be submitted to the driving planning module of the automatic driving system, so that the driving planning module can select the driving path that best meets the user's requirements based on the user's needs. path.
  • the navigation map module can also receive the reminder information sent by the assisted driving reminder module or the server, and the reminder information is generated according to the reminder information generated in the assisted driving reminder system, so that reminder information can be personalized for the user, such as , based on the road sections that users often go wrong, generate reminder information, or directly display historical reminder information on the navigation interface, and can also reasonably plan navigation routes according to historical reminder information, thereby improving the user's driving experience.
  • a sensor system which may include several sensors that sense information about the environment surrounding the vehicle.
  • sensor systems may include positioning systems, inertial measurement units (IMUs), radars, and cameras.
  • the IMU is used to sense position and orientation changes of the vehicle based on inertial acceleration.
  • the IMU may be a combination of an accelerometer and a gyroscope.
  • Radar may utilize radio signals to sense objects within the vehicle's surroundings.
  • radar in addition to sensing objects, radar may be used to sense the speed and/or heading of objects.
  • the camera may be used to capture multiple images of the vehicle's surroundings.
  • the camera can be a still camera or a video camera.
  • the vehicle may also include a computer vision system operable to process and analyze the images captured by the cameras in order to identify objects and/or features in the environment surrounding the vehicle. Objects and/or features may include traffic signals, road boundaries, and obstacles.
  • Computer vision systems can use object recognition algorithms, Structure from Motion (SFM) algorithms, video tracking, and other computer vision techniques.
  • SFM Structure from Motion
  • a computer vision system may be used to map the environment, track objects, estimate the speed of objects, and the like.
  • Each vehicle can be provided with one or more sensors, and the number of each sensor can be one or more.
  • the sensors may be installed on the roof of the vehicle, specifically, may be arranged in the middle of the roof of the vehicle.
  • the embodiments of the present application do not limit the installation position and number of sensors in each vehicle.
  • the vehicle may communicate with other objects based on a wireless communication technology between the vehicle and the outside world (for example, vehicle to everything (V2X)).
  • V2X vehicle to everything
  • vehicle-to-vehicle communication may be implemented based on an inter-vehicle wireless communication technology (eg, vehicle to vehicle (V2V)).
  • Communication between vehicles and other objects may be based on wireless high-fidelity (eg, wireless fidelity (Wi-Fi)), fifth-generation (5th generation, 5G) mobile communication technologies, and the like.
  • Wi-Fi wireless fidelity
  • 5G fifth-generation
  • communication between vehicles and smart devices such as location-enabled smartphones or mobile devices can be enabled based on 5G.
  • a user interface for providing information to or receiving information from a user of the vehicle.
  • the user interface may include one or more input/output devices within a collection of peripheral devices, such as a wireless communication system, an onboard computer, a microphone, and a speaker.
  • Vehicles interact with external sensors, other vehicles, other computer systems, or users through peripheral devices.
  • Peripherals may include wireless communication systems, on-board computers, microphones, and/or speakers.
  • the peripheral device provides a means for a user of the vehicle to interact with the user interface.
  • the in-vehicle computer may provide information, such as prompt information, reminder information, etc., to the user of the vehicle.
  • the user interface may also operate the onboard computer to receive user input.
  • the on-board computer can be operated by touch screen, voice, gesture, etc.
  • peripheral devices may provide a means for the vehicle to communicate with other devices located within the vehicle.
  • the microphone may receive audio (eg, voice commands or other audio input) from a user of the vehicle.
  • speakers may output audio to a user of the vehicle.
  • the user interface may further include an information collection module, and the information collection module can collect the driving state of the vehicle by the user, for example, the current status of the turn signal of the vehicle, the speed, acceleration and other information of the vehicle.
  • a wireless communication system may communicate wirelessly with one or more devices, either directly or via a communication network.
  • the wireless communication system may use 3G cellular communications, such as CDMA, EVDO, GSM/GPRS, or 4G cellular communications, such as LTE, or 5G cellular communications.
  • a wireless communication system can communicate with a wireless local area network (WLAN) using WiFi.
  • the wireless communication system may communicate directly with the device using an infrared link, Bluetooth, or ZigBee.
  • Other wireless protocols, such as various vehicle communication systems, for example, may include one or more dedicated short range communications (DSRC) devices, which may include communication between vehicles and/or roadside stations. Public and/or private data communications.
  • DSRC dedicated short range communications
  • a computer system may include at least one processor that executes instructions stored in a non-transitory computer-readable medium, such as a memory.
  • the computer system may also be multiple computing devices that control individual components or subsystems of the vehicle in a distributed fashion.
  • the processor can be used to execute the assisted driving reminder method and the method of using the map.
  • the processor may be any conventional processor, such as a commercially available CPU.
  • the processor may be a dedicated device such as an ASIC or other hardware-based processor.
  • FIG. 2 functionally illustrates a processor, memory, and other elements of the computer in the same block, one of ordinary skill in the art will understand that the processor, computer, or memory may actually include storage that may or may not be Multiple processors, computers, or memories within the same physical enclosure.
  • the memory may be a hard drive or other storage medium located within an enclosure other than a computer.
  • reference to a processor or computer will be understood to include reference to a collection of processors or computers or memories that may or may not operate in parallel.
  • some of the components that perform the assisted driving reminder method of the present application and the method of using a map may each have its own processor that only executes the same Component-specific function-related calculations.
  • a processor may be located remotely from the vehicle and in wireless communication with the vehicle. In other aspects, some of the processes described herein are performed on a processor disposed within the vehicle while others are performed by a remote processor, including taking steps necessary to perform a single maneuver.
  • the memory may contain instructions (eg, program logic) executable by the processor to perform various functions of the vehicle, including those described above.
  • the memory may also contain additional instructions, including instructions to send data to, receive data from, interact with, and/or control one or more of the various subsystems.
  • the memory can store data such as road maps, route information, the vehicle's position, direction, speed, and other vehicle data, as well as other information such as retrieved prompts.
  • the prompt information may be: the state of the turn signal when the vehicle is driving does not conform to the steering rules of the lane where the vehicle is located, and may appear a prompt information of violation of regulations. Such information may be used by the vehicle, computer systems during operation of the vehicle in autonomous, semi-autonomous and/or manual modes.
  • the obtained prompt information can also be sent to the cloud server through the wireless communication system, so that the cloud server can obtain the prompt information, and perform statistical analysis according to the obtained prompt information of at least one vehicle, so as to form guidance for traffic, road conditions, individual users, etc.
  • the vehicle when the vehicle passes the location where the prompt information is generated again, it can prompt information such as the wrong lane and other information that has occurred in the history of the location according to the received prompt information, so as to prompt the possibility of driving violations and improve the user's driving experience.
  • the cloud server can also send the prompt information to the terminal device, so that when the user logs in to the corresponding application on the terminal device, he can query the prompt information obtained by the user during the driving process, so that the user can avoid the possibility in the subsequent driving process. to improve the driving experience.
  • the computer system may control the functions of the vehicle based on input received from various subsystems (eg, positioning systems, sensor systems, computer vision systems, etc.) and from the user interface. For example, the computer system may utilize input from the control system to control the user interface to output prompt information. In some embodiments, the computer system is operable to provide control over many aspects of the vehicle and its subsystems.
  • various subsystems eg, positioning systems, sensor systems, computer vision systems, etc.
  • the computer system may utilize input from the control system to control the user interface to output prompt information.
  • the computer system is operable to provide control over many aspects of the vehicle and its subsystems.
  • the vehicle may also include: a driving planning module, a trajectory tracker, an actuator, and the like.
  • the driving planning module is used to determine, according to the itinerary requirements set by the user, the driving path that best meets the user's requirements and the corresponding driving structure schematic diagram from at least one driving path determined by the navigation map module in the automatic driving system.
  • the driving configuration information is sent, and the determined driving planning result is sent to the trajectory tracker and the executor, and the trajectory tracker and the executor complete the entire autonomous driving journey.
  • the trajectory tracker is used to generate torque commands for driving the automatic driving system and braking commands for the braking system according to the driving path sent by the driving planning module and the driving configuration information on the corresponding driving path, and issue them to the corresponding actuators Execute, and collect the feedback information of the corresponding executor during the execution of the instruction.
  • the actuator including the driving system and the braking system, is used to control the driving of the vehicle according to the torque command and braking command issued by the trajectory tracker.
  • one or more of these components described above may be installed or associated with the vehicle separately.
  • the memory may exist partially or completely separate from the vehicle.
  • the above-described components may be communicatively coupled together in a wired and/or wireless manner.
  • the above component is just an example.
  • components in each of the above modules may be added or deleted according to actual needs, and FIG. 2 should not be construed as a limitation on the embodiments of the present application.
  • the weather conditions are bad or the lane ground turning signs do not conform to driving habits
  • the ground rain and snow and other accumulations obstruct the ground turning signs of the lane, and haze weather reduces air visibility, and the driver's
  • the visual range is limited, which makes it impossible to correctly identify the lane; in the case of unfamiliar road sections, the lane ground turning signs do not match the driving habits.
  • the left-most lane should be the left-turn lane, but there are some road sections where the left-most lane is the right-turn lane, and the driver's habitual judgment leads to misjudgment of the lane. This leads to violations of traffic rules and even traffic accidents in severe cases.
  • the present application provides a driving assistance reminder method.
  • the execution subject of the assisted driving reminder method provided by the present application may be a vehicle, a terminal device, or a server in the cloud.
  • the method may be executed by the computer system of the vehicle, or by an independent on-board device in the vehicle.
  • the prompt information can be displayed on the user interface of the vehicle based on the prompt information generated by the vehicle itself, and the prompt information can also be played through the horn in the vehicle to notify the user and realize the function of assisted driving reminder. .
  • the method can also be executed by a terminal device such as a mobile phone.
  • the user can use the assisted driving reminder method by opening the corresponding application.
  • it can be combined with the navigation system.
  • a corresponding application of the navigation system eg, a navigation application
  • the prompt information generated by the assisted driving reminder system can be simultaneously received, so that the prompt information is played and/or displayed in the navigation application.
  • a prompt box is displayed on the display interface of the terminal to remind the user and also The user can be made to view the prompt information when the user stops driving subsequently. Or, play the prompt information by means of voice broadcast.
  • the assisted driving reminder method can be executed by a server (for example, a positioning server, a map server, a cloud server, etc.), and the server can send the reminder information to the vehicle based on the generated reminder information, so that the vehicle can be based on the generated reminder information.
  • the received prompt information play or display the prompt information.
  • the server can also send the prompt information to the terminal device by receiving the prompt information generated by the vehicle, so that the terminal device can receive the prompt information, and the user can view the prompt information when the user stops driving subsequently.
  • the terminal device may be a terminal device that has the same account as the vehicle.
  • the terminal device may send a query request for prompt information to the server based on the corresponding application of the vehicle, so that the terminal device determines the corresponding prompt information of the vehicle through the server and sends the information to the terminal.
  • the device returns a prompt message.
  • It may also be a method in which the server actively pushes the prompt information to the terminal device after obtaining the prompt information.
  • the push method may be to push to a corresponding application (for example, an application corresponding to a vehicle, or a navigation application, a map application, etc.), or to a notification bar of a display interface, which is not limited here.
  • Step 301 Predict the target intersection according to the map information, the positioning position of the vehicle and the motion state of the vehicle;
  • the positioning position of the vehicle and the motion state of the vehicle can be determined in various ways.
  • the mode a1 and the mode a2 are used as an example for illustration below.
  • the positioning position of the vehicle may be a positioning position determined according to GNSS positioning, and the positioning position of the vehicle may be a point coordinate value of the vehicle in the GNSS coordinate system, which is the geographic coordinate of the vehicle.
  • the motion state of the vehicle may be a driving direction determined based on the historical positioning position and the current positioning position of the vehicle.
  • the positioning position of the vehicle may also be a positioning position determined based on a high-precision map.
  • the positioning position of the vehicle may be the positioning position of the vehicle under the high-precision map determined by the high-precision map module according to the position information received by the positioning module and the environmental information around the vehicle obtained by the sensor system, which may include one or more of the following : The coordinate position of the vehicle on the high-precision map, the lane where the vehicle is located, the attribute information of the lane where the vehicle is located, or the motion state of the vehicle.
  • the motion state of the vehicle may be determined by combining a vehicle attitude sensor with GNSS.
  • the motion state of the vehicle may include the vehicle's pose information, the vehicle's speed information, and the acceleration information.
  • the pose information of the vehicle may be determined according to the radar, camera and other sensors of the vehicle combined with GNSS.
  • the speed information and acceleration information may be determined from data collected by the vehicle attitude sensor.
  • the vehicle attitude sensor may include: a 3-dimensional accelerometer, a magnetic sensor, a gyroscope, etc., which is not limited in this application.
  • the lane information corresponding to the current positioning position of the vehicle may be determined according to the high-precision map, and the head direction of the vehicle may be estimated. For example, according to the lane information of the location where the vehicle is located, it is determined that the lane where the vehicle is located is a lane from south to north, and then it can be inferred that the heading of the vehicle is from south to north.
  • the map information may be map information of a navigation map or map information of a high-precision map.
  • the vehicle may obtain the map information through a server (for example, a map server).
  • a server for example, a map server.
  • mode b1 and mode b2 are used as examples to illustrate.
  • a navigation map can be used to predict the target intersection.
  • the navigation map is a traditional navigation map, which uses GNSS equipment for navigation and positioning.
  • the traditional navigation map can only provide road-level map information.
  • Navigation maps can provide users with navigation information to meet the navigation needs of driving routes.
  • a navigation map can provide navigation information such as how many lanes the current road has, speed limit information, turn information, and route planning.
  • GNSS navigation information
  • the positioning position of the vehicle and the motion state of the vehicle for example, the direction of travel of the vehicle, the heading of the vehicle
  • the road-level map information in the navigation map can be obtained through the navigation map.
  • Mode b2 for example, in the scenarios such as tree shades, urban canyons, tunnels, etc., the GNSS positioning is prone to drift, and there is a certain probability that the GNSS positioning signal cannot be obtained, resulting in the inability to accurately position the vehicle.
  • the positioning accuracy of the vehicle can only be positioned on the road, and it is difficult to determine which lane the vehicle is located on.
  • the positioning position of the vehicle can be determined according to other positioning methods, for example, combined with the vehicle's sensor system (camera, radar, IMU, etc.), computer vision system, and map data of high-precision maps. road information), and the motion state of the vehicle, so as to predict the target intersection.
  • the lanes included in the road ahead can be determined according to the lane information in the high-precision map, In this way, the influence of the occluder on the driver's driving is avoided, and the driver is provided with lane information after the occlusion is removed.
  • road signs such as signs of the driving direction of the lane, lane boundaries, etc. may be blocked.
  • the process of removing the occluders can be performed, and prompt information can be generated.
  • the water accumulation area occupies a lane
  • the lane information in the high-precision map it can be determined that the lane is covered by accumulation of water, and the driver may not be sure.
  • the driving direction of the front lane is generated, and prompt information is generated to prompt the driving direction of the front lane.
  • the target intersection can also be an intersection that satisfies the type of intersection.
  • the intersection type of the target intersection can be an intersection including bifurcations, such as an intersection and a T-shaped intersection, including elevated entrances and elevated exits. Intersections, including tunnel entrances, tunnel exits, etc.
  • the type of the target intersection may be determined by the intersection information in the navigation map, or may be determined according to the lane information in the map, which is not limited herein.
  • Step 302 Determine the distance of the vehicle relative to the target intersection according to the map information and the positioning position of the vehicle.
  • a possible implementation manner may determine the distance of the vehicle relative to the target intersection according to the coordinate information of the intersection in the navigation map and the positioning position of the vehicle in the navigation map.
  • the distance of the vehicle relative to the target intersection can be determined according to the coordinate information of the target intersection in the map and the positioning position of the vehicle in the map.
  • Step 303 Collect the status of the turn signals of the vehicle.
  • the turn signal state of the vehicle may include: a left-turn state, a right-turn state, a straight-ahead state, a short-term left-turn state, or a short-term right-turn state.
  • the turn signal of the vehicle includes at least two modes. For example, when the user toggles the control of the turn signal down, but does not toggle the control to the bottom, at this time, the left turn signal of the vehicle starts to flash and stops flashing at a predetermined time.
  • the status of the turn signal is at In a short-term left turn state, for example, when the user toggles the control of the turn signal down and toggles the control to the bottom, at this time, the left turn signal of the vehicle starts to flash, until the vehicle completes the left turn and stops flashing or by The flashing will stop only after the driver resets. At this time, it can be determined that the status of the turn signal is left-turn.
  • the right turn state is when the user toggles the control of the turn signal upwards and toggles the control to the top.
  • the short-term right turn state is when the user toggles the turn signal control up, but the control is not toggled to the top.
  • the straight-ahead state is a state in which the vehicle's turn signals are not flashing. In a special scenario, for example, when the double flashing (warning mode) of the vehicle is turned on, the status of the turn signal cannot be judged by the flashing of the turn signal of the vehicle. The vehicle's turn signal status.
  • Mode c1 through the information collection module of the vehicle, after the vehicle starts to drive, the information collection module is started to collect information of the vehicle, the information including the status of the turn signal of the vehicle.
  • the information collection module can transmit the state of the turn signal to the computer system for storage after collecting the state of the turn signal, thereby saving the state of the turn signal of the vehicle.
  • the information collection module of the vehicle can start the information collection module when the distance between the vehicle and the target intersection is less than or equal to the wake-up threshold, and collect information of the vehicle, including the status of the turn signal of the vehicle.
  • the wake-up threshold is related to at least one of the solid line length of the lane where the current vehicle is located, the driving speed of the vehicle, or the degree of traffic congestion near the location of the vehicle.
  • the wake-up threshold may be a preset threshold, for example, the wake-up threshold may be set to 500 meters.
  • it can be determined according to the driving speed of the vehicle.
  • the current driving speed of the vehicle is lower than 30 m/s.
  • the wake-up threshold can be reduced.
  • the wake-up threshold can be set to 300 meters.
  • the current speed of the vehicle is greater than 30 m/s and less than 60 m/s.
  • the wake-up threshold may be increased, for example, the wake-up threshold may be set to 800 meters.
  • the user cannot modify the driving state in time according to the prompt information.
  • the wake-up threshold can be determined according to the degree of traffic congestion near the location of the vehicle. For example, if the current traffic congestion is high, the wake-up threshold can be increased. If the current traffic is smooth, the wake-up threshold can be reduced. For details, please refer to Example above. Of course, the wake-up threshold may also be determined comprehensively in combination with the above-mentioned various manners. In addition, the wake-up threshold may be preset, or may be adjusted in real time according to the lane information where the vehicle is actually located, which is not limited here.
  • FIG. 4a is a schematic diagram of an application scenario provided by an embodiment of the present application.
  • the indication information of the steering rule of the lane includes 4 lanes, of which the driving directions of the two left lanes (lane 1 and lane 2) are the same, which is straight, and the driving directions of the vehicles in the two right lanes are Turn left (lane 3) and right (lane 4).
  • Any vehicle may be a smart car or a non-smart car, and the comparison of the embodiments of the present application is not limited.
  • the lane where the vehicle is located is the third lane, and the vehicle can determine the length of the solid line of the third lane according to the map.
  • the length of the solid line in lane 3 is 10 meters, and the wake-up threshold can be set to 100 meters. If the solid line length of the third lane is 20 meters, you can set the wake-up threshold to 200 meters.
  • Step 304 When the distance of the vehicle relative to the target intersection is less than the first threshold, generate a prompt according to the turn signal status of the vehicle and the first turning rule of the target intersection with respect to the first lane where the vehicle is located. information.
  • the prompt information is used to prompt that the state of the turn signal does not conform to the first turning rule.
  • the prompt information may include, but is not limited to, voice prompts, text prompts, abnormal signal sounds or warning light prompts.
  • the first threshold may be related to at least one of a solid line length of a lane in which the current vehicle is located, a traveling speed of the vehicle, or a degree of traffic congestion near a location where the vehicle is located.
  • the first threshold value can be determined according to the driving speed of the vehicle.
  • the current driving speed of the vehicle is lower than 30 m/s.
  • the size of the first threshold value can be reduced.
  • the first threshold value can be set to 50 meters. .
  • the current running speed of the vehicle is greater than 30 m/s and less than 60 m/s.
  • the size of the first threshold may be increased, for example, the first threshold may be set to 100 meters.
  • the first threshold may be determined according to the degree of traffic congestion near the location of the vehicle.
  • the first threshold may also be determined according to the length of the solid line of the lane where the vehicle is located.
  • the first threshold may be set to be twice the length of the solid line of the lane where the vehicle is located.
  • the length of the solid line of the third lane is 10 meters, and the first threshold value can be set to 20 meters. If the length of the solid line of the third lane is 20 meters, the first threshold can be set to 40 meters.
  • the first threshold may also be determined comprehensively in combination with the above-mentioned various manners.
  • the first threshold may be preset, or may be adjusted in real time according to the information of the lane where the vehicle is actually located, which is not limited herein.
  • step 304 other scenarios for generating prompt information may also be included, and the following uses scenario 1 to scenario 3 as an example.
  • the vehicle can generate prompt information to prompt the user of the lane information of the target intersection, thereby prompting the user in advance.
  • the processor of the vehicle may generate the prompt information according to the first turning rule of the lane where the vehicle is located.
  • the prompt information may include: the type of the target intersection, the number of lanes at the target intersection, and the steering rules corresponding to the lanes of the target intersection.
  • the prompt information can be: "The vehicle is about to reach the intersection, which includes 4 lanes, please go straight on the left two lanes, turn left, please take the third lane, and turn right. Please go to the far right lane.”
  • After generating the prompt information send the prompt information to the on-board voice module, and play the prompt information after the on-board voice module receives the prompt information.
  • the target intersection is an elevated entrance or exit, a one-way intersection, etc.
  • the boundary of the lane line is different from the lane line on the road on which the current vehicle is traveling , for example, new lanes are added or lanes are reduced, there may be a problem that the user does not know how to behave on the road ahead.
  • the target intersection is an elevated entrance.
  • the distance of the target intersection to the vehicle may be determined based on the distance of the elevated entrance to the vehicle.
  • the target intersection includes 6 lanes, the middle two lanes are elevated entrance lanes, the straight lanes of the auxiliary road are the 3rd and 5th lanes, the left turn of the auxiliary road is the leftmost lane, and the right turn lane is the rightmost lane.
  • the prompt information that can be generated can be: "The vehicle is about to arrive at the entrance of the elevated road, the road ahead includes 6 lanes, please take the middle two lanes to get on the elevated road, and go straight on the auxiliary road, please take the 3rd and 5th lanes, and take the auxiliary road. If you turn left, please use the leftmost lane, and if you turn right, please use the rightmost lane.”.
  • the prompt information is further used to prompt the vehicle to change from the first lane to the second lane, and the turn signal state conforms to the second turn of the target intersection with respect to the second lane rule, wherein the second threshold is less than the first threshold.
  • the current position of the vehicle corresponds to the 3rd lane.
  • the turn signal state of the vehicle is a straight-going state, which is inconsistent with the steering rule (turn left) of the lane where the vehicle is currently located
  • the user can be reminded of the current lane.
  • Steering rules can also prompt the user of the lane that is consistent with the status of the turn signal.
  • the prompt information can be: "The lane where the vehicle is located is a left-turn lane. If you want to go straight, please take the two leftmost lanes" to prompt the driver to change lanes in time.
  • the reminder can be ended, and by obtaining the current driving position of the vehicle, when it is determined that the current lane of the vehicle is updated to lane 1 or lane 2, it is determined that the vehicle needs to go straight, and the lane change operation can be recorded.
  • the prompt information and the vehicle's lane-changing behavior can be reported to the server or stored in the vehicle.
  • a reminder can be sent to the driver based on the prompt information to prevent Remind the driver that if you need to go straight at the intersection, please take the two leftmost lanes to avoid drivers not entering the straight lane in advance when they need to go straight at the intersection, thereby improving the driving experience and avoiding possible safety hazards.
  • the current turn signal state may be a short-term left-turn state or a short-term right-turn state.
  • a short left turn when it is determined that the status of the turn signal of the vehicle is inconsistent with the steering rules of the current lane of the vehicle, for example, the current lane of the vehicle is a straight lane, the user can be prompted to drive to the left-turn lane.
  • the prompt information can be: "The vehicle is in the straight lane, please take the 3rd lane when turning right.” Further, if the vehicle drives to the left-turn lane and the left-turn state has stopped for a short time, the user can also be reminded that the current lane is the left-turn lane, please turn on the left-turn light.
  • the prompt information can be: "The vehicle is in the left-turn lane, please turn on the left-turn signal”.
  • the current turn signal state is a short-term left turn state
  • the turn signal state of the vehicle is consistent with the steering rule of the current lane of the vehicle, that is, the current lane of the vehicle is left.
  • the vehicle can also generate prompt information, and the prompt information can be "the user's current lane is a left-turn lane, please use the middle two lanes when going straight".
  • Scenario 3 considering that the vehicle may have entered the range corresponding to the solid lane line, or is about to enter the range where the lane cannot be changed due to the current traffic congestion, in order to avoid the problem of violating traffic rules or causing potential safety hazards when the vehicle is driving , when the distance of the vehicle relative to the target intersection is less than a second threshold, prompt information may be sent, and the prompt information may be used to prompt that the vehicle should pass the target on the first lane according to the first steering rule intersection.
  • the second threshold may be the length of the solid line of the lane where the vehicle is located. For example, if the current length of the solid line of the lane where the vehicle is located is 10 meters, the second threshold is determined to be 10 meters. The second threshold may also be based on one or more comprehensive determinations of the speed of the vehicle or the degree of traffic congestion near the location of the vehicle. The position of the waiting vehicle has exceeded the solid line length of the lane, as shown in FIG. 4d , at this time, the second threshold can be determined based on the position of the waiting vehicle. That is, the second threshold is smaller than the first threshold.
  • the second threshold is related to at least one of a solid line length of the first lane, a speed of travel of the vehicle, or a degree of traffic congestion near a location where the vehicle is located.
  • a solid line length of the first lane For the specific method of setting the second threshold, reference may also be made to the setting methods of the wake-up threshold and the first threshold, which will not be repeated here.
  • the prompt information can be: "The current lane of the vehicle is a straight lane, your vehicle turns on the right turn signal, and it is forbidden to change lanes. You can only go straight in the current lane and do not turn right. It is recommended to turn off the right turn signal.” Or, The prompt information can be "current traffic congestion, you are about to enter the solid line area, it is recommended to go straight, please turn off the right turn signal”.
  • the vehicle determines whether the state of the turn signal is consistent with the turning rule of the current lane. If it is not consistent, you can also output the prompt information again. If they are consistent, prompt information can also be generated for the user based on the road that the vehicle will travel on after passing through the intersection. For example, the prompt information can be "Go straight ahead, about to enter road XX.” Further, considering that the user temporarily changes the driving route, it may be possible It is different from the expected driving direction, for example, a right turn is expected.
  • the user may only pay attention to the traffic light for a right turn, but does not pay attention to the current traffic light going straight, and the behavior of running a red light may occur.
  • prompt information can also be generated, and the prompt information is used to prompt the traffic light status of the current straight lane.
  • the prompt information can be: "The current straight lane is a red light (or a yellow light, or a red light is about to change), please pay attention to slow down and stop”.
  • the prompt information when the prompt information is generated may also be determined based on the reminder habit set by the user.
  • the user interface of the vehicle may include a personalized setting interface.
  • the setting method of the prompt information may be included, for example, as shown in FIG. 4e, the selection of the type of the prompt information may be included, for example, a voice prompt, a text prompt, an abnormal signal sound or a warning light prompt.
  • the mode of prompt information for example, detailed prompt, simplified prompt, warning prompt.
  • the specific prompt mode may also include a detailed setting interface.
  • the vehicle can generate prompt information when the distance from the vehicle to the target intersection reaches the wake-up threshold, the first threshold, and the second threshold, and output it to the user in time.
  • the prompt information can include the detailed information of the target intersection.
  • the prompt information is output again, thereby reminding the user to adjust.
  • the state of the turn signal of the vehicle, or the lane where the vehicle is located is adjusted so that the state of the turn signal of the vehicle is consistent with the first turning rule of the target intersection regarding the first lane where the vehicle is located, and no prompt information is output.
  • the prompt information can be output only N times (for example, 3 times) to avoid outputting the prompt information multiple times, avoid interference with other information, and reduce the driving safety of the driver.
  • prompt information when the distance between the vehicle and the target intersection reaches the first threshold and the second threshold, prompt information is generated. Further, after the prompt information is generated, the prompt information may be output only once, regardless of whether the state of the turn signal of the vehicle is consistent with the first turning rule of the first lane where the vehicle is located at the target intersection.
  • prompt information when the distance between the vehicle and the target intersection reaches the second threshold, prompt information is generated. That is, the prompt information only includes the prompt information about the imminent violation. For example, the vehicle has entered the solid line and cannot change lanes, or has exited the stop line of the lane. At this time, the state of the turn signal of the vehicle is consistent with the first turning rule of the first lane where the vehicle is located at the target intersection. , then a violation is about to occur, and an alarm message needs to be generated.
  • the present application provides a method for generating a map.
  • the execution subject of the method for generating a map provided by the present application may be a vehicle, a terminal device, or a server in the cloud.
  • the prompt information may be generated by the server, so that the server generates the first information according to the prompt information and the positioning position of the vehicle, which is used to record the target lane of the target intersection as the easy-to-turn violation lane.
  • the first information can be stored in the map based on the positioning position, and the first information can be stored as a kind of lane information, for example, can be used as attribute information of a kind of lane information.
  • a separate layer may also be generated for the first information, and when the terminal device or the vehicle needs to view or use the first information, the map server may send the first information to the terminal device or the vehicle.
  • the vehicle after the vehicle generates the prompt information, it can generate first information based on the prompt information and the positioning position of the vehicle, which is used to record that the target lane of the target intersection is an easy-to-steer violation lane.
  • the first information can be stored in a map module of the vehicle, and when the vehicle needs to view or use the first information, the first information can be called from the map.
  • the first information may not include the specific content of the prompt information, such as not including the steering rules of the target lane, or only a summary of information, which can be used when needed.
  • the vehicle requests the server for the specific content of the prompt information.
  • the terminal device can generate the first information based on the positioning position of the terminal device and the prompt information, and store it in the corresponding application (for example, the navigation system). applications, map applications, vehicle-related applications, etc.), the prompt information can also be sent to the server or the vehicle. Further, when the user needs to view the prompt information, for example, when the user opens a related application, the user can view the prompt information by querying the historical prompt information. As shown in FIG. 5a, it is the query interface of the vehicle application of the terminal device. On the query interface, a query control with prompt information can be displayed.
  • the terminal device In response to the query control for the query prompt information, the terminal device sends a query request to the server, and the query request can be the prompt information for querying a road section, or the query for a time period.
  • the prompt information may also be prompt information during a driving process, or may be all prompt information in the query history, which is not limited here.
  • the server returns a query response to the terminal device, or invokes the prompt information stored in the terminal device to obtain the prompt information.
  • the terminal device can display the query result on the query interface.
  • the acquired prompt information for a time period may also be prompt information within a road section, or may also be prompt information during a driving process. For example, as shown in FIG.
  • prompt information on the corresponding road section may be displayed.
  • the prompt information on the corresponding road section may be displayed, or all the prompt information on the navigation path may be displayed, which is not limited herein.
  • the display mode may be displayed based on the user's selection.
  • a display mode setting control may be included, and the control may select a display mode, for example, time period display, map display, and travel times display. Based on the display mode selected by the user, the acquired prompt information is displayed.
  • each additional information can only display the number of prompt information existing at the location, For example, "3 pieces of prompt information", “2 pieces of prompt information”, “4 pieces of prompt information”, etc., are used to prompt the user that there is historically appearing prompt information at the corresponding position.
  • the user can click on the additional information, and in response to the user's operation of clicking on the additional information, the specific content of all prompt information in this area can be viewed.
  • the additional information the user can set a path without prompt information, or change the driving path by himself, or set the vehicle to remind the user to pay attention to the steering rules of the lane when the vehicle passes the position.
  • reminder information can also be generated based on the prompt information. For example, when it is determined that the current navigation path passes through the position corresponding to the prompt information, a reminder message can be sent to the user to remind the user whether the navigation needs to be changed. path.
  • the first lane generated above may be a piece of first information that is comprehensively generated according to a plurality of prompt information generated by the lane and the vehicle.
  • the first information is used to record that the first lane of the target intersection is an easy-to-steer violation lane, which has reduced the occupation of storage space.
  • the specific steps of another map-assisted driving reminder method provided by the embodiment of the present application are as follows.
  • the map proposed in the embodiment of the present application is a map including the first information, and the first information is generated based on the prompt information.
  • the execution subject of the another method for map-assisted driving reminder provided by the present application may be a vehicle, a terminal device, or a server in the cloud.
  • the prompt information may be generated by the server, so that the server generates the first information according to the prompt information and the positioning information of the vehicle, and generates the personalized prompt information according to the first information determined in the historical time period.
  • the vehicle arrives at the positioning position next time, it is sent to the vehicle, and the vehicle outputs the reminder information, thereby reminding the user that the wrong steering behavior occurred at the position last time, so as to prevent the user from having the problem again.
  • the prompt information generated by multiple vehicles near the same positioning position to generate personalized reminder information.
  • the reminder information can remind the user that the current position is a lane that is prone to violations, and please pay attention to driving according to the steering rules of the lane.
  • the another method of map-assisted driving reminder may also generate reminder information by the vehicle, and generate the reminder information according to the reminder information determined in the historical time period and the positioning position of the vehicle corresponding to the generated reminder information.
  • Personalized reminder information which is output by the vehicle.
  • the another method of map-assisted driving reminder may generate prompt information by the vehicle, generate the first information from the prompt information, and send it to the map server in the cloud, and the map server in the cloud can generate the prompt information according to the received information.
  • the first information provides personalized reminder information for the vehicle and sends it to the vehicle, and the vehicle outputs the reminder information, thereby improving the driving experience.
  • the terminal device 101 may be installed with a navigation application or a map application, and the terminal device 101 may communicate with the back-end map server through the Internet through the navigation application or the map application.
  • the terminal device 101 can display the navigation track and the reminder information on the navigation interface based on the navigation map, the destination input by the user, the positioning position of the terminal, and the obtained reminder information, so as to optimize the navigation function.
  • Step 601 The vehicle determines that the vehicle will pass through the target intersection in the first direction according to the travel path planning result.
  • the travel path planning result can be that the user can input the destination to go in the user interface in the above-mentioned FIG. 2, and the navigation map module combines the current location of the user and the location of the destination entered by the user,
  • the road topology data of the navigation map is queried, combined with the current lane information provided by the high-precision map module, to determine at least one driving path that the user can reach the destination from the current location (hereinafter referred to as the starting point).
  • the driving planning module or the processing chip in the driving planning module may present a lane-level driving mode icon, a road-level driving mode icon, and the like on the user interface.
  • the navigation map module may provide multiple travel paths for the vehicle from the starting point to the destination.
  • the navigation map module can first determine the candidate travel paths. In the candidate travel paths, according to the current positioning position of the vehicle, Determine the time and distance required for each candidate travel path, and determine the travel path planning result according to the user's needs.
  • the driving path planning result After the driving path planning result is determined, it can be determined based on the driving path planning result whether the vehicle will pass through the target intersection when the vehicle travels based on the driving path planning.
  • the target intersection and in the process of passing through the target intersection, prompt information for indicating that the state of the turn signal is inconsistent with the turning rule at the target intersection is generated.
  • the vehicle may, based on the positioning position of the vehicle stored in the first information, compare with the travel path planning result to determine whether a target intersection is included in the travel path planning, and the travel direction of the vehicle is the first direction recorded by the first information, That is, it is the same as the direction in which the vehicle travels in the first information.
  • Step 602 The vehicle may determine, according to the high-precision map, a first lane available for passing through the target intersection from the first direction.
  • the first lane is one of the at least one easy-to-steer violation lanes recorded by the first information in the high-precision map.
  • at least one easy-to-turn violation lane may be determined based on the first information generated from passing through the target intersection from the first direction.
  • the prompt information corresponding to the first lane is: "The current lane is a left-turn lane. , please change lanes in advance.”
  • This prompt message is generated at position 1.
  • the prompt information corresponding to the second lane is: "The current vehicle has entered the solid line. This lane is a straight lane. To avoid violations, please go straight and turn off the turn signal.” This prompt message is generated at position 2.
  • Step 603 The vehicle generates reminder information, where the reminder information is used to remind the driver that the first lane that the driver may pass through in the future based on the planned driving route is a lane prone to steering violations.
  • reminder information may be generated when the vehicle is about to reach the target intersection.
  • reminder information when the vehicle is about to reach the target intersection, reminder information may be generated based on the reminder information of position 1 and position 2.
  • the reminder information can be: "There is an easy-to-turn illegal lane at the intersection ahead, please pay attention".
  • reminder information may be generated based on the reminder information at location 1.
  • the reminder information can be: "The first lane at the intersection ahead is a left-turn lane, please pay attention”.
  • reminder information may also be generated based on the reminder information.
  • the reminder information may further include: "The current lane is a left-turn lane. If you need to turn left, please change lanes in advance.”
  • the reminder information may be generated based on the reminder information at the position 2.
  • the reminder information can be: "The current lane is a straight lane, you have entered a solid line, please pay attention to going straight”.
  • the embodiment shown in FIG. 6 can be applied to various scenarios: for example, before starting to the destination, the driver plans and selects the driving route through the map of the navigation software, and reminds the easy-to-turn illegal intersection and lane when the navigation software presents the route planning result
  • the driver plans and selects the driving route through the map of the navigation software, and reminds the easy-to-turn illegal intersection and lane when the navigation software presents the route planning result
  • the navigation software performs real-time path planning, it will remind the lanes that are prone to violations in real time according to the real-time path planning result and the first information in the map.
  • reminder information can also be generated individually based on each driver.
  • a possible implementation may include: the first information in the map may also include historical user identity information, where the historical user identity information includes at least one of the first identifier of the vehicle or the first identity information; for example , the user identity information may be the identification of the vehicle, and the user or vehicle corresponding to the historical user identity information may be the user or vehicle that has the risk of steering violation when the vehicle passes the target intersection in the first lane, thereby generating the prompt information.
  • the vehicle acquires the current user identity information, and the vehicle can generate reminder information according to the result of the consistency comparison between the current user identity information and the historical user identity information.
  • the current user identity information may include at least one of the first identification of the vehicle or the identity information of the current driver of the vehicle.
  • the mode d1-mode d3 is used as an example for illustration below.
  • the user identity information is the first identification of the vehicle, for example, the serial code of the vehicle, the identification information of the vehicle registered on the corresponding application, and the like.
  • the vehicle may determine the first information corresponding to the user identity information based on the historical user identity information in the first information in the map, thereby generating reminder information only for the vehicle.
  • Manner d2 may also be based on the identity information that the user registers with the vehicle on the application of the vehicle, so that the vehicle can obtain the first information corresponding to the identity information according to the map.
  • Mode d3 can also use the driver's identity information to register the identity information on the application of the vehicle, so that the vehicle can obtain the first information corresponding to the driver according to the map, not limited to the first information on a vehicle, thereby , which can provide the driver with personalized reminders.
  • the navigation map module can, according to the corresponding lane-level road information on the K paths, determine the congestion degree of the K paths, The quantity of the existing first information is sorted, and then the driving comfort level of the K routes is determined, thereby screening the K routes.
  • the navigation map module can determine the maximum speed, maximum speed, and maximum speed of each sub-path on the K paths according to the road type, the curvature and slope of the lane, and the current weather and traffic flow data of each sub-path on the K paths. The average vehicle speed, the frequency of acceleration and deceleration, etc. are used to determine the congestion degree of the path.
  • the K paths are screened. For example, taking the K routes as 4 as an example, in order of the travel time length, the travel time length of the first route is 10 minutes, the travel time length of the second route is 9 minutes, and the travel time length of the third route is 9 minutes. It is 9 minutes, and the travel time of the 4th route is 8 minutes. Sort by the number of occurrences of the first information, the number of the first information in the first path is 1, the number of the first information in the second path is 2, and the number of the first information in the third path is 1, the number of the first information that appears in the fourth path is 1.
  • the ranking of the driving comfort level of the four routes can be obtained as: the 4th, the 3rd, the 2nd, and the 1st. Therefore, the fourth route can be recommended to the user, and reminder information can be generated.
  • the reminder information is used to remind the user that the fourth route is less time-consuming and easy to violate the road, and it is recommended to use this route.
  • the reminder information may be generated before the vehicle is started, when the route is planned, or may be updated in real time during the driving of the vehicle, which is not limited herein.
  • the vehicle does not travel according to the route planned by the navigation. For example, the vehicle did not change lanes in time due to road congestion, or the steering sign of the lane was blocked, or the vehicle did not enter the lane in the specified direction due to the update of the lane sign, which may lead to yaw or yaw. Yaw problem.
  • the navigation map module according to the first information in the map and the navigation path, if it is determined that there is a lane that is prone to violations in the navigation path, it can be determined according to the first information of the lane that is prone to violations. 1 information, the current position of the vehicle and the destination, the driving path can be updated in time to reduce the influence of yaw.
  • the map module determines that the lane where the vehicle is located is lane 1, and the lane direction of lane 1 is left turn. According to the navigation path, the map module can determine that the vehicle should travel straight on the current road. Therefore, the map module can determine that if the vehicle continues to drive in the current lane, there is a high probability of entering the left-turn lane when passing through the intersection, which will lead to Vehicle yaw. In the scenario where the vehicle yaw due to entering the wrong lane, it is related to factors such as whether the vehicle is allowed to change lanes at the position where the vehicle may yaw.
  • the position of the vehicle allows lane change, that is, the vehicle can switch from the left turn lane to the straight lane.
  • the position of the vehicle is not allowed to change lanes, so the yaw probability of the vehicle is high at this time.
  • reminder information can be generated, and the reminder information can be used to prompt the user whether it is necessary to switch the navigation path according to the driving direction of the current lane.
  • the lane where the current position A of the vehicle is located is lane 1, and the navigation map module can plan the navigation path according to the current position A, the steering rule (turn left) and destination Y of lane 1 corresponding to the current position A 2.
  • the navigation map module can store the planned route as an alternative route in the navigation map module, or directly display it to the user interface to notify the user whether the navigation route needs to be switched. After the navigation map module receives the user's instruction to switch the navigation path, the alternative path is used as the updated navigation path, and the updated navigation path is displayed to the user.
  • the navigation effect is improved while preventing the user from violating traffic laws by continuing to drive according to the original navigation route without noticing that the current lane is a left-turn lane.
  • FIG. 8 is a structural block diagram of an assisted driving reminder device 800 provided by an embodiment of the present application.
  • the assisted driving reminder device 800 is, for example, a map server, a terminal device, a vehicle or a vehicle-mounted device.
  • the assisted driving reminder device 800 includes: a prediction module 801 , a distance determination module 802 and a prompt information generation module 803 .
  • the prediction module 801, the distance determination module 802 and the prompt information generation module 803 may be independent devices, the prediction module 801 and the distance determination module 802 may be modules or units in the map server, and the prompt information generation module 803 is in the vehicle-mounted device module or unit.
  • Communication between the prediction module 801 , the distance determination module 802 and the prompt information generation module 803 may be performed in a wired or wireless manner.
  • the prediction module 801, the distance determination module 802 and the prompt information generation module 803 may also be in-vehicle devices located in the vehicle, and the prediction module 801, the distance determination module 802 and the prompt information generation module 803 may be connected in a wired or wireless manner. communication.
  • the assisted driving reminder device 800 may be an in-vehicle device, or a chip applied in the in-vehicle device, or a combination device or component with a map generation function in a terminal device, or other combination device with an assisted driving reminder function. , components, etc.
  • the assisted driving reminder device 800 may also be a map server, or a chip applied in the map server.
  • the prediction module 801 , the distance determination module 802 and the reminder information generation module 803 may be processors, such as baseband processors.
  • the prediction module 801 , the distance determination module 802 and the prompt information generation module 803 may be processors of the chip system, and may include one or more central processing modules.
  • the prediction module 801, the distance determination module 802 and the reminder information generation module 803 may be processors, such as a baseband processor, and the baseband processor may include one or more central processing modules (central processing modules). processing unit, CPU).
  • the assisted driving reminder device 800 may further include a sending module 804 .
  • the sending module 804 can be a radio frequency unit, and when the assisted driving reminding device 800 is a chip system, the sending module 804 can be an input and output interface of the chip system (such as a baseband chip).
  • the sending module 804 may be a transceiver, may include an antenna and a radio frequency circuit, etc., or may be an interface circuit coupled to the processor.
  • the prediction module 801, the distance determination module 802 and the prompt information generation module 803 may be used to perform all the operations performed by the assisted driving reminder device in the embodiment shown in FIG. 3 except for the sending and receiving operations, and/or for Additional processes supporting the techniques described herein.
  • the sending module 804 may be used to perform all sending operations performed by the assisted driving reminder device in the embodiment shown in FIG. 3 , and/or to support other processes of the techniques described herein.
  • the sending module 804 may be a functional module, which can complete both the sending operation and the receiving operation.
  • the sending module 804 is a module included in the assisted driving reminder device 800, and the sending module 804 can be used to execute FIG. 3
  • all the sending and receiving operations performed by the assisted driving reminder device for example, when performing a sending operation, the sending module 804 can be considered as a sending module, and when performing a receiving operation, it can be considered that the sending module 804 is a receiving module; alternatively, the sending module 804 can also be the collective name of two functional modules, the two functional modules are respectively a sending module and a receiving module, the sending module is used to complete the sending operation, for example, the sending module 804 is a module included in the vehicle , the sending module can be used to perform all the sending operations performed by the assisted driving reminder device in the embodiment shown in FIG. 3 , and the receiving module is used to complete the receiving operation.
  • the sending module 804 is a module included in the vehicle, then the receiving module
  • the prediction module 801 is configured to predict a target intersection according to the map information, the positioning position of the vehicle and the motion state of the vehicle, and the target intersection is the intersection that the vehicle will first pass through in the future;
  • a distance determination module 802 configured to determine the distance of the vehicle relative to the target intersection according to the map information and the positioning position of the vehicle;
  • the prompt information generation module 803 is configured to, when it is determined by the distance determination module that the distance of the vehicle relative to the target intersection is less than a first threshold, generate information about the vehicle according to the status of the turn signal of the vehicle and the target intersection. According to the first steering rule of the first lane, prompt information is generated, and the prompt information is used to prompt that the state of the turn signal does not conform to the first steering rule.
  • the prompt information is further used to prompt the The vehicle changes from the first lane to the second lane, the turn signal state conforms to a second steering rule of the target intersection with respect to the second lane, wherein the second threshold is less than the first threshold.
  • the prompt information is also used to prompt that the vehicle should follow the first lane in the first lane.
  • the first steering rule passes through the target intersection, wherein the second threshold is less than the first threshold.
  • the first threshold is related to at least one of the length of the solid line of the first lane, the speed of the vehicle, or the degree of traffic congestion near the location of the vehicle.
  • the second threshold is related to at least one of the length of the solid line of the first lane, the speed of the vehicle, or the degree of traffic congestion near the location of the vehicle.
  • a possible implementation further includes: a sending module 804; the sending module 804 is configured to: report the first information to the server; or, further include: a storage module 805, configured to store the first information; wherein, the first information A piece of information is generated according to the prompt information, and is used to record that the first lane of the target intersection is a lane prone to steering violations.
  • the first information includes at least one item of a first identifier of the vehicle or first identity information of a current driver of the vehicle.
  • the division of units in the embodiments of the present application is schematic, and is only a logical function division. In actual implementation, there may be other division methods.
  • the functional units in the various embodiments of the present application may be integrated into one processing unit. In the device, it can also exist physically alone, or two or more units can be integrated into one unit.
  • the above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.
  • the software or firmware includes, but is not limited to, computer program instructions or code, and can be executed by a hardware processor.
  • the hardware includes, but is not limited to, various types of integrated circuits, such as a central processing unit (CPU), a digital signal processor (DSP), a field programmable gate array (FPGA), or an application specific integrated circuit (ASIC).
  • CPU central processing unit
  • DSP digital signal processor
  • FPGA field programmable gate array
  • ASIC application specific integrated circuit
  • FIG. 9 is a structural block diagram of an assisted driving reminder device 900 provided by an embodiment of the present application.
  • the assisted driving reminder device 900 shown in FIG. 9 includes at least one processor 901 .
  • the assisted driving reminder device 900 also includes at least one memory 902 for storing program instructions and/or data.
  • Memory 902 is coupled to processor 901 .
  • the coupling in the embodiments of the present application is an indirect coupling or communication connection between devices, units or modules, which may be in electrical, mechanical or other forms, and is used for information exchange between devices, units or modules.
  • the processor 901 may cooperate with the memory 902 , the processor 901 may execute program instructions stored in the memory 902 , and at least one of the at least one memory 902 may be included in the processor 901 .
  • the assisted driving reminding device 900 may further include a communication interface 903 for communicating with other devices through a transmission medium, so that the assisted driving reminding device 900 can communicate with other devices.
  • the communication interface may be a transceiver, a circuit, a bus, a module, or other types of communication interfaces.
  • the transceiver when the communication interface is a transceiver, the transceiver may include an independent receiver and an independent transmitter; a transceiver with integrated transceiver functions, or an interface circuit, etc. may also be included.
  • connection medium between the processor 901 , the memory 902 , and the communication interface 903 is not limited in the embodiments of the present application.
  • the memory 902, the processor 901, and the communication interface 903 are connected through a communication bus 904 in FIG. 9.
  • the bus is represented by a thick line in FIG. 9.
  • the connection mode between other components is only a schematic illustration. , not as a limitation.
  • the bus may include an address bus, a data bus, a control bus, and the like. For convenience of presentation, only one thick line is used in FIG. 9, but it does not mean that there is only one bus or one type of bus.
  • the assisted driving reminding device 900 is used to implement the steps performed by the assisted driving reminding device in the flow shown in FIG. 3
  • the assisted driving reminding device 900 may be a server, or a chip or circuit in the server.
  • the communication interface 903 is used to perform the operations related to the sending and receiving of the assisted driving reminder device in the above embodiment.
  • the processor 901 is configured to perform the processing-related operations of the assisted driving reminder device in the above method embodiments.
  • the processor 901 predicts a target intersection according to the map information, the positioning position of the vehicle and the motion state of the vehicle, and the target intersection is the intersection that the vehicle will first pass through in the future; according to the map information and the vehicle determine the distance of the vehicle relative to the target intersection; when it is determined by the distance determination module that the distance of the vehicle relative to the target intersection is less than the first threshold, according to the vehicle's turn signal status and
  • the target intersection generates prompt information regarding the first turning rule of the first lane where the vehicle is located, and the prompt information is used to prompt that the state of the turn signal does not conform to the first turning rule.
  • FIG. 10 is a map-assisted driving reminder device 1000 provided by an embodiment of the present application.
  • the map-assisted driving reminder device 1000 may be a communication device or a communication device capable of supporting the functions required by the communication device to implement the method, such as a chip system.
  • the map-assisted driving reminder device 1000 may be a server, a terminal device, a vehicle or a vehicle-mounted device.
  • the apparatus includes: a determination module 1001 , a reminder information generation module 1002 , and an acquisition module 1003 .
  • the determination module 1001, the reminder information generation module 1002, and the acquisition module 1003 may be independent devices.
  • the determination module 1001, the reminder information generation module 1002 may be a module or unit in the map server, and the acquisition module 1003 may be a vehicle-mounted device
  • the modules in , the determination module 1001 , the reminder information generation module 1002 , and the acquisition module 1003 may communicate with each other in a wired or wireless manner.
  • the determination module 1001 , the reminder information generation module 1002 , and the acquisition module 1003 may also be in-vehicle devices located in the vehicle, and the determination module 1001 , the reminder information generation module 1002 , and the acquisition module 1003 may communicate by wire or wirelessly.
  • the map assisted driving reminder device 1000 may be an in-vehicle device, a chip applied in the in-vehicle device, or a combination device or component with a map generation function in a terminal device, or other combination with a driving assisted reminder function. devices, components, etc.
  • the map-assisted driving reminder device 1000 may also be a map server, or a chip applied in the map server.
  • the determination module 1001 and the reminder information generation module 1002 may be processors, such as baseband processors.
  • the determination module 1001 and the reminder information generation module 1002 may be processors of the chip system, and may include one or more central processing modules.
  • the determination module 1001 and the reminder information generation module 1002 may be processors, such as baseband processors, which may include one or more central processing modules.
  • the map-assisted driving reminder device 1000 may further include an acquisition module 1003 .
  • the acquisition module 1003 can be a radio frequency unit; when the map-assisted driving reminder device 1000 is a chip system, the acquisition module 1003 can be the input and output of the chip system (eg, a baseband chip). interface.
  • the acquisition module 1003 may be a transceiver, may include an antenna and a radio frequency circuit, etc., or may be an interface circuit coupled to the processor.
  • the determination module 1001 and the reminder information generation module 1002 may be used to perform all operations except the sending and receiving operations performed by the map-assisted driving reminder device in the embodiment shown in FIG. 6 , and/or to support the operations described herein other processes of the technology.
  • the acquisition module 1003 may be used to perform all the sending operations performed by the map-assisted driving reminder device in the embodiment shown in FIG. 6 , and/or to support other processes described herein.
  • the acquisition module 1003 can be a functional module, and the functional module can complete both the sending operation and the receiving operation.
  • the acquisition module 1003 is a module included in the map-assisted driving reminder device 1000, and the acquisition module 1003 can be used to execute the map In the embodiment shown in 6, all the sending operations and receiving operations performed by the map-assisted driving reminder device, for example, when performing a sending operation, it can be considered that the acquisition module 1003 is a sending module, and when performing a receiving operation, it can be considered that the acquisition module 1003 is a sending module.
  • Module 1003 is a receiving module; alternatively, the acquiring module 1003 can also be a general term for two functional modules, these two functional modules are respectively a sending module and a receiving module, the sending module is used to complete the sending operation, for example, the obtaining module 1003 is a vehicle included in the module 1003. , the sending module can be used to perform all the sending operations performed by the map-assisted driving reminder device in the embodiment shown in FIG. 6 , and the receiving module is used to complete the receiving operation.
  • the obtaining module 1003 is a module included in the vehicle, Then the receiving module can be used to perform all the receiving operations performed by the map-assisted driving reminder device in the embodiment shown in FIG. 6 .
  • the determination module 1001 is configured to determine that the vehicle will pass the target intersection in the first direction according to the travel path planning result, and determine that the vehicle will pass through the first direction according to the map including the first information in the embodiment of the present application.
  • the first lane of the target intersection, the first lane is a lane in at least one easy-to-steer violation lane recorded by the first information in the map;
  • the reminder information generation module 1002 is used to generate a reminder information, the reminder information is used to remind the driver that the first lane that may be passed in the future based on the planned driving route is a lane that is prone to steering violations.
  • the first information further includes historical user identity information that has a risk of steering violation when the first lane passes through the target intersection, and the historical user identity information includes the first identification or all at least one item of the first identity information.
  • the obtaining module 1003 is used to obtain the current user identity information, and the current user identity information includes at least one of the identification of the vehicle or the identity information of the current driver of the vehicle; the reminder information generation module 1002 is used to generate according to The reminder information is generated according to the result of the consistency comparison between the current user identity information and the historical user identity information.
  • FIG. 11 is a map-assisted driving reminder device 1100 provided by an embodiment of the application.
  • the map-assisted driving reminder device 1100 may be a communication device or a communication device capable of supporting the functions required by the communication device to implement the method, such as a chip system.
  • the map-assisted driving reminder device may be a server, a terminal device, a vehicle or a vehicle-mounted device.
  • the apparatus includes: a determination module 1101, and a reminder information generation module 1102.
  • An acquisition module 1103 may also be included. Among them, the determination module 1101, the reminder information generation module 1102, and the acquisition module 1103 may be independent devices.
  • the determination module 1101, the reminder information generation module 1102 may be a module or unit in the map server, and the acquisition module 1103 may be a vehicle-mounted device
  • the modules in , the determination module 1101 , the reminder information generation module 1102 , and the acquisition module 1103 can communicate with each other in a wired or wireless manner.
  • the determination module 1101 , the reminder information generation module 1102 , and the acquisition module 1103 may also be in-vehicle devices located in the vehicle, and the determination module 1101 , the reminder information generation module 1102 , and the acquisition module 1103 may communicate through wired or wireless means.
  • the map-assisted driving reminder device 1100 may be an in-vehicle device, a chip applied in the in-vehicle device, or a combination device or component with a map generation function in a terminal device, or other combination with a driving-assistance reminder function. devices, components, etc.
  • the map assisted driving reminder device 1100 may also be a map server, or a chip applied in the map server.
  • the determination module 1101 and the reminder information generation module 1102 may be processors, such as baseband processors.
  • the determination module 1101 and the reminder information generation module 1102 may be processors of the chip system, and may include one or more central processing modules.
  • the determination module 1101 and the reminder information generation module 1102 may be processors, such as baseband processors, which may include one or more central processing modules.
  • the map-assisted driving reminder device 1100 may further include an acquisition module 1103 .
  • the acquisition module 1103 may be a radio frequency unit.
  • the acquisition module 1103 may be the input and output of the chip system (eg, a baseband chip). interface.
  • the acquisition module 1103 may be a transceiver, may include an antenna and a radio frequency circuit, etc., or may be an interface circuit coupled to the processor.
  • the determination module 1101 and the reminder information generation module 1102 can be used to perform all operations except the sending and receiving operations performed by the map-assisted driving reminder device in the embodiment shown in FIG. other processes of the technology.
  • the obtaining module 1103 may be used to perform all the sending operations performed by the map-assisted driving reminder device in the embodiment shown in FIG. 6 , and/or to support other processes described herein.
  • the acquisition module 1103 can be a functional module, which can complete both the sending operation and the receiving operation.
  • the acquisition module 1103 is a module included in the map-assisted driving reminder device 1100, and the acquisition module 1103 can be used to execute the map In the embodiment shown in 6, all the sending operations and receiving operations performed by the map-assisted driving reminder device, for example, when performing a sending operation, the acquisition module 1103 can be considered as a sending module, and when performing a receiving operation, it can be considered that the acquisition module 1103 is a sending module.
  • the module 1103 is a receiving module; alternatively, the obtaining module 1103 can also be a general term for two functional modules, the two functional modules are respectively a sending module and a receiving module, the sending module is used to complete the sending operation, for example, the obtaining module 1103 is included in the vehicle , the sending module can be used to perform all the sending operations performed by the map-assisted driving reminder device in the embodiment shown in FIG. 6 , and the receiving module is used to complete the receiving operation.
  • the obtaining module 1103 is a module included in the vehicle, Then the receiving module can be used to perform all the receiving operations performed by the map-assisted driving reminder device in the embodiment shown in FIG. 6 .
  • the determining module 1101 is configured to determine that the vehicle will pass through the target intersection in a first direction according to the travel path planning result, and determine the first lane that can be used to pass through the target intersection from the first direction according to a map,
  • the first lane is one lane in at least one easy-to-steer violation lane recorded by the first information in the map; wherein the map includes first information; the first information is generated according to the prompt information and is used for recording The first lane of the target intersection is an easy-to-steer violation lane; the prompt information is used to prompt that the turn signal status of the vehicle does not conform to the first steering rule of the first lane where the vehicle is located;
  • the reminder information generation module 1102 is configured to generate reminder information, where the reminder information is used to remind the driver that the first lane that may be passed by the driver in the future based on the planned driving route is a lane prone to steering violations.
  • the prompt information is generated according to the state of the turn signal of the vehicle and the first steering rule of the target intersection when the distance of the vehicle relative to the target intersection is less than a first threshold.
  • the target intersection is the predicted target intersection according to the map information, the positioning position of the vehicle and the motion state of the vehicle; the target intersection is the intersection that the vehicle will first pass through in the future; the distance of the vehicle relative to the target intersection The distance is determined according to the map information and the positioning position of the vehicle.
  • the first information includes at least one item of a first identifier of the vehicle or first identity information of a current driver of the vehicle.
  • the first information is reported by the vehicle to the server, or the first information is stored by the vehicle.
  • the prompt information is further used to prompt the vehicle to change from the first lane To a second lane, the turn signal state complies with a second steering rule of the target intersection with respect to the second lane, wherein the second threshold is less than the first threshold.
  • the prompt information is further used to prompt that the vehicle should pass through the first lane according to the first steering rule. the target intersection, wherein the second threshold is less than the first threshold.
  • the first threshold is related to at least one of the length of the solid line of the first lane, the speed of the vehicle, or the degree of traffic congestion near the location of the vehicle.
  • the second threshold is related to at least one of the length of the solid line of the first lane, the speed of the vehicle, or the degree of traffic congestion near the location of the vehicle.
  • the first information further includes historical user identity information that has a risk of steering violation when the first lane passes through the target intersection, and the historical user identity information includes the first identification or all At least one item of the first identity information
  • the acquisition module 1103 is configured to acquire current user identity information, where the current user identity information includes at least one of the identity of the vehicle or the identity information of the current driver of the vehicle item
  • the reminder information generation module 1102 is configured to generate the reminder information according to the result of the consistency comparison between the current user identity information and the historical user identity information.
  • the map-assisted driving reminder device 1200 shown in FIG. 12 includes at least one processor 1201 .
  • the map-assisted driving reminder device 1200 further includes at least one memory 1202 for storing program instructions and/or data.
  • Memory 1202 and processor 1201 are coupled.
  • the coupling in the embodiments of the present application is an indirect coupling or communication connection between devices, units or modules, which may be in electrical, mechanical or other forms, and is used for information exchange between devices, units or modules.
  • the processor 1201 may cooperate with the memory 1202, the processor 1201 may execute program instructions stored in the memory 1202, and at least one of the at least one memory 1202 may be included in the processor 1201.
  • the map-assisted driving reminder device 1200 may further include a communication interface 1203 for communicating with other devices through a transmission medium, so that the map-assisted driving reminder device 1200 can communicate with other devices.
  • the communication interface may be a transceiver, a circuit, a bus, a module, or other types of communication interfaces.
  • the transceiver when the communication interface is a transceiver, the transceiver may include an independent receiver and an independent transmitter; a transceiver with integrated transceiver functions, or an interface circuit, etc. may also be included.
  • a connection medium between the above-mentioned processor 1201, memory 1202, and communication interface 1203 is not limited in the embodiments of the present application.
  • the memory 1202, the processor 1201, and the communication interface 1203 are connected through a communication bus 1204 in FIG. 12.
  • the bus is represented by a thick line in FIG. 12, and the connection between other components is only a schematic illustration. , not as a limitation.
  • the bus may include an address bus, a data bus, a control bus, and the like. For convenience of presentation, only one thick line is used in FIG. 12, but it does not mean that there is only one bus or one type of bus or the like.
  • the map-assisted driving reminder device 1200 is used to implement the steps performed by the map-assisted driving reminder device in the flow shown in FIG. 6 .
  • the map-assisted driving reminder device 1200 may be a terminal, or a chip or circuit in the terminal.
  • the map-assisted driving reminder device 1200 may also be a server, or a chip in the server.
  • the communication interface 1203 is used to perform the operations related to the sending and receiving of the map-assisted driving reminder device in the above embodiment.
  • the processor 1201 is configured to perform processing-related operations of the map-assisted driving reminder device in the above method embodiments.
  • the processor 1201 is configured to determine, according to the travel path planning result, that the vehicle will pass through the target intersection in the first direction, and determine, according to the map including the first information in this embodiment of the present application, that the vehicle can be used to pass through the first direction.
  • the first lane of the target intersection, the first lane is one lane in at least one easy-to-steer violation lane recorded by the first information in the map; generating reminder information, the reminder information is used for The driver is reminded that the first lane that may pass through in the future based on the planned driving route is a lane prone to steering violations.
  • the processor 1201 is configured to determine, according to the travel path planning result, that the vehicle will pass through the target intersection in a first direction, and determine, according to a map, the first lane that can be used to pass through the target intersection from the first direction,
  • the first lane is one lane in at least one easy-to-steer violation lane recorded by the first information in the map; wherein the map includes first information; the first information is generated according to the prompt information and is used for recording The first lane of the target intersection is an easy-to-steer violation lane; the prompt information is used to prompt that the turn signal status of the vehicle does not conform to the first steering rule of the first lane where the vehicle is located; and the reminder information is used to remind The first lane that the driver may pass through in the future based on the planned driving route is an easy-to-steer violation lane.
  • the present application provides a computer-readable storage medium, including computer instructions, which, when the computer instructions are executed by a processor, cause the assisted driving reminding device to execute the assisted driving reminding method described in the embodiments of the present application.
  • the present application provides a computer-readable storage medium, including computer instructions, when the computer instructions are executed by a processor, the map assisting driving reminding device map executes the assisting driving reminding method described in the embodiments of the present application.
  • the present application provides a computer program product, which, when the computer program product runs on a processor, enables the assisted driving reminding device to execute the assisted driving reminding method described in the embodiments of the present application.
  • the present application provides a computer program product that, when the computer program product runs on a processor, enables the map-assisted driving reminder device to execute the map-assisted driving reminder method described in the embodiments of the present application.
  • the present application provides a communication system
  • the communication system includes the assisted driving reminding device 800 described in FIG. 8 or the assisted driving reminding device 900 described in FIG. 9 , and may also include the map assisted driving reminding device 1000 described in FIG.
  • Embodiments of the present application further provide a computer storage medium, where instructions are stored in the computer-readable storage medium, when the computer-readable storage medium runs on a processor, the positioning apparatus causes the positioning apparatus to perform any one of the possible implementations of the foregoing embodiments. the method described.
  • the embodiments of the present application further provide a computer program product including instructions, and the computer program product stores the instructions, when the computer program product runs on the processor, the positioning apparatus is made to execute any one of the possible implementation manners of the foregoing embodiments. method described in.
  • the processor may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, which can implement or
  • a general purpose processor may be a microprocessor or any conventional processor or the like.
  • the steps of the methods disclosed in conjunction with the embodiments of the present application may be directly embodied as executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.
  • the memory may be a non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), etc., or may also be a volatile memory (volatile memory), for example Random-access memory (RAM).
  • Memory is, but is not limited to, any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
  • the memory in this embodiment of the present application may also be a circuit or any other device capable of implementing a storage function, for storing program instructions and/or data.
  • the methods provided in the embodiments of the present application may be implemented in whole or in part by software, hardware, firmware, or any combination thereof.
  • software When implemented in software, it can be implemented in whole or in part in the form of a computer program product.
  • the computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated.
  • the computer may be a general purpose computer, a special purpose computer, a computer network, network equipment, user equipment, or other programmable apparatus.
  • the computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be downloaded from a website site, computer, server, or data center Transmission to another website site, computer, server or data center by means of wired (such as coaxial cable, optical fiber, digital subscriber line, DSL for short) or wireless (such as infrared, wireless, microwave, etc.)
  • a computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media.
  • the available media can be magnetic media (eg, floppy disks, hard disks, magnetic tape), optical media (eg, digital video disc (DVD) for short), or semiconductor media (eg, SSD), and the like.
  • “at least one” refers to one or more, and “multiple” refers to two or more.
  • “And/or”, which describes the relationship of the associated objects, indicates that there can be three kinds of relationships, for example, A and/or B, it can indicate that A exists alone, A and B exist at the same time, and B exists alone, where A, B can be singular or plural.
  • the character “/” generally indicates that the associated objects are an “or” relationship.
  • At least one item(s) below” or similar expressions thereof refer to any combination of these items, including any combination of single item(s) or plural items(s).
  • At least one (a) of a, b, or c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, c can be single or multiple.
  • the embodiments of the present application may be provided as a method, a system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including, but not limited to, disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions
  • the apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.
  • the disclosed apparatus and method may be implemented in other manners without exceeding the scope of the present application.
  • the above-described embodiments are only illustrative.
  • the division of the modules or units is only a logical function division.
  • multiple units or components may be combined. Either it can be integrated into another system, or some features can be omitted, or not implemented.
  • the unit described as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or may be distributed to multiple network units .
  • Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

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Abstract

一种辅助驾驶提醒、地图辅助驾驶提醒方法、装置和地图，辅助驾驶提醒的方法包括：根据地图信息、车辆的定位位置和车辆的运动状态，预测目标路口（301），目标路口为车辆未来将首先经过的路口；根据地图信息和车辆的定位位置确定车辆相对于目标路口的距离（302）；采集车辆的转向灯状态（303）；在车辆相对于目标路口的距离小于第一阈值时，根据车辆的转向灯状态和目标路口关于车辆所在第一车道的第一转向规则，生成提示信息（304），提示信息用于提示转向灯状态不符合第一转向规则，从而提高车辆驾驶体验和驾驶的安全性。

Description

辅助驾驶提醒、地图辅助驾驶提醒方法、装置和地图
相关申请的交叉引用
本申请要求在2020年09月21日提交中国专利局、申请号为202010997081.2、申请名称为“辅助驾驶提醒、地图辅助驾驶提醒方法、装置和地图”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及网联车领域，特别涉及辅助驾驶提醒、地图辅助驾驶提醒方法、装置和地图。
背景技术
在天气状况恶劣或者车道地面转向标识与驾驶习惯不符合的典型场景下，通常会发生由于驾驶员误判车道而违反交通规则的行为，严重时甚至会造成交通事故。
现有技术中，通过使用地图导航软件，可以在车辆行驶过程中给出行驶建议，但是由于，驾驶员可能会结合当时的实际路况或者对自身驾驶经验的判断，不选择导航规划的行车路线或者不使用导航；另外，使用地图导航软件进行导航时，依赖导航软件中的地图精准度，对于偏僻地区或新开发路段，导航软件中的地图可能并不精确，从而会给出错误的行车建议。
发明内容
本申请提供一种辅助驾驶提醒、地图辅助驾驶提醒方法、装置和地图，用于提高车辆驾驶体验和驾驶的安全性。
第一方面，本申请提供一种辅助驾驶提醒方法，该方法可以由辅助驾驶提醒装置执行；辅助驾驶提醒装置可以是通信设备或能够支持通信设备实现该方法所需的功能的通信装置，例如芯片系统。示例性的，辅助驾驶提醒装置可以是服务器、终端设备、车辆或车载装置。该方法包括：根据地图信息、车辆的定位位置和所述车辆的运动状态，预测目标路口，所述目标路口为所述车辆未来将首先经过的路口；根据所述地图信息和所述车辆的定位位置确定所述车辆相对于所述目标路口的距离；在所述车辆相对于所述目标路口的距离小于第一阈值时，根据所述车辆的转向灯状态和所述目标路口关于所述车辆所在第一车道的第一转向规则，生成提示信息，所述提示信息用于提示所述转向灯状态不符合所述第一转向规则。
基于上述方案，可以通过地图信息、车辆的定位位置和所述车辆的运动状态，预测出当前车辆即将进过的路口，即目标路口，以及车辆距离目标路口的距离。在确定车辆相对于所述目标路口的距离小于第一阈值时，可以根据地图信息及车辆的定位位置确定出的车辆所在的第一车道的第一转向规则，从而，通过比较车辆的转向灯状态与第一转向规则，可以确定当前车辆行驶状态不符合车道的转向规则时，需要向用户发送提示信息，以提示驾驶员及时调整车辆的行驶状态，避免在天气状况恶劣或者车道地面转向标识与驾驶习惯 不符合时，由于驾驶员误判车道而违反交通规则，提高车辆驾驶体验和驾驶的安全性。
考虑到驾驶员行车过程中的不同场景，提示信息也可以在多种场景下生成。下面以方式1和方式2举例说明。
方式1，在所述车辆相对于所述目标路口的距离小于所述第一阈值且大于第二阈值时，所述提示信息还用于提示所述车辆从所述第一车道变换到第二车道，所述转向灯状态符合所述目标路口关于所述第二车道的第二转向规则，其中所述第二阈值小于所述第一阈值。
通过上述方法，在所述车辆相对于所述目标路口的距离小于所述第一阈值且大于第二阈值时，可以是车辆处于虚线位置，可以根据车辆的转向灯状态，提示驾驶员驶入与转向灯状态一致的车道，例如，从所述第一车道变换到第二车道，为变换车道预留充足的时间，以供驾驶员可以有足够的时间判断是否根据提示信息变换车道，提高驾驶员的行车体验。
方式2，在所述车辆相对于所述目标路口的距离小于第二阈值时，所述提示信息还用于提示应该在所述第一车道上按照所述第一转向规则经过所述目标路口，其中所述第二阈值小于所述第一阈值。
通过上述方法，例如，在所述车辆相对于所述目标路口的距离小于第二阈值时，可以是车辆已进入无法变道的实线位置，此时，可以根据车辆的转向灯状态，提示驾驶员此时无法变道，应按照第一车道上的第一转向规则通过第一车道驶入该目标路口，避免驾驶员在行驶至实线位置才发现第一车道的第一转向规则与驾驶员想要行驶的状态不一致，导致驾驶员紧急转向或变道带来的安全隐患及违反交通规则的问题，提高驾驶员行车的安全性。当然，还可以根据其他场景下，可能无法变道的场景，生成该提示信息，提示驾驶员在所述第一车道上按照所述第一转向规则经过所述目标路口，在此不做限定。
一种可能的实现方式，所述第一阈值与所述第一车道的实线长度、所述车辆的行驶速度或所述车辆的定位位置附近的交通拥塞程度中的至少一项相关。
一种可能的实现方式，所述第二阈值与所述第一车道的实线长度、所述车辆的行驶速度或所述车辆的定位位置附近的交通拥塞程度中的至少一项相关。
通过上述方法，可以根据多种因素，例如，第一车道的实线长度、所述车辆的行驶速度或所述车辆的定位位置附近的交通拥塞程度确定第一阈值或第二阈值，有利于提高生成提示信息的时机的准确性，以适应多种不同的场景。
一种可能的实现方式，所述目标路口满足：具有道路分叉或合并的路口，与所述车辆距离最近的路口。
通过上述方法，可以在具有分叉或合并的路口下，才触发提示信息的生成，以降低辅助驾驶提醒装置的功耗。
一种可能的实现方式，目标路口包括高架出口或高架入口；所述提示信息还用于提示前方路口包括高架出口或高架入口的车道。
通过上述方法，可以在目标路口为特殊路口时，提示驾驶员前方为高架出口或高架入口的车道，适应性的生成提示信息，从而，有利于驾驶员提前准备行驶路线，避免在天气状况恶劣或者车道地面转向标识与驾驶习惯不符合时，由于驾驶员不熟悉车道的变化，导致降低驾驶体验，甚至违反交通规则的问题。
一种可能的实现方式，根据车辆的GNSS定位信息，及地图中的路口停止线的位置，确定车辆与目标路口的距离。
通过上述方法，可以准确快速的确定车辆与目标路口的距离，易于实现，有助于提高 提示信息的生成效率。
一种可能的实现方式，通过激光雷达采集定位数据；根据所述激光雷达采集的定位数据与高精地图的车道信息进行匹配，确定所述车辆所在的车道。
通过上述方法，可以准确的获得车辆所在的车道，从而有助于辅助驾驶提醒装置根据所述车辆的转向灯状态和所述目标路口关于所述车辆所在第一车道的第一转向规则，生成提示信息，提高提示信息的准确度。
一种可能的实现方式，所述方法还包括：向服务器上报第一信息；或者，存储所述第一信息；其中，所述第一信息根据所述提示信息生成，用于记录所述目标路口的所述第一车道为易转向违规车道。
通过上述方法，可以在辅助驾驶提醒装置生成提示信息后，生成第一信息，以记录所述目标路口的所述第一车道为易转向违规车道，并存储第一信息或者向服务器上报第一信息，以便后续基于辅助驾驶提醒装置生成的第一信息，为其他行驶至该路口的车辆提供相应的提醒信息，或者，为当前车辆的驾驶员、车主等人员进行查询，还可以为后续驾驶提供辅助信息，提高驾驶体验。
一种可能的实现方式，所述第一信息包括所述车辆的第一标识或者所述车辆的当前驾驶员的第一身份信息中的至少一项。
通过上述方法，可以将车辆或驾驶员的相关信息携带在第一信息中，为后续第一信息的应用提供更多的可能。
第二方面，本申请提供一种地图，一种可能的场景中，该地图可以是通过地图生成装置生成的；地图生成装置可以是通信设备或能够支持通信设备实现该方法所需的功能的通信装置，例如芯片系统。示例性的，地图生成装置可以是地图服务器、终端设备、车辆或车载装置。另一种可能的场景中，该地图可以是通过使用该地图的装置使用或存储的；该装置可以是通信设备或能够支持通信设备实现该方法所需的功能的通信装置，例如芯片系统。示例性的，该装置可以是地图服务器、终端设备、车辆或车载装置。
其中，所述地图包括如第一方面中任一项所述的第一信息。
通过上述方法，使得地图中包括第一信息，以便使用该地图的装置可以查询到该第一信息，为后续使用该地图进行导航或者查询提供更多的参考信息，使得驾驶员，尤其是不熟悉路线的驾驶员可以对易转向违规车道有预期，提高驾驶员的驾驶体验。
第三方面，本申请提供一种地图，一种可能的场景中，该地图可以是通过地图生成装置生成的；地图生成装置可以是通信设备或能够支持通信设备实现该方法所需的功能的通信装置，例如芯片系统。示例性的，地图生成装置可以是地图服务器、终端设备、车辆或车载装置。另一种可能的场景中，该地图可以是通过使用该地图的装置使用或存储的；该装置可以是通信设备或能够支持通信设备实现该方法所需的功能的通信装置，例如芯片系统。示例性的，该装置可以是地图服务器、终端设备、车辆或车载装置。
其中，所述地图包括第一信息；第一信息用于记录至少一个目标路口的至少一个车道为易转向违规车道。所述第一信息既可以是针对特定用户定制的信息，也可以是根据对海量用户的大数据处理得到的通用信息。
一种可能的实现方式，所述第一信息根据提示信息生成，所述提示信息用于提示车辆的转向灯状态不符合车辆所在车道的转向规则。当所述第一信息是针对特定用户定制的信息时，所述第一信息仅根据针对所述特定用户的提示信息生成，而不参考针对其他用户的 提示信息。
通过上述方法，使得地图中包括有目标路口的所述第一车道为易转向违规车道的第一信息，以便使用该地图的装置可以查询到该第一信息，为后续使用该地图进行导航或者查询提供更多的参考信息，使得驾驶员，尤其是不熟悉路线的驾驶员可以对易转向违规车道有预期，提高驾驶员的驾驶体验。
一种可能的实现方式，所述第一信息包括所述车辆的第一标识或者所述车辆的当前驾驶员的第一身份信息中的至少一项。
通过上述方法，可以将车辆或驾驶员的相关信息携带在第一信息中，为地图的应用提供更多的可能，提高了地图的适用性和用户使用地图的使用体验。
一种可能的实现方式，第一信息为车辆向服务器上报的，或者第一信息为车辆存储的。
通过上述方法，在辅助驾驶提醒装置生成提示信息后，生成第一信息，并存储第一信息或者向服务器上报第一信息，以便后续基于包括第一信息的地图，为其他行驶至该路口的车辆使用该地图提供相应的提醒信息，或者，为当前车辆的驾驶员、车主等人员通过地图进行查询，还可以为后续驾驶提供辅助信息，提高驾驶体验。
一种可能的实现方式，所述提示信息为在所述车辆相对于所述目标路口的距离小于第一阈值时，根据所述车辆的转向灯状态和所述目标路口关于所述车辆所在第一车道的第一转向规则，生成的提示信息。所述目标路口为根据地图信息、车辆的定位位置和所述车辆的运动状态，预测的目标路口；所述目标路口为所述车辆未来将首先经过的路口；车辆相对于所述目标路口的距离为根据所述地图信息和所述车辆的定位位置确定的。
通过上述方法，第一信息中包括的提示信息的生成方式可以为辅助驾驶提醒装置生成的，辅助驾驶提醒装置可以是通信设备或能够支持通信设备实现该方法所需的功能的通信装置，例如芯片系统。示例性的，辅助驾驶提醒装置可以是服务器、终端设备、车辆或车载装置。具体的，可以通过地图信息、车辆的定位位置和所述车辆的运动状态，预测出当前车辆即将进过的路口，即目标路口，以及车辆距离目标路口的距离。在确定车辆相对于所述目标路口的距离小于第一阈值时，可以根据地图信息及车辆的定位位置确定出的车辆所在的第一车道的第一转向规则，从而，通过比较车辆的转向灯状态与第一转向规则，可以确定当前车辆行驶状态不符合车道的转向规则时，需要向用户发送提示信息，以提示驾驶员及时调整车辆的行驶状态，避免在天气状况恶劣或者车道地面转向标识与驾驶习惯不符合时，由于驾驶员误判车道而违反交通规则，提高车辆驾驶体验和驾驶的安全性。
一种可能的实现方式，在所述车辆相对于所述目标路口的距离小于所述第一阈值且大于第二阈值时，所述提示信息还用于提示所述车辆从所述第一车道变换到第二车道，所述转向灯状态符合所述目标路口关于所述第二车道的第二转向规则，其中所述第二阈值小于所述第一阈值。
通过上述方法，在所述车辆相对于所述目标路口的距离小于所述第一阈值且大于第二阈值时，可以是车辆处于虚线位置，可以根据车辆的转向灯状态，提示驾驶员驶入与转向灯状态一致的车道，例如，从所述第一车道变换到第二车道，为变换车道预留充足的时间，以供驾驶员可以有足够的时间判断是否根据提示信息变换车道，提高驾驶员的行车体验。
一种可能的实现方式，在所述车辆相对于所述目标路口的距离小于第二阈值时，所述提示信息还用于提示应该在所述第一车道上按照所述第一转向规则经过所述目标路口，其中所述第二阈值小于所述第一阈值。
通过上述方法，例如，在所述车辆相对于所述目标路口的距离小于第二阈值时，可以是车辆已进入无法变道的实线位置，此时，可以根据车辆的转向灯状态，提示驾驶员此时无法变道，应按照第一车道上的第一转向规则通过第一车道驶入该目标路口，避免驾驶员在行驶至实线位置才发现第一车道的第一转向规则与驾驶员想要行驶的状态不一致，导致驾驶员紧急转向或变道带来的安全隐患及违反交通规则的问题，提高驾驶员行车的安全性。当然，还可以根据其他场景下，可能无法变道的场景，生成该提示信息，提示驾驶员在所述第一车道上按照所述第一转向规则经过所述目标路口，在此不做限定。
一种可能的实现方式，所述第一阈值与所述第一车道的实线长度、所述车辆的行驶速度或所述车辆的定位位置附近的交通拥塞程度中的至少一项相关。
一种可能的实现方式，所述第二阈值与所述第一车道的实线长度、所述车辆的行驶速度或所述车辆的定位位置附近的交通拥塞程度中的至少一项相关。
通过上述方法，可以根据多种因素，例如，第一车道的实线长度、所述车辆的行驶速度或所述车辆的定位位置附近的交通拥塞程度确定第一阈值或第二阈值，有利于提高生成提示信息的时机的准确性，以适应多种不同的场景。
第四方面，本申请提供一种地图辅助驾驶提醒方法，该方法可以由地图辅助驾驶提醒装置执行；地图辅助驾驶提醒装置可以是通信设备或能够支持通信设备实现该方法所需的功能的通信装置，例如芯片系统。示例性的，辅助驾驶提醒装置可以是服务器、终端设备、车辆或车载装置。该方法包括：根据行驶路径规划结果确定车辆将从第一方向经过所述目标路口；根据第二方面或第三方面所述的任一种可能的地图，确定可用于从所述第一方向经过所述目标路口的所述第一车道，所述第一车道为所述地图中的所述第一信息记录的至少一个易转向违规车道中的一个车道；生成提醒信息，所述提醒信息用于提醒驾驶员基于规划的行驶路线未来可能途经的所述第一车道为易转向违规车道。
通过上述方法，根据行驶路径规划结果确定车辆将从第一方向经过所述目标路口后，根据第二方面或第三方面所述的任一种可能的地图，确定车辆即将经过第一车道，或者，可能经过第一车道，此时，可以生成提醒信息，从而提醒驾驶员未来可能途经的所述第一车道为易转向违规车道，以使驾驶员可以根据提醒信息，选择避开第一车道，或者，注意行驶到第一车道时，可以按照车道的转向规则行驶，无需驾驶员在出现违规时才提醒驾驶员，从而提高提醒的适用性，提高驾驶员的驾驶体验。
一种可能的实现方式，所述第一信息还包括在所述第一车道通过所述目标路口时有转向违规风险的历史用户身份信息，所述历史用户身份信息包括所述第一标识或者所述第一身份信息中的至少一项，所述方法还包括：获取当前用户身份信息，所述当前用户身份信息包括所述车辆的标识或者所述车辆的当前驾驶员的身份信息中的至少一项；所述生成提醒信息包括：根据所述当前用户身份信息与所述历史用户身份信息的一致性比较结果，生成所述提醒信息。
通过上述方法，可以基于历史用户身份信息，为不同驾驶员在行驶至有第一信息的目标路口后，为不同的驾驶员生成不同的提醒信息，从而实现个性化的生成提醒信息，提高提醒信息的定向能力，提高地图辅助提醒的准确度。
第五方面，本申请提供一种地图辅助驾驶提醒方法，该方法可以由地图辅助驾驶提醒装置执行；地图辅助驾驶提醒装置可以是通信设备或能够支持通信设备实现该方法所需的功能的通信装置，例如芯片系统。示例性的，辅助驾驶提醒装置可以是服务器、终端设备、 车辆或车载装置。该方法包括：根据行驶路径规划结果确定车辆将从第一方向经过所述目标路口；根据地图，确定可用于从所述第一方向经过所述目标路口的所述第一车道，所述第一车道为所述地图中的所述第一信息记录的至少一个易转向违规车道中的一个车道；其中，所述地图包括第一信息；第一信息根据提示信息生成，用于记录目标路口的所述第一车道为易转向违规车道；所述提示信息用于提示车辆的转向灯状态不符合车辆所在第一车道的第一转向规则；生成提醒信息，所述提醒信息用于提醒驾驶员基于规划的行驶路线未来可能途经的所述第一车道为易转向违规车道。
通过上述方法，根据行驶路径规划结果确定车辆将从第一方向经过所述目标路口后，根据包括有目标路口的所述第一车道为易转向违规车道的第一信息的地图，以便地图辅助驾驶提醒装置可以查询到该第一信息，确定车辆即将经过第一车道，或者，可能经过第一车道，此时，可以生成提醒信息，从而提醒驾驶员未来可能途经的所述第一车道为易转向违规车道，以使驾驶员可以根据提醒信息，选择避开第一车道，或者，注意行驶到第一车道时，可以按照车道的转向规则行驶，无需驾驶员在出现违规时才提醒驾驶员，从而提高提醒的适用性，使得驾驶员，尤其是不熟悉路线的驾驶员可以对易转向违规车道有预期，提高驾驶员的驾驶体验。
一种可能的实现方式，所述第一信息包括所述车辆的第一标识或者所述车辆的当前驾驶员的第一身份信息中的至少一项。
通过上述方法，可以将车辆或驾驶员的相关信息携带在第一信息中，为地图的应用提供更多的可能，提高了地图的适用性和用户使用地图的使用体验。
一种可能的实现方式，第一信息为车辆向服务器上报的，或者第一信息为车辆存储的。
通过上述方法，在辅助驾驶提醒装置生成提示信息后，生成第一信息，并存储第一信息或者向服务器上报第一信息，以便后续基于包括第一信息的地图，为其他行驶至该路口的车辆使用该地图提供相应的提醒信息，或者，为当前车辆的驾驶员、车主等人员通过地图进行查询，还可以为后续驾驶提供辅助信息，提高驾驶体验。
一种可能的实现方式，所述提示信息为在所述车辆相对于所述目标路口的距离小于第一阈值时，根据所述车辆的转向灯状态和所述目标路口的第一转向规则生成的；所述目标路口为根据地图信息、车辆的定位位置和所述车辆的运动状态，预测的目标路口；所述目标路口为所述车辆未来将首先经过的路口；车辆相对于所述目标路口的距离为根据所述地图信息和所述车辆的定位位置确定的。
一种可能的实现方式，在所述车辆相对于所述目标路口的距离小于所述第一阈值且大于第二阈值时，所述提示信息还用于提示所述车辆从所述第一车道变换到第二车道，所述转向灯状态符合所述目标路口关于所述第二车道的第二转向规则，其中所述第二阈值小于所述第一阈值。
一种可能的实现方式，在所述车辆相对于所述目标路口的距离小于第二阈值时，所述提示信息还用于提示应该在所述第一车道上按照所述第一转向规则经过所述目标路口，其中所述第二阈值小于所述第一阈值。
一种可能的实现方式，所述第一阈值与所述第一车道的实线长度、所述车辆的行驶速度或所述车辆的定位位置附近的交通拥塞程度中的至少一项相关。
一种可能的实现方式，所述第二阈值与所述第一车道的实线长度、所述车辆的行驶速度或所述车辆的定位位置附近的交通拥塞程度中的至少一项相关。
关于第五方面中各种可能的实施方式的技术效果，可参考对于第三方面相应的实施方式的技术效果的介绍。
第六方面，本申请提供一种辅助驾驶提醒装置，该辅助驾驶提醒装置可以是通信设备或能够支持通信设备实现该方法所需的功能的通信装置，例如芯片系统。示例性的，辅助驾驶提醒装置可以是服务器、终端设备、车辆或车载装置。该装置包括：
预测模块，用于根据地图信息、车辆的定位位置和所述车辆的运动状态，预测目标路口，所述目标路口为所述车辆未来将首先经过的路口；
距离确定模块，用于根据所述地图信息和所述车辆的定位位置确定所述车辆相对于所述目标路口的距离；
提示信息生成模块，用于在通过所述距离确定模块确定所述车辆相对于所述目标路口的距离小于第一阈值时，根据所述车辆的转向灯状态和所述目标路口关于所述车辆所在第一车道的第一转向规则，生成提示信息，所述提示信息用于提示所述转向灯状态不符合所述第一转向规则。
一种可能的实现方式，在通过所述距离确定模块确定所述车辆相对于所述目标路口的距离小于所述第一阈值且大于第二阈值时，所述提示信息还用于提示所述车辆从所述第一车道变换到第二车道，所述转向灯状态符合所述目标路口关于所述第二车道的第二转向规则，其中所述第二阈值小于所述第一阈值。
一种可能的实现方式，在通过所述距离确定模块确定所述车辆相对于所述目标路口的距离小于第二阈值时，所述提示信息还用于提示应该在所述第一车道上按照所述第一转向规则经过所述目标路口，其中所述第二阈值小于所述第一阈值。
一种可能的实现方式，所述第一阈值与所述第一车道的实线长度、所述车辆的行驶速度或所述车辆的定位位置附近的交通拥塞程度中的至少一项相关。
一种可能的实现方式，所述第二阈值与所述第一车道的实线长度、所述车辆的行驶速度或所述车辆的定位位置附近的交通拥塞程度中的至少一项相关。
一种可能的实现方式，还包括：发送模块；所述发送模块用于：向服务器上报第一信息；
或者，还包括：存储模块，用于存储所述第一信息；
其中，所述第一信息根据所述提示信息生成，用于记录所述目标路口的所述第一车道为易转向违规车道。
一种可能的实现方式，所述第一信息包括所述车辆的第一标识或者所述车辆的当前驾驶员的第一身份信息中的至少一项。
第七方面，本申请提供一种辅助驾驶提醒装置，该辅助驾驶提醒装置包括处理器，用于实现上述第一方面描述的方法。所述装置还可以包括存储器，用于存储程序和指令。所述存储器与处理器耦合，所述处理器执行所述存储器中存储的程序指令时，可以实现上述第一方面描述的方法。所述装置还可以包括接口电路，所述接口电路用于该装置与其它设备进行通信，示例的，所述接口电路可以是收发器、电路、总线、模块或其它类型的接口电路。示例性地，所述辅助驾驶提醒装置可以为地图服务器，或者为设置在地图服务器中的芯片。其中，收发器例如通过地图服务器中的天线、馈线和编解码器等实现，或者，如果所述辅助驾驶提醒装置为设置在地图服务器中的芯片，那么接口电路例如为芯片中的通信接口，该通信接口与地图服务器中的射频收发组件连接，以通过射频收发组件实现信息 的收发。或者，所述辅助驾驶提醒装置可以为终端设备、车辆或车载装置，或者为设置在终端设备、车辆或车载装置中的芯片。例如，收发器例如通过车载装置中的天线、馈线和编解码器等实现，或者，如果辅助驾驶提醒装置为设置在车载装置中的芯片，那么接口电路例如为芯片中的通信接口，该通信接口与车载装置中的射频收发组件连接，以通过射频收发组件实现信息的收发。
关于第六方面或第七方面中各种可能的实施方式的技术效果，可参考对于第一方面相应的实施方式的技术效果的介绍。
第八方面，本申请一种地图辅助驾驶提醒装置，该地图辅助驾驶提醒装置可以是通信设备或能够支持通信设备实现该方法所需的功能的通信装置，例如芯片系统。示例性的，地图辅助驾驶提醒装置可以是服务器、终端设备、车辆或车载装置。所述装置包括：
确定模块，用于根据行驶路径规划结果确定车辆将从第一方向经过所述目标路口，以及根据第二方面或第三方面所述的地图，确定可用于从所述第一方向经过所述目标路口的所述第一车道，所述第一车道为所述地图中的所述第一信息记录的至少一个易转向违规车道中的一个车道；
提醒信息生成模块，用于生成提醒信息，所述提醒信息用于提醒驾驶员基于规划的行驶路线未来可能途经的所述第一车道为易转向违规车道。
一种可能的实现方式，所述第一信息还包括在所述第一车道通过所述目标路口时有转向违规风险的历史用户身份信息，所述历史用户身份信息包括所述第一标识或者所述第一身份信息中的至少一项，所述装置还包括：
获取模块，用于获取当前用户身份信息，所述当前用户身份信息包括所述车辆的标识或者所述车辆的当前驾驶员的身份信息中的至少一项；
所述提醒信息生成模块生成提醒信息，包括根据所述当前用户身份信息与所述历史用户身份信息的一致性比较结果，生成所述提醒信息。
第九方面，本申请一种地图辅助驾驶提醒装置，该地图辅助驾驶提醒装置可以是通信设备或能够支持通信设备实现该方法所需的功能的通信装置，例如芯片系统。示例性的，地图辅助驾驶提醒装置可以是服务器、终端设备、车辆或车载装置。所述装置包括：
确定模块，用于根据行驶路径规划结果确定车辆将从第一方向经过所述目标路口，以及根据地图确定可用于从所述第一方向经过所述目标路口的所述第一车道，所述第一车道为所述地图中的所述第一信息记录的至少一个易转向违规车道中的一个车道；其中，所述地图包括第一信息；第一信息根据提示信息生成，用于记录目标路口的所述第一车道为易转向违规车道；所述提示信息用于提示车辆的转向灯状态不符合车辆所在第一车道的第一转向规则；
提醒信息生成模块，用于生成提醒信息，所述提醒信息用于提醒驾驶员基于规划的行驶路线未来可能途经的所述第一车道为易转向违规车道。
一种可能的实现方式，所述提示信息为在所述车辆相对于所述目标路口的距离小于第一阈值时，根据所述车辆的转向灯状态和所述目标路口的第一转向规则生成的；所述目标路口为根据地图信息、车辆的定位位置和所述车辆的运动状态，预测的目标路口；所述目标路口为所述车辆未来将首先经过的路口；车辆相对于所述目标路口的距离为根据所述地图信息和所述车辆的定位位置确定的。
一种可能的实现方式，所述第一信息包括所述车辆的第一标识或者所述车辆的当前驾 驶员的第一身份信息中的至少一项。
一种可能的实现方式，第一信息为车辆向服务器上报的，或者第一信息为车辆存储的。
一种可能的实现方式，在所述车辆相对于所述目标路口的距离小于所述第一阈值且大于第二阈值时，所述提示信息还用于提示所述车辆从所述第一车道变换到第二车道，所述转向灯状态符合所述目标路口关于所述第二车道的第二转向规则，其中所述第二阈值小于所述第一阈值。
一种可能的实现方式，在所述车辆相对于所述目标路口的距离小于第二阈值时，所述提示信息还用于提示应该在所述第一车道上按照所述第一转向规则经过所述目标路口，其中所述第二阈值小于所述第一阈值。
一种可能的实现方式，所述第一阈值与所述第一车道的实线长度、所述车辆的行驶速度或所述车辆的定位位置附近的交通拥塞程度中的至少一项相关。
一种可能的实现方式，所述第二阈值与所述第一车道的实线长度、所述车辆的行驶速度或所述车辆的定位位置附近的交通拥塞程度中的至少一项相关。
一种可能的实现方式，所述第一信息还包括在所述第一车道通过所述目标路口时有转向违规风险的历史用户身份信息，所述历史用户身份信息包括所述第一标识或者所述第一身份信息中的至少一项，所述装置还包括：
获取模块，用于获取当前用户身份信息，所述当前用户身份信息包括所述车辆的标识或者所述车辆的当前驾驶员的身份信息中的至少一项；
所述提醒信息生成模块生成提醒信息，包括根据所述当前用户身份信息与所述历史用户身份信息的一致性比较结果，生成所述提醒信息。
第十方面，本申请提供一种地图辅助驾驶提醒装置，该辅助驾驶提醒装置包括处理器，用于实现上述第四方面或第五方面描述的方法。所述装置还可以包括存储器，用于存储程序和指令。所述存储器与处理器耦合，所述处理器执行所述存储器中存储的程序指令时，可以实现上述第四方面或第五方面描述的方法。所述装置还可以包括接口电路，所述接口电路用于该装置与其它设备进行通信，示例的，所述接口电路可以是收发器、电路、总线、模块或其它类型的接口电路。示例性地，所述地图辅助驾驶提醒装置可以为地图服务器，或者为设置在地图服务器中的芯片。其中，收发器例如通过地图服务器中的天线、馈线和编解码器等实现，或者，如果所述地图辅助驾驶提醒装置为设置在地图服务器中的芯片，那么接口电路例如为芯片中的通信接口，该通信接口与地图服务器中的射频收发组件连接，以通过射频收发组件实现信息的收发。或者，所述地图辅助驾驶提醒装置可以为终端设备、车辆或车载装置，或者为设置在终端设备、车辆或车载装置中的芯片。例如，收发器例如通过车载装置中的天线、馈线和编解码器等实现，或者，如果地图辅助驾驶提醒装置为设置在车载装置中的芯片，那么接口电路例如为芯片中的通信接口，该通信接口与车载装置中的射频收发组件连接，以通过射频收发组件实现信息的收发。
关于第八方面、第九方面或第十方面各种可能的实施方式的技术效果，可参考对于第四方面或第五方面相应的实施方式的技术效果的介绍。
第十一方面，本申请提供一种计算机可读存储介质，包括计算机指令，当所述计算机指令在被处理器运行时，使得所述辅助驾驶提醒装置执行第一方面任一项所述的方法。
第十二方面，本申请提供一种计算机可读存储介质，包括计算机指令，当所述计算机指令在被处理器运行时，使得所述地图辅助驾驶提醒装置地图执行第四方面或第五方面任 一项所述的方法。
第十三方面，本申请提供一种计算机程序产品，当所述计算机程序产品在处理器上运行时，使得所述辅助驾驶提醒装置执行第一方面任一项所述的方法。
第十四方面，本申请提供一种计算机程序产品，当所述计算机程序产品在处理器上运行时，使得所述地图辅助驾驶提醒装置执行第四方面或第五方面任一项所述的方法。
第十五方面，提供一种通信系统，该通信系统包括第六方面或第七方面所述的辅助驾驶提醒装置，还可以包括第八方面、第九方面或第十方面所述的地图辅助驾驶提醒装置。
附图说明
图1为本申请实施例适用的一种通信系统架构示意图；
图2为本申请实施例提供的一种车辆的结构示意图；
图3为本申请实施例提供的一种辅助驾驶提醒方法的流程示意图；
图4a-图4d为本申请实施例提供的一种辅助驾驶提醒方法的应用场景示意图；
图4e为本申请实施例提供的一种提示信息的设置界面示意图；
图5a为本申请实施例提供的一种提示信息的查询界面示意图；
图5b-图5c为本申请实施例提供的一种提示信息的显示界面示意图；
图6为本申请实施例提供的另一种地图辅助驾驶提醒方法的流程示意图；
图7a-图7b为本申请实施例提供的所述另一种地图辅助驾驶提醒方法的应用场景示意图；
图8为本申请实施例提出的第一种辅助驾驶提醒装置的结构示意图；
图9为本申请实施例提出的第二种辅助驾驶提醒装置的结构示意图；
图10为本申请实施例提出的第一种地图辅助驾驶提醒装置的结构示意图；
图11为本申请实施例提出的第二种地图辅助驾驶提醒装置的结构示意图；
图12为本申请实施例提出的第三种地图辅助驾驶提醒装置的结构示意图。
具体实施方式
本申请实施例提供的辅助驾驶提醒的方法，可以用于智能交通系统中。智能交通系统中的车辆可以应用地图实现交通业务。应用场景可以为无人驾驶、自动驾驶、智能驾驶、网联驾驶等。还可以应用于高级驾驶员辅助系统(advanced driver-assistance systems，ADAS)等场景中，其中ADAS可以利用雷达感知车辆周围的环境，以提供盲点监测、变道辅助、碰撞预警或自适应巡航等方面的辅助。本申请实施例所述的交通业务可以是各种自动驾驶或辅助驾驶的业务，例如：路径规划或为人工驾驶提供行驶风险预警。以上交通业务仅是举例，本申请实施例提供的辅助驾驶提醒的方法，为车辆与其他装置的通讯(vehicle to x，V2X)业务快速上线及持续更新提供了技术准备，V2X如车车通讯(vehicle to vehicle，V2V)、车路通讯(vehicle to installation，V2I)。
首先，对本申请中的部分用语进行解释说明，以便于本领域技术人员理解。
1)高精度地图
本申请中，高精度地图中包括车道级别的道路信息。例如，在路口、变道或者高架桥的主路辅路等行驶场景中的车道信息，可以但不限于包括以下任意一种或多种：车道的起 止点、车道变换点、右转专用道起止点、车道的属性信息或车道可用信息。其中，车道的起止点包括车道的起始点和车道的终止点。车道起止点包括一条道路上的若干条车道线的起始点与终止点。车道的起始点是车道的起始线上的点，车道的终止点是车道的停止线上的点。一般来说，实际应用中车道的起始线与逆向车道的停止线在一条直线上。车道变换点可以是有些道路快到路口时增设的转弯车道而产生的分叉点，也可以是通过路口进入一条新路车道减少一个而产生的汇合点，还可以是高速路/高架桥的驶出车道的分叉口，或高速路/高架桥的驶入车道的汇合点。综上，车道变换点可以但不限于包括以下任意一种或多种：车道由少变多产生的分叉点、车道由多变少产生的汇合点、高速路(和/或高架桥)的驶出车道的分叉口、高速路(和/或高架桥)驶入车道的汇合点。右转专用车道起止点包括右转专用道的车道线(或车道线的延长线)与连接的两条车道线的起始交点和终止交点。其中，车道所在的位置可以通过车道在全球定位系统(global positioning system，GPS)坐标系中的坐标值表示车道的位置，即车道信息可以包括车道的地理坐标。确定车道的位置的方法有很多种，例如，可以用人工标注的方法对每个车道的位置进行采集。可选的，对于右转专用道起止点和车道起止点可以用这种方式确定位置。需要说明的是，车道的位置的确定方法的各个举例仅为示例性的，本申请不作限定。
举例来说，车道信息可以包括以下一种或多种：车道的标识ID、车道对应的道路的标识ID、车道对应车道的序号或车道的类型。车道信息可以用表1来表示。
表1
Figure PCTCN2021116524-appb-000001
Figure PCTCN2021116524-appb-000002
其中，道路标识(road_ID)用于指示车道信息映射到导航地图的道路的ID，用于区分不同的道路，以及用于将车道信息与导航地图的道路建立映射关系。road_ID来源于传统的导航地图中道路线的属性。车道标识可以为车道序号或车道线序号(lane_num)用于指示车道信息所在的车道的序号，用于区分不同的车道线或车道方向。例如，对于双向道路，包括正向车道，逆向车道，潮汐车道等。可以用序号[-n...-1]表示逆向第n个车道-逆向第1个车道，[0]表示中心车道线，序号[1...n]表示正向第1个车道-正向第n个车道。对于单向道路，可以用序号[0...n]表示正向第0个车道-正向第n个车道。
进一步的，车道信息可以根据类型的不同划分为多种车道信息的类型，例如，可以包括车道息的类型1(type_1)，车道信息的类型2(type_2)，车道信息的类型3(type_3)和车道信息的类型4(type_4)。车道信息的类型1可以包括车道变换点、车道起止点和右转专用道起止点。不同的类型用不同的序号、索引号或ID来指示。例如，可以用0来表示车道变换点，用1来表示车道起止点，用2来指示右转专用道起止点。车道信息的类型2是对车道信息的类型1的进一步细化。可以用不同的序号、索引号或ID来进一步指示车道信息的类型1。例如，用-1来表示车道变换点子类型为车道由多变少。用1来表示车道变换点子类型为车道由少变多。用-1来表示车道起止点子类型为车道起点。用1来表示车道起止点子类型为车道终止点。用-1来表示右转专用道起止点子类型为右转专用道起点，用1来表示右转专用道起止点子类型为右转专用道终止点。
车道信息的类型3(type_3)可以表示车道为左转道、直行道、右转道、主路、辅路等属性特征，还可以包括车道的方向信息，道路/车道的曲率、坡度等属性信息。当然，车道的属性信息还可以包括：汇入车道，岔路车道，单向车道，双向车道，潮汐车道等信息。
车道信息的类型4(type_4)可以表示车道可用信息，指示车道当前是否可用的相关信息，例如，交通管制，道路维护，交通规则(如公交车专用道信息，限速信息，大型车车道，小型车车道，限行信息等)，路况，拥堵情况等信息。lane_num、type、type_2、type_3和type_4可以是在绘制高精度地图或更新高精度地图时获得的。
为更进一步提高地图的精度，在高精度地图上还可以包括虚拟车道线图层。虚拟车道线可以为基于高精度地图图层生成的车道信息生成的，用于指示无车道线标记的道路上的可行驶车道的车道行驶方向及车道边界等。例如，可以是连接驶入、驶出路口车道的虚拟曲线，还可以认为是车辆在路口区域内行驶的参考轨迹线，也可以是正在施工道路、在不同环境下车道线遮挡的道路、隧道等。
2)本申请实施例中涉及的第一、第二等各种数字编号仅为描述方便进行的区分，并不用来限制本申请实施例的范围，也不表示先后顺序。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。“至少一个”是指一个或者多个。至少两个是指两个或者多个。“至少一个”、“任意一个”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a，b，或c中的至少一项(个、种)，可以表示：a，b，c，a-b，a-c，b-c，或a-b-c，其中a，b，c可以是单个，也可以是多个。
下面将结合附图对本发明作进一步地详细描述。显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。方法实施例中的具体操作方法也可以应用于装置实施例中。
图1为本申请实施例适用的一种可能的通信系统的架构示意图。如图1所示的通信系统包括终端设备101、网络设备102、服务器103(可以包括地图服务器、定位服务器、云端服务器等)和接入设备104。应理解，图1仅为通信系统的一个架构示意图，本申请实施例中对通信系统中网络设备102的数量、接入设备104的数量、终端设备101的数量不作限定，而且本申请实施例所适用的通信系统中除了包括网络设备102、接入设备104、服务器103和终端设备101以外，还可以包括其它设备，如核心网设备、无线中继设备和无线回传设备等，在一些场景下，也可以认为网络设备102为一种特殊的核心网设备，网络设备102是否属于核心网并不影响本申请实施例的实现，本申请实施例对此并不作限定。图1中，终端设备101可以通过无线方式与接入设备104连接，通过接入设备104建立与网络设备102之间的通信链接。终端设备101可以不止一个，终端设备101也可以通过无线方式与接入设备104连接，通过接入设备104建立终端设备101间的通信连接。终端设备101也可以通过有线方式，建立终端设备101间的通信连接，在此不做限定。在本申请实施例中，对各种设备之间的数量关系并不作限定，例如，可以有多个终端设备与同一个接入设备进行通信，也可以有多个接入设备与同一个网络设备进行通信等等。上述系统架构适用的通信系统包括但不限于：时分双工-长期演进(Time Division Duplexing-Long Term Evolution，TDD LTE)、频分双工-长期演进(Frequency Division Duplexing-Long Term Evolution，FDD LTE)、长期演进-增强(Long Term Evolution-Advanced，LTE-A)，以及其他演进的各种无线通信系统，例如第五代(5th generation，5G)新无线(New Radio，NR)通信系统，或为了演进的各种无线通信系统。本申请实施例中，接入设备104可以是能和终端设备通信的设备，如接入设备可以是任意一种具有无线收发功能的设备。包括但不限于：基站(例如，基站、演进型基站、5G通信系统中的基站、未来通信系统中的基站或网络设备、无线互连(wireless-fidelity,WiFi)系统中的接入节点、无线中继节点、无线回传节点)等。接入设备还可以是云无线接入网络(cloud radio access network，CRAN)场景下的无线控制器。接入设备还可以是小站，传输节点(transmission reference point，TRP)等。当然本申请不限于此。在本申请实施例的后续表述中，终端设备101与网络设备102之间的任一信息传输，皆包括了终端设备101与网络设备102借助接入设备104实现信息传输的含义，本申请实施例对此不再赘述。在本申请实施例中，终端设备101是一种具有无线收发功能的设备，终端设备101可以向网络设备102发送请求，以及从网络设备102获取高精度地图数据、提示信息等数据。终端设备101可以通过高精度地图数据实现定位功能、导航功能，还可以通过提示信息为用户提供辅助驾驶提醒功能。终端设备101可以是如无人车、机器人等智能终端，或用于实现无人驾驶功能的车载终端，也可以为手机、平板电脑、车载导航终端等。终端设备还可以为具有无线连接功能的手持式设备、车载设备等。本申请中的终端设备可以为：车载雷达、手机、平板电脑、笔记本电脑、掌上电脑、移动互联网设备(mobile internet device，MID)、可穿戴设备，例如智能手表、智能手环、计步器等。本申请实施例中，终端设备还可以为具有GNSS定位功能的设备。
在本申请实施例中，网络设备102可以将所有的功能集成在一个独立的物理设备，也可以将功能分布在多个独立的物理设备上，对此本申请实施例也不作限定。网络设备102 是具有无线收发功能的设备，可以根据核心网中其它设备获取的终端设备的业务信息，实现一定的业务功能。例如，在5G NR中，该网络设备可以是边缘计算(mobile edge computing，MEC)网元。MEC网元可以将应用、内容和移动宽带(mobile broad band，MBB)核心网部分业务处理和资源调度的功能一同部署到靠近接入侧(接入设备)的网络边缘，通过业务靠近用户处理，以及应用、内容与网络的协同，来提供可靠、极致的业务体验。可以理解，在第4代无线通信(4th generation，4G)以及第3代无线通信(3th generation，3G)网络或其它网络中，也可以设置具有类似功能的网元，因此本申请实施例对网络设备的具体实现并不多作具体限定。在本申请实施例中，当网络设备102为MEC网元时，可以在MEC网元中加载应用程序，使MEC网元执行本申请实施例所提供的数据传输方法中由网络设备102执行的步骤，从而在靠近接入侧的核心网边缘为用户终端提供服务，以降低交互时延。服务器与网络设备102之间可以通过核心网进行数据交互。
在本申请实施例中，地图服务器可以为因特网(Internet)中的服务器，可以是具有较大存储空间的单台服务器，也可以是由多个服务器构成的服务器集群，更可以是具有超大存储空间的云服务器。地图服务器通常部署在一个或多个固定位置。在一种可能的实现方式中，地图服务器中可以存储有高精度地图的地图数据，由于地图服务器的存储空间足够大，因此可以存储较大覆盖范围内高精度地图的地图数据。高精度地图可以以地图文件的形式进行存储，其中，地图文件可以是一种空间数据开放格式，是描述空间数据的几何和属性特征，用于存储地理要素的文件。高精度地图的地图文件主要包括几何信息和属性信息。其中，几何信息即车道信息的空间坐标，即车道信息的位置。属性信息即车道信息属性的信息，如本车道是主路车道还是辅路车道；本车道是直行车道、右转车道、左转车道还是其他车道等。本申请中，高精度地图可以为车辆在行驶的场景中提供了精确指示。例如，在天气状况恶劣或者车道地面转向标识与驾驶习惯不符合的典型场景下，通过高精度地图可以提供车道级别的道路信息，从而生成提示信息，避免由于驾驶员误判车道而违反交通规则的行为。或者，还可以在无车道标志或隧道等GNSS无法定位的场景下为车辆提供定位及为车辆提供车道信息，从而提高车辆的行驶体验。
如图2所示，是本申请实施例提供的车辆的功能框图。在一个实施例中，可以将车辆配置为完全或部分地自动驾驶模式，也可以将车辆配置为完全手动驾驶模式，在此不做限定。车辆可包括各种子系统，例如用户界面、定位系统、传感器系统、计算机系统、控制系统、行进系统、一个或多个外围设备以及计算机系统和用户接口等。其中，定位系统可以包括：高精度地图模块、定位模块、导航模块等。可选地，车辆可包括更多或更少的子系统，并且每个子系统可包括多个元件。另外，车辆的每个子系统和元件可以通过有线或者无线互连。其中，各个系统、模块实现的具体功能具体如下：
用户界面，可以实现车辆行驶过程中与用户之间的信息交互。例如，在确定车辆行驶过程中，生成了提示信息，则可以在用户界面弹出提示信息。响应于用户对提示信息的操作(该操作可以是语音操作，也可以是触摸操作，按键操作或手势操作等，在此不做限定)，可以显示其他提示信息，从而提高用户在驾驶过程中的体验。
另一种可能的场景中，当用户需要出行时，导航模块会在用户界面弹出指示，指示用户在用户界面输入行驶目的地；再例如，当用户设定好行驶目的地，且导航模块中的行驶规划模块确定出最优的行驶路径后，可在用户界面展示出导航模块最终确定的行驶路径。进一步的，还可以显示历史的提示信息。再例如，导航模块可以在车辆行驶过程中，在用 户界面实时更新车辆当前所在的位置，以及行驶路径上的道路情况，比如拥堵情况，不通行情况、道路抢修情况等。
定位系统，可以是GPS系统，也可以是北斗系统或者其他定位系统，可用于估计终端设备的地理位置，也可以用于接收定位服务器发送的终端设备的位置信息。定位系统可以通过GNSS定位方法，确定终端设备的位置，定位系统还可以包括核心网中的定位网元，在5G通信系统中，定位网元可以是核心网中的业务能力开放(service capibility exposure function，SCEF)网元，和/或，定位服务器。在一种可能的实现方式中，SCEF网元可以从定位服务器获取终端设备101的位置信息。定位服务器可以采用基于小区标识(Cell ID)的定位方法、基于到达时间差(time difference of arrival，TDOA)的定位方法、基于到达角度(angle of arrival，AOA)的定位方法等方法中的一种或几种对终端设备进行定位，从而获取终端设备的位置信息。具体的，定位服务器可以是增强服务移动定位中心(enhanced serving mobile location centre，E-SMLC)网元，和/或，网关移动位置中心(Gateway Mobile Location Center)，或者，具有类似功能的一个或多个网元，本申请实施例对此并不多做限定。应理解，本申请实施例中定位服务器与网络设备102既可以属于同一台物理设备，也可以分别属于不同的物理设备。举例来说，若终端设备101为车载设备，则该定位模块可以设置在汽车上，或者说该定位模块为一种车载设备。在该定位模块被设置在汽车上时，具体的，该定位终端可以设置在车顶，也可以设置在其他需要定位的位置。若终端设备101为手机等非车载设备，定位模块可以设置于手机等非车载设备上。终端设备101上的定位模块可以向定位服务器发送定位请求，并接收定位服务器返回的定位模块的位置信息。
高精度地图模块，用于存储高精度地图的车道级别道路信息。高精度地图模块，还可以用于接收地图服务器发送的高精度地图的地图数据。当然，也可以为周期性更新高精度地图模块中的高精度地图数据，在此不做限定。高精度地图模块中的高精度地图数据可以为预先存储在终端设备上的高精度地图，也可以为地图服务器向终端设备发送的高精度地图，对高精度地图的更新方式也可以由车辆或地图服务器来执行。例如，通过地图服务器更新的方式，可以为车辆采集的车道信息，并发送到地图服务器，由地图服务器来确定最新的车道信息。地图服务器可以主动向终端设备发送更新的高精度地图，也可以根据终端设备发送的查询请求，返回高精度地图对应更新的车道信息。在具体实施过程中，可以在导航过程中，发送对应区域的高精度地图的地图数据，以节省终端设备101需存储的高精度地图数据，也可以为地图服务器预先下发多个区域的高精度地图的地图数据，根据高精度地图数据的更新的需要，对高精度地图模块中的高精度地图数据进行更新。
高精度地图模块可以通过定位系统确定的终端设备的地理位置，确定终端设备所在的高精度地图的位置，其定位精度为车道级的定位精度。车辆可以根据传感器系统和计算机视觉系统确定的车辆的周边环境的信息与高精度地图数据进行特征匹配，确定车辆的高精度地图下的定位位置，其精度可以达到车道级的定位精度。
导航地图模块，该导航地图模块可以存储有导航地图数据，基于导航地图，生成导航轨迹，进而实现导航功能。导航地图可以为用户提供导航信息，满足开车路线的导航需求。例如，导航地图可以提供当前道路有几条车道、限速信息、转弯信息、路线规划等导航信息。在导航地图模块确定出至少一条行驶路径后，可以将这些行驶路径提交给自动驾驶系统的行驶规划模块，以使得行驶规划模块可以基于用户需求从这些行驶路径中选定出最符合用户要求的行驶路径。进一步的，该导航地图模块还可以接收辅助驾驶提醒模块或服务 器发送的提醒信息，该提醒信息是根据辅助驾驶提醒系统中生成的提示信息生成的，从而，可以为用户个性化生成提醒信息，例如，基于用户经常走错的路段，生成提醒信息，或者，直接在导航界面上显示历史的提示信息，还可以根据历史的提示信息，合理规划导航路线，从而，提高用户的行驶体验。
传感器系统，可包括感测关于车辆周边的环境的信息的若干个传感器。例如，传感器系统可包括定位系统、惯性测量单元(inertial measurement unit，IMU)、雷达以及相机。IMU用于基于惯性加速度来感测车辆的位置和朝向变化。在一个实施例中，IMU可以是加速度计和陀螺仪的组合。雷达可利用无线电信号来感测车辆的周边环境内的物体。在一些实施例中，除了感测物体以外，雷达还可用于感测物体的速度和/或前进方向。相机可用于捕捉车辆的周边环境的多个图像。相机可以是静态相机或视频相机。进一步的，车辆还可以包括计算机视觉系统，可以操作来处理和分析由相机捕捉的图像以便识别车辆周边环境中的物体和/或特征。物体和/或特征可包括交通信号、道路边界和障碍物。
计算机视觉系统可使用物体识别算法、运动中恢复结构(Structure from Motion，SFM)算法、视频跟踪和其他计算机视觉技术。在一些实施例中，计算机视觉系统可以用于为环境绘制地图、跟踪物体、估计物体的速度等等。
每辆车可以设置一种或多种传感器，每种传感器的个数可以为一个或多个。传感器可以安装在车辆的顶部、具体可以设置在车辆顶部的中间位置，本申请实施例对每个车辆中传感器安装位置和数量并不做限定。本申请实施例中车辆可以基于车辆与外界无线通信技术(例如，vehicle to everything(V2X))与其它物体进行通信。例如，可以基于车辆间无线通信技术(例如，vehicle to vehicle(V2V))实现车辆与车辆之间的通信。车辆与其它物体之间进行通信可以基于无线高保真(例如，wireless fidelity(Wi-Fi))、第五代(5th generation，5G)移动通信技术等进行通信。例如，可以基于5G实现车辆与智能设备(如支持定位功能的智能手机或移动设备)之间的通信。
用户接口，用于向车辆的用户提供信息或从其接收信息。可选地，用户接口可包括在外围设备的集合内的一个或多个输入/输出设备，例如无线通信系统、车载电脑、麦克风和扬声器。车辆通过外围设备与外部传感器、其他车辆、其他计算机系统或用户之间进行交互。外围设备可包括无线通信系统、车载电脑、麦克风和/或扬声器。在一些实施例中，外围设备提供车辆的用户与用户接口交互的手段。例如，车载电脑可向车辆的用户提供信息，例如，提示信息，提醒信息等。用户接口还可操作车载电脑来接收用户的输入。车载电脑可以通过触摸屏、语音、手势等进行操作。在其他情况中，外围设备可提供用于车辆与位于车内的其它设备通信的手段。例如，麦克风可从车辆的用户接收音频(例如，语音命令或其他音频输入)。类似地，扬声器可向车辆的用户输出音频。
用户接口还可以包括信息采集模块，该信息采集模块可以用户采集车辆的行驶状态，例如，车辆当前的转向灯状态，车辆的速度、加速度等信息。
无线通信系统可以直接地或者经由通信网络来与一个或多个设备无线通信。例如，无线通信系统可使用3G蜂窝通信，例如CDMA、EVD0、GSM/GPRS，或者4G蜂窝通信，例如LTE，或者5G蜂窝通信。无线通信系统可利用WiFi与无线局域网(wireless local area network，WLAN)通信。在一些实施例中，无线通信系统可利用红外链路、蓝牙或ZigBee与设备直接通信。其他无线协议，例如各种车辆通信系统，例如，无线通信系统可包括一个或多个专用短程通信(dedicated short range communications，DSRC)设备，这些设备可包 括车辆和/或路边台站之间的公共和/或私有数据通信。
车辆的部分或所有功能受计算机系统控制。计算机系统可包括至少一个处理器，处理器执行存储在例如存储器这样的非暂态计算机可读介质中的指令。计算机系统还可以是采用分布式方式控制车辆的个体组件或子系统的多个计算设备。
本申请中，处理器可以用于执行辅助驾驶提醒方法及使用地图的方法。处理器可以是任何常规的处理器，诸如商业可获得的CPU。替选地，该处理器可以是诸如ASIC或其它基于硬件的处理器的专用设备。尽管图2功能性地图示了处理器、存储器、和在相同块中的计算机的其它元件，但是本领域的普通技术人员应该理解该处理器、计算机、或存储器实际上可以包括可以或者可以不存储在相同的物理外壳内的多个处理器、计算机、或存储器。例如，存储器可以是硬盘驱动器或位于不同于计算机的外壳内的其它存储介质。因此，对处理器或计算机的引用将被理解为包括对可以或者可以不并行操作的处理器或计算机或存储器的集合的引用。不同于使用单一的处理器来执行此处所描述的步骤，例如，执行本申请辅助驾驶提醒方法及使用地图的方法的一些组件每个都可以具有其自己的处理器，所述处理器只执行与特定于组件的功能相关的计算。
在此处所描述的各个方面中，处理器可以位于远离该车辆并且与该车辆进行无线通信。在其它方面中，此处所描述的过程中的一些在布置于车辆内的处理器上执行而其它则由远程处理器执行，包括采取执行单一操纵的必要步骤。
在一些实施例中，存储器可包含指令(例如，程序逻辑)，指令可被处理器执行来执行车辆的各种功能，包括以上描述的那些功能。存储器也可包含额外的指令，包括向各子系统中的一个或多个发送数据、从其接收数据、与其交互和/或对其进行控制的指令。
除了指令以外，存储器还可存储数据，例如道路地图、路线信息，车辆的位置、方向、速度以及其它车辆数据，以及获取的提示信息等其他信息。该提示信息可以是：车辆行驶时的转向灯状态不符合车辆所在车道的转向规则，可能出现违章的提示信息。这种信息可在车辆在自主、半自主和/或手动模式中操作期间被车辆、计算机系统使用。获取的提示信息还可以通过无线通信系统向云端服务器发送，以使云端服务器获取提示信息，以根据获取到的至少一个车辆的提示信息，进行统计分析，为交通、路况、个人用户等形成指导。例如，车辆再次经过生成该提示信息的位置时，可以根据接收到的提示信息，提示该位置历史曾出现过的行驶错误的车道等信息，以提示可能出现行驶违章的可能，提高用户的行车体验。云端服务器还可以向终端设备发送该提示信息，使得用户在登录终端设备上对应的应用时，可以查询到用户在行车过程中，获取到的提示信息，以便用户在后续行驶过程中，可以规避可能的违章，提高驾驶体验。
计算机系统可基于从各种子系统(例如，定位系统、传感器系统、计算机视觉系统等)以及从用户接口接收的输入来控制车辆的功能。例如，计算机系统可利用来自控制系统的输入以便控制用户交互界面输出提示信息。在一些实施例中，计算机系统可操作来对车辆及其子系统的许多方面提供控制。
进一步的，在自动驾驶的系统中，车辆还可以包括：行驶规划模块，轨迹跟踪器和执行器等。其中，行驶规划模块，用于根据用户设定的行程需求从自动驾驶系统中的导航地图模块确定出的至少一条行驶路径中确定出最符合用户要求的行驶路径以及对应地行驶结构示意图路径上的行驶配置信息，并将确定出的行驶规划结果发送给轨迹跟踪器和执行器，由轨迹跟踪器和执行器完成整个自动驾驶行程。轨迹跟踪器，用于根据行驶规划模块 发来的行驶路径以及对应的行驶路径上的行驶配置信息，生成作用于驱动自动驾驶系统的扭矩指令和制动系统的制动指令，下达给相应执行器执行，并收集相应执行器在执行指令过程中的反馈信息。执行器，包括驱动系统和制动系统，用于根据轨迹跟踪器下发的扭矩指令和制动指令控制车辆行驶。
可选地，上述这些组件中的一个或多个可与车辆分开安装或关联。例如，存储器可以部分或完全地与车辆分开存在。上述组件可以按有线和/或无线方式来通信地耦合在一起。
可选地，上述组件只是一个示例，实际应用中，上述各个模块中的组件有可能根据实际需要增添或者删除，图2不应理解为对本申请实施例的限制。
在天气状况恶劣或者车道地面转向标识与驾驶习惯不符合的典型场景下，例如，天气状况恶劣情况下，地面雨雪等堆积物遮挡车道的地面转向标识，雾霾天气降低空气能见度，驾驶员的可视范围被限制导致无法正确判别车道；陌生路段情况下，车道地面转向标识与驾驶习惯不符。比如大多数人的惯性思维下，最左侧车道应该左转车道，但存在某些路段的最左侧车道为右转车道，驾驶员的习惯性判断导致车道误判。从而导致产生违反交通规则的行为，严重时甚至会造成交通事故。
基于上述问题，本申请提供一种辅助驾驶提醒方法。本申请提供的辅助驾驶提醒方法的执行主体可以是车辆，也可以为终端设备，也可以是云端的服务器。一种可能的方式，该方法可以由车辆的计算机系统执行，还可以由车辆中的一个独立的车载设备执行。例如，车辆在行驶过程中，可以基于车辆自身生成的提示信息，通过车辆上的用户界面显示该提示信息，还可以通过车辆中的喇叭播放该提示信息，以便通知用户，实现辅助驾驶提醒的功能。
另一种可能的实现方式，该方法也可以是由手机等终端设备执行，用户可以通过开启相应的应用，使用该辅助驾驶提醒方法，例如，可以是与导航系统结合在一起的，用户在开启导航系统的相应的应用(例如，导航应用)时，可以同时接收到该辅助驾驶提醒系统生成的提示信息，从而，在导航应用中，播放和/或显示该提示信息。还可以是通过手机等终端设备与车辆建立连接后，车辆生成的提示信息发送给终端设备后，终端设备在接收到该提示信息后，在终端的显示界面上显示提示框，以提醒用户，还可以使得用户在后续停止行驶时查看该提示信息。或者，通过语音播报的方式，播放提示信息。
再一种可能的实现方式，该辅助驾驶提醒方法可以通过服务器(例如，定位服务器，地图服务器，云端服务器等)执行，服务器可以基于生成的提示信息，向车辆发送该提示信息，以使车辆基于接收到的提示信息，播放或显示该提示信息。或者服务器还可以通过接收到车辆生成的提示信息，向终端设备发送该提示信息，从而，终端设备可以接收到该提示信息，用户在后续停止行驶时查看该提示信息。其中，终端设备可以是与车辆拥有相同账户的终端设备，例如，终端设备可以基于车辆相应的应用，向服务器发送提示信息的查询请求，从而终端设备通过服务器确定车辆相应的提示信息，从而向终端设备返回提示信息。还可以是服务器在获取到该提示信息后，就主动向终端设备推送的方式。推送的方式可以是推送至相应的应用(例如，车辆对应的应用，也可以是导航应用，地图应用等)中，也可以是推送至显示界面的通知栏中，在此不做限定。
下面以执行主体为车辆为例举例说明，如图3所示，包括：
步骤301：根据地图信息、车辆的定位位置和所述车辆的运动状态，预测目标路口；
其中，车辆的定位位置和车辆的运动状态可以由多种方式确定。下面以方式a1和方式 a2举例说明。
方式a1，车辆的定位位置可以是根据GNSS定位确定的定位位置，车辆的定位位置可以为车辆在GNSS坐标系中的点坐标值，是车辆的地理坐标。车辆的运动状态可以为基于车辆的历史定位位置及当前的定位位置确定的行驶方向。
方式a2，车辆的定位位置还可以是基于高精度地图确定出的定位位置。例如，车辆的定位位置可以为高精度地图模块根据定位模块接收的位置信息及传感器系统获取的车辆周边的环境信息，确定的高精度地图下的车辆的定位位置，可以包括以下一项或多项：车辆在高精度地图上的坐标位置、车辆所在的车道、车辆所在的车道的属性信息或车辆的运动状态。车辆的运动状态可以为通过车姿传感器结合GNSS确定的，例如，车辆的运动状态可以包括车辆的位姿信息、车辆的速度信息和加速度信息。车辆的位姿信息可以是根据车辆的雷达、相机等传感器结合GNSS确定的。速度信息和加速度信息可以为通过车姿传感器采集的数据确定的。车姿传感器可以包括：3维加速仪、磁传感器、陀螺仪等，本申请并不限定。另一种可能的实现方式，在获取车辆的定位位置后，还可以根据高精度地图，确定车辆当前所处的定位位置对应的车道信息，估计车辆的车头朝向。例如，根据车辆所在定位位置的车道信息，确定出车辆所在车道为由南向北的车道，则可以推测出车辆的车头朝向为由南向北。
地图信息可以是导航地图的地图信息，也可以是高精度地图的地图信息。以车辆执行该辅助驾驶提醒方法的执行主体为例，车辆可以通过服务器(例如，地图服务器)获取该地图信息。下面以方式b1和方式b2举例说明。
方式b1，可以采用导航地图预测目标路口。其中，导航地图为传统的导航地图，采用GNSS设备进行导航和定位，传统的导航地图只能提供道路级的地图信息。导航地图可以为用户提供导航信息，满足开车路线的导航需求。例如，导航地图可以提供当前道路有几条车道、限速信息、转弯信息、路线规划等导航信息。在可以通过GNSS获得较好的定位信号时，可以根据GNSS确定车辆的定位位置，及车辆的运动状态(例如，车辆的行进方向，车头朝向)，从而，通过导航地图中的道路级的地图信息，确定车辆未来将首先经过的路口，即目标路口。
方式b2，例如，在林荫、城市峡谷、隧道等场景下，GNSS的定位容易产生漂移，同时还有一定概率无法获得GNSS的定位信号，导致无法对车辆进行精确定位。另外，由于GNSS定位的精度影响，车辆的定位精度只能定位至道路上，难以确定车辆具体位于哪个车道上。考虑上述原因，可以根据其他定位方式，例如，结合车辆的传感器系统(相机、雷达、IMU等)、计算机视觉系统，及高精度地图的地图数据，可以确定车辆的定位位置(可以确定车道级的道路信息)，及车辆的运动状态，从而预测出目标路口。
再比如，在不同的道路环境下，例如，有遮挡物(例如，落叶)条件下，有积水或积雪条件下，可以根据高精度地图中的车道信息，确定前方道路中包括的车道，从而避免遮挡物对驾驶员行车的影响，进而为驾驶员提供在去除遮挡后的车道信息。比如，在车道有遮挡物覆盖时，可能遮挡车道的行驶方向的标识、车道边界等道路标识，此时，可以根据高精度地图中的车道信息，进行去除遮挡物的处理，并生成提示信息。比如，若积水面积占用了一条车道，此时可以根据传感器的信息，测量到前方路面有积水，根据高精度地图中的车道信息，可以确定该车道被积水覆盖，驾驶员可能无法确定前方车道的行驶方向，生成提示信息，提示前方车道的行驶方向。或者，根据传感器测量到的信息，确定前方拥 堵，可能遮挡了车道的行驶标识，此时，可以确定该车道被遮挡，驾驶员可能无法确定前方车道的行驶方向，生成提示信息，提示前方车道的行驶方向。
进一步的，为降低计算量，目标路口还可以是满足路口类型的路口，例如，目标路口的路口类型可以是包括分叉的路口，例如，十字路口，T型路口，包括高架入口、高架出口的路口、包括隧道入口、隧道出口的路口等。确定目标路口的类型可以通过导航地图中的路口信息确定，也可以根据地图中的车道信息确定，在此不做限定。
步骤302：根据所述地图信息和所述车辆的定位位置确定所述车辆相对于所述目标路口的距离。
结合上述例子，一种可能的实现方式，可以根据导航地图中路口的坐标信息，及车辆在导航地图中的定位位置，确定车辆相对于所述目标路口的距离。一种可能的实现方式，可以根据地图中目标路口的坐标信息，及车辆在地图中的定位位置，确定车辆相对于所述目标路口的距离。
步骤303：采集车辆的转向灯状态。
车辆的转向灯状态可以包括：左转状态、右转状态、直行状态、短时左转状态或短时右转状态。其中，车辆的转向灯至少包括2种模式。例如，在用户向下拨动转向灯的控件时，但是未将该控件拨动至底部，此时，车辆的左转转向灯开始闪烁，并在预定时间停止闪烁，此时，转向灯状态位于短时左转状态，例如，在用户向下拨动转向灯的控件，并将该控件拨动至底部时，此时，车辆的左转转向灯开始闪烁，直至车辆完成左转停止闪烁或者由驾驶员复位，才会停止闪烁，此时，可以确定转向灯状态为左转状态。同理，右转状态为在用户向上拨动转向灯的控件，并将该控件拨动至顶部时。短时右转状态为在用户向上拨动转向灯的控件，但是未将该控件拨动至顶部。直行状态为车辆的转向灯未闪烁的状态。在一种特殊的场景下，例如，车辆的双闪(警示模式)开启时，无法通过车辆的转向灯的闪烁来判断转向灯状态，此时，可以根据用户对转向灯的控件的操作，确定车辆的转向灯状态。
采集车辆的转向灯状态的方式可以有多种方式，下面以方式c1和c2举例说明。
方式c1，通过车辆的信息采集模块，在车辆开始行驶后，启动信息采集模块，采集车辆的信息，该信息包括车辆的转向灯状态。
其中，信息采集模块可以在采集转向灯状态后，传输给计算机系统进行存储，从而保存了车辆的转向灯状态。
方式c2，为节省功耗，车辆的信息采集模块，可以在车辆与目标路口距离小于或等于唤醒阈值时，启动信息采集模块，采集车辆的信息，该信息包括车辆的转向灯状态。
其中，唤醒阈值与当前车辆所在的车道的实线长度、所述车辆的行驶速度或所述车辆的定位位置附近的交通拥塞程度中的至少一项相关。
举例来说，唤醒阈值可以为预设阈值，例如，可以设置唤醒阈值为500米。或者，可以根据车辆的行驶速度确定，例如，当前车辆的行驶速度低于30米/秒，此时，可以降低唤醒阈值的大小，例如，可以设置唤醒阈值为300米。当前车辆的行驶速度大于30米/秒且小于60米/秒，此时，可以提高唤醒阈值的大小，例如，可以设置唤醒阈值为800米。以降低提示信息无法及时通知用户，导致用户无法根据提示信息，及时修改行驶状态。
再比如，唤醒阈值可以根据车辆的定位位置附近的交通拥塞程度确定，例如，若当前交通拥堵程度较高，可以增加唤醒阈值的大小，若当前交通通畅，可以降低唤醒阈值的大 小，具体可以参考上述举例。当然，还可以结合上述各种方式，综合确定唤醒阈值。另外，唤醒阈值可以是预先设置好的，也可以根据车辆实际所在的车道信息而实时调整，在此不做限定。
其中，当前车辆所在的车道的实线长度可以是根据地图确定的车辆当前所在的车道对应的车道信息确定的。如图4a所示，图4a为本申请实施例提供的一种应用场景的示意图。如图4a所示的车道的转向规则的指示信息，包括4个车道，其中左侧两个车道(车道1和车道2)的行驶方向一致，为直行，右侧两个车道的车辆行驶方向为左转(车道3)和右转(车道4)。任意一个车辆可以是智能车或非智能车，本申请实施例对比不做限定。此时，车辆所在的车道为第3车道，车辆可以根据地图，确定第3车道的实线长度。举例来说，第3车道的实线长度为10米，可以设置唤醒阈值为100米。若第3车道的实线长度为20米，可以设置唤醒阈值为200米。
步骤304：在所述车辆相对于所述目标路口的距离小于第一阈值时，根据所述车辆的转向灯状态和所述目标路口关于所述车辆所在第一车道的第一转向规则，生成提示信息。
其中，所述提示信息用于提示所述转向灯状态不符合所述第一转向规则。提示信息可以包括但不限于语音提示、文字提示、异常信号音或警示灯提示。
第一阈值可以与当前车辆所在的车道的实线长度、所述车辆的行驶速度或所述车辆的定位位置附近的交通拥塞程度中的至少一项相关。
举例来说，第一阈值可以根据车辆的行驶速度确定，例如，当前车辆的行驶速度低于30米/秒，此时，可以降低第一阈值的大小，例如，可以设置第一阈值为50米。当前车辆的行驶速度大于30米/秒且小于60米/秒，此时，可以提高第一阈值的大小，例如，可以设置第一阈值为100米。以避免提示信息无法及时通知用户，导致用户无法根据提示信息，及时修改行驶状态。再比如，第一阈值可以根据车辆的定位位置附近的交通拥塞程度确定，例如，若当前交通拥堵程度较高，可以增加第一阈值的大小，若当前交通通畅，可以降低第一阈值的大小，具体可以参考上述举例。再比如，第一阈值还可以根据车辆所在车道的实线长度确定，例如，第一阈值可以设置为车辆所在车道的实线长度的2倍。结合图4a的例子，第3车道的实线长度为10米，可以设置第一阈值为20米。若第3车道的实线长度为20米，可以设置第一阈值为40米。当然，还可以结合上述各种方式，综合确定第一阈值。另外，第一阈值可以是预先设置好的，也可以根据车辆实际所在的车道信息而实时调整，在此不做限定。
在步骤304中，还可以包括其他生成提示信息的场景，下面以场景1-场景3举例说明。
场景1，在所述车辆相对于所述目标路口的距离小于或等于唤醒阈值时，生成提示信息。
一种可能的方式，在车辆距离目标路口的距离小于或等于唤醒阈值时，车辆可以生成提示信息，以向用户提示目标路口的车道信息，从而提前提示用户。以提示信息为语音信息为例，车辆的处理器可以根据车辆所在的车道的第一转向规则，生成提示信息。该提示信息可以包括：目标路口的类型，目标路口的车道数，目标路口的车道对应的转向规则。如图4b所示，车辆在当前位置时，提示信息可以为：“车辆即将到达十字路口，该路口包括4条车道，直行请走左边两车道，左转请走最第3条车道，右转请走最右边车道。”生成提示信息后，向车机语音模块发送该提示信息，在车机语音模块接收到该提示信息后，播放该提示信息。
在另一种可能的方式下，考虑目标路口为非十字路口，例如，目标路口为高架入口或出口、单向路口等，此时，车道线的边界与当前车辆行驶的道路上的车道线不同，例如，新增了车道或减少了车道，可能出现用户不知道前方道路如何行使的问题。此时，如图4c所示，目标路口为高架入口。目标路口与车辆的距离可以基于高架入口与车辆的距离确定。目标路口包括6条车道，中间两车道为高架入口车道，辅路的直行车道为请走第3条和第5条车道，辅路的左转为最左侧车道，右转车道为最右边车道。此时，可以生成的提示信息可以为：“车辆即将到达高架入口，前方道路包括6条车道，上高架请走中间两车道，走辅路的直行请走第3条和第5条车道，走辅路的左转请走最左侧车道，右转请走最右边车道。”。
场景2，在所述车辆相对于所述目标路口的距离小于第一阈值且大于第二阈值时，车辆距离目标路口的实线还有较长的距离，或者，目标路口距离停止线等待的车辆较少，或者，车辆周围行驶的其他车辆较少。此时，车辆有足够的时间和距离进行变道。
一种可能的实现方式，所述提示信息还用于提示所述车辆从所述第一车道变换到第二车道，所述转向灯状态符合所述目标路口关于所述第二车道的第二转向规则，其中所述第二阈值小于第一阈值。
举例来说，结合图4b，当前车辆所在位置对应第3车道，在确定车辆的转向灯状态为直行状态，与车辆当前所在车道的转向规则(左转)不一致时，可以向用户提示当前车道的转向规则，还可以向用户提示与转向灯状态一致的车道。例如，该提示信息可以为：“车辆所在车道为左转车道，如需直行，请走最左边的两条车道”，以提示驾驶员及时变道。在确定车辆开启左转的转向灯时，可以结束提醒，并通过获取车辆当前的行驶位置，确定车辆当前车道更新为车道1或车道2时，确定车辆需直行，可以记录该次变道操作。该提示信息及车辆的变道行为可以上报至服务器或存储在车辆中，在下次经过该位置时，若确定车辆仍行驶至第3车道时，可以基于该提示信息，向驾驶员发送提醒，以提醒驾驶员该路口如需直行，请走最左边的两条车道，避免驾驶员在该路口需直行时，未预先进入直行车道，从而，提高驾驶体验，避免可能的安全隐患。
另一种可能的实现方式，可能当前的转向灯状态为短时左转状态，或短时右转状态。以短时左转为例，在确定车辆的转向灯状态和车辆当前所在车道的转向规则不一致时，例如，当前车辆所在车道为直行车道，则可以提示用户应行驶至左转车道。提示信息可以为：“车辆位于直行车道，右转请走第3条车道”。进一步的，若车辆行驶至左转车道，短时左转状态已停止，此时还可以提示用户当前车道为左转车道，请打左转灯。提示信息可以为：“车辆位于左转车道，请打左转灯”。
再一种可能的实现方式，以短时左转为例，当前的转向灯状态为短时左转状态，车辆的转向灯状态和车辆当前所在车道的转向规则一致，即当前车辆所在车道为左转车道，但是，基于车辆的行驶路径，可以确定车辆当前未进行左转，仍为直行，可能的原因是用户误触了转向灯的控件。此时，车辆还可以生成提示信息，该提示信息可以为“用户当前车道为左转车道，直行请走中间两车道”。
场景3，考虑到车辆可能已进入实线的车道线对应的位置范围内，或者即将进入由于当前路况拥堵无法变更车道的位置范围内，为避免车辆行驶出现违返交通规则或造成安全隐患的问题，可以在所述车辆相对于所述目标路口的距离小于第二阈值时，发送提示信息， 该提示信息可以用于提示应该在所述第一车道上按照所述第一转向规则经过所述目标路口。
例如，第二阈值可以是车辆所在车道的实线长度，例如，当前车辆所在车道的实线长度为10米，则确定第二阈值为10米。第二阈值还可以是基于车辆的行驶速度或所述车辆的定位位置附近的交通拥塞程度的一项或多项综合确定，例如，若当前车辆所在的定位位置车辆拥塞程度较高，位于车辆前方的等待车辆所在的位置已超出车道的实线长度，如图4d所示，此时可以基于等待车辆所在的位置确定第二阈值。即第二阈值小于第一阈值。所述第二阈值与所述第一车道的实线长度、所述车辆的行驶速度或所述车辆的定位位置附近的交通拥塞程度中的至少一项相关。具体设置第二阈值的方式，还可以参考唤醒阈值和第一阈值的设置方式，在此不再赘述。
在该场景下，提示信息可以为：“车辆当前所在车道为直行车道，您的车辆开启右转弯信号灯，禁止变道，当前车道只能直行请勿右转弯，建议关闭右转弯信号灯。”或者，该提示信息可以为“当前路况拥堵，您即将进入实线区域，建议直行，请关闭右转弯信号灯”。
在输出提示信息后，响应于对车辆的转向灯的控件的操作，车辆确定转向灯状态是否与当前车道的转向规则一致。若不一致，还可以再次输出提示信息。若一致，还可以基于车辆经过该路口后即将行驶的道路，为用户生成提示信息，例如，提示信息可以为“前方直行，即将进入XX路。”进一步的，考虑到用户临时改变行驶路线，可能与预期行驶方向不同，例如，预期右转弯，此时，用户可能仅关注了右转弯的红绿灯，但是未关注当前直行的红绿灯，可能出现闯红灯的行为，因此，在确定车辆确定转向灯状态是否与当前车道的转向规则一致时，还可以生成提示信息，该提示信息用于提示当前直行车道的红绿灯状态。例如，提示信息可以为:“当前直行车道为红灯(或黄灯，或即将变红灯)，请注意减速停车”。
需要说明的是，在何时生成提示信息还可以是基于用户设置的提醒习惯确定的，例如，以车辆作为提示信息的输出为例，车辆的用户界面中可以包括个性化设置界面，在该设置界面上，可以包括提示信息的设置方式，例如，如图4e所示，可以包括提示信息的种类的选择，例如，语音提示、文字提示、异常信号音或警示灯提示等。还可以包括提示信息的模式，例如，详细提示、简化提示、告警提示。具体提示模式还可以包括详细的设置界面。在详细提示模式中，车辆可以在车辆距离目标路口的距离到达唤醒阈值、第一阈值、第二阈值时都生成提示信息，及时输出给用户，提示信息可以包括目标路口的详细信息。进一步的，在确定车辆仍未及时更正时，即所述车辆的转向灯状态和所述目标路口关于所述车辆所在第一车道的第一转向规则不一致时，再次输出提示信息，从而提醒用户调整车辆的转向灯状态，或者调整车辆所在的车道，使得车辆的转向灯状态和所述目标路口关于所述车辆所在第一车道的第一转向规则一致后，不再输出提示信息，当然，在该方式中，可以仅输出N次(例如，)3次提示信息，避免多次输出提示信息，避免与其他信息干扰，降低驾驶员的行车安全性。
在简化提示模式中，在车辆距离目标路口的距离到达第一阈值、第二阈值时，生成提示信息。进一步的，还可以是生成提示信息后，仅输出一次提示信息，无论车辆的转向灯状态和所述目标路口关于所述车辆所在第一车道的第一转向规则是否一致。
在告警提示模式下，在车辆距离目标路口的距离到达第二阈值时，生成提示信息。即提示信息仅包括即将出现违章的提示信息。例如，车辆当前已进入实线，无法变道，或者，已驶出车道的停止线，此时，车辆的转向灯状态和所述目标路口关于所述车辆所在第一车 道的第一转向规则一致，则即将出现违章，需要生成告警信息。
本申请提供一种地图的生成方法，本申请提供的地图的生成方法的执行主体可以是车辆，也可以为终端设备，也可以是云端的服务器。
以服务器为例，可以是通过服务器生成所述提示信息，从而，服务器根据所述提示信息及车辆的定位位置，生成第一信息，用于记录目标路口的目标车道为易转向违规车道。第一信息可以基于该定位位置，存储于地图中，该第一信息可以作为一种车道信息被存储，例如，可以作为一种车道信息的属性信息。也可以为第一信息单独生成一个图层，在终端设备或车辆需要查看或使用该第一信息时，地图服务器可以向终端设备或车辆发送第一信息。
以车辆为例，车辆生成所述提示信息后，可以基于所述提示信息及车辆的定位位置，生成第一信息，用于记录目标路口的目标车道为易转向违规车道。该第一信息可以存储于车辆的地图模块中，在车辆需要查看或使用该第一信息时，可以从地图中调用第一信息。为减少车辆存储空间的占用，一种可能的实现方式，该第一信息可以不包括提示信息的具体内容，例如不包括目标车道的转向规则，或者仅仅为一种摘要性质的信息，可以在需要查看或使用第一信息时，再由车辆向服务器请求该提示信息的具体内容。
以终端设备为例，在终端设备接收到如图3所示的提示信息后，终端设备可以基于终端设备的定位位置及该提示信息，生成第一信息，并存储在相应的应用(例如，导航应用、地图应用、车辆的相关应用等)中，也可以向服务器或车辆发送该提示信息。进一步的，在用户需要查看该提示信息时，例如，用户开启相关应用时，可以通过查询历史提示信息，查看该提示信息，如图5a所示，为终端设备的车辆应用的查询界面，在该查询界面上，可以显示有提示信息的查询控件，响应于该查询提示信息的查询控件，终端设备向服务器发送查询请求，该查询请求可以是查询一个路段的提示信息，也可以是查询一个时段的提示信息，也可以是一次行驶过程中的提示信息，也可以是查询历史所有的提示信息，在此不做限定。服务器向终端设备返回查询响应，或者调用终端设备存储的提示信息，以获取提示信息。终端设备在获取提示信息后，可以在查询界面上显示查询结果。例如，获取到的一个时段的提示信息，还可以是一个路段内的提示信息，还可以是在一次行驶过程中的提示信息。例如，如图5b所示，可以在导航状态下，显示相应路段上的提示信息。例如，可以是在接近该路段时，显示相应路段上的提示信息，还可以是显示导航路径上所有的提示信息，在此不做限定。显示模式可以基于用户的选择显示。例如，在该查询界面上，可以包括显示模式的设置控件，该控件可以选择显示的模式，例如，时段显示，地图显示，行驶次数显示。基于用户选择的显示模式，显示获取的提示信息。
或者，在用户开启地图应用时，在地图上，以附加信息的形式显示在地图界面上，例如，如图5c所示，每个附加信息可以仅显示在该位置上存在的提示信息的数目，例如，“提示信息3条”，“提示信息2条”，“提示信息4条”等，以提示用户在相应位置上有历史出现的提示信息。用户可以点击该附加信息，响应于用户点击该附加信息的操作，可以查看到该区域内的所有提示信息的具体内容。用户根据这些附加信息，可以设置选择无提示信息的路径，也可以自行更改行车路径，或者，设置车辆在经过该位置时，提示用户注意车道的转向规则。进一步的，若该应用为导航应用，还可以基于提示信息，生成提醒信息，例如，在确定出当前导航路径经过提示信息所对应的位置时，可以向用户发送提醒信息，提 醒用户是否需要更换导航路径。
考虑到提示信息可能较多，上述生成的第一车道可以是根据车道、车辆生成的多个提示信息，综合生成的一个第一信息。例如，该第一信息用于记录目标路口的第一车道为易转向违规车道，已减少存储空间的占用。
本申请实施例提供的另一种地图辅助驾驶提醒方法的具体步骤如下所述。本申请实施例提出的地图是包括所述第一信息的地图，所述第一信息是基于所述提示信息生成的。
本申请提供的所述另一种地图辅助驾驶提醒的方法的执行主体可以是车辆，也可以为终端设备，也可以是云端的服务器。例如可以是通过服务器生成提示信息，从而，服务器根据提示信息及车辆的定位信息，生成第一信息，根据历史时间段内确定出的第一信息，生成个性化的提醒信息，该提醒信息可以用于在车辆下一次到达该定位位置时，发送给车辆，由车辆输出该提醒信息，从而提醒用户上次在该位置出现过转向错误的行为，以使用户避免再次出现该问题。进一步的，还可以综合考虑多个车辆在同一定位位置附近生成的提示信息，生成个性化的提醒信息，该提醒信息可以提醒用户当前位置为易违章车道，请注意按照车道的转向规则行驶。
另一种可能的实现方式，所述另一种地图辅助驾驶提醒的方法还可以通过车辆生成提示信息，并根据历史时间段内确定出的提示信息和生成提示信息对应的车辆的定位位置，生成个性化的提醒信息，由车辆输出该提醒信息。
再一种可能的实现方式，所述另一种地图辅助驾驶提醒的方法可以由车辆生成提示信息，提示信息生成第一信息，发送到云端的地图服务器，由云端的地图服务器来根据接收到的第一信息，为车辆提供个性化的提醒信息，发送给车辆，由车辆输出该提醒信息，从而提高驾驶体验。以执行主体为终端设备101为例，终端设备101中可以安装有导航应用或地图应用，终端设备101可以通过导航应用或地图应用与后端的地图服务器采用互联网进行通讯。终端设备101可以基于导航地图、用户输入的目的地和终端的定位位置、及获得的提醒信息，在导航界面上显示导航轨迹和提醒信息，从而优化导航功能。
下面以车辆为执行主体为例，举例说明，其他执行主体可以参考车辆的方式实施，在此不再赘述。如图6所示，具体可以包括：
步骤601：车辆根据行驶路径规划结果确定车辆将从第一方向经过目标路口。
其中，行驶路径规划结果，可以是用户可以在上述图2中的用户界面中输入要去往的目的地，导航地图模块结合用户当前所在的位置和用户输入的要去往的目的地的位置，查询导航地图的道路拓扑数据，并结合高精度地图模块提供的当前所在车道信息，确定出用户从当前所在的位置(下文简称出发地)能够到达目的地的至少一条行驶路径。行驶规划模块或行驶规划模块中的处理芯片在用户界面上可以呈现车道级行驶模式图标和道路级行驶模式图标等。举例来说，导航地图模块可能给出的车辆从出发地到达目的地的多条行驶路径，此时，导航地图模块可以先确定候选行驶路径，在候选行驶路径中，根据车辆当前的定位位置，确定各候选行驶路径所需的时间及路程长度等，根据用户的需求，确定行驶路径规划结果。
在确定行驶路径规划结果后，可以基于行驶路径规划结果，确定车辆基于该行驶路径规划行驶时，是否会经过目标路口，该目标路口可以是本车辆或者其他车辆在历史行驶过程中，行驶过的目标路口，且在该经过目标路口的过程中，生成了用于提示转向灯状态与 所述目标路口转向规则不一致的提示信息。以车辆存储有包括第一信息的高精度地图为例。车辆可以基于第一信息中存储的车辆的定位位置，与行驶路径规划结果比较，确定行驶路径规划中，是否包括有目标路口，且车辆的行驶方向为所述第一信息记录的第一方向，即与第一信息中车辆行驶的方向相同。
步骤602：车辆可以根据所述高精度地图，确定可用于从所述第一方向经过所述目标路口的第一车道。
其中，第一车道为所述高精度地图中的第一信息记录的至少一个易转向违规车道中的一个车道。在车辆确定目标路口后，可以基于从第一方向经过目标路口生成的第一信息中，确定至少一个易转向违规车道。
结合图4b，例如，基于确定的目标路口中的第一信息，可以确定出第1车道和第2车道为易违规车道，其中，第1车道对应的提示信息为：“当前车道为左转车道，请提前变道”。该提示信息在位置1生成。第二车道对应的提示信息为：“当前车辆已进入实线，该车道为直行车道，为避免违规，请直行，并关闭转向灯”。该提示信息在位置2生成。
步骤603：车辆生成提醒信息，所述提醒信息用于提醒驾驶员基于规划的行驶路线未来可能途经的所述第一车道为易转向违规车道。
考虑到规划的行驶路线从第一方向经过目标路口，可以在车辆即将到达目标路口时，生成提醒信息。
结合上述例子，在车辆即将到达目标路口时，可以基于位置1和位置2的提示信息，生成提醒信息。该提醒信息可以为：“前方路口有易转向违规车道，请注意”。
再比如，在车辆到达位置1时，可以基于位置1上的提示信息，生成提醒信息。例如，该提醒信息可以为：“前方路口的第一车道为左转车道，请注意”。进一步提示，还可以基于提示信息的方式，生成提醒信息，例如，该提醒信息还可以包括：“当前车道为左转车道，若需要左转，请提前变道”。再比如，在车辆到达为2时，可以基于位置2上的提示信息，生成提醒信息。该提醒信息可以为：“当前车道为直行车道，您已进入实线，请注意直行”。
图6所示实施例可以应用于多种场景：例如，在向目的地出发之前，驾驶员通过导航软件的地图规划并选择行驶路径，在导航软件呈现路径规划结果时提醒易转向违规路口及车道；又例如，用户在车辆行驶过程中使用实时导航，导航软件进行实时路径规划时，根据实时路径规划结果和地图中的所述第一信息进行实时的易违规车道方面提醒。
考虑到驾驶员基于路线的熟悉程度不同，在驾驶员对路线较为熟悉时，基于所有用户生成的提示信息，为该驾驶员生成提醒信息，可能会导致过多的无效提醒，降低驾驶员的行车体验，因此，本申请实施例中，还可以基于每个驾驶员，个性化生成提醒信息。
一种可能实现方式，可以包括：地图中的第一信息还可以包括历史用户身份信息，该历史用户身份信息包括所述车辆的第一标识或者所述第一身份信息中的至少一项；例如，用户身份信息可以为车辆的标识，历史用户身份信息对应的用户或车辆可以是车辆在第一车道通过目标路口时有转向违规风险，从而生成提示信息的用户或车辆。
从而，车辆获取当前用户身份信息，车辆可以根据所述当前用户身份信息与所述历史用户身份信息的一致性比较结果，生成提醒信息。其中，当前用户身份信息可以包括所述车辆的第一标识或者所述车辆的当前驾驶员的身份信息中的至少一项。下面以方式d1-方式d3举例说明。
方式d1，用户身份信息为车辆的第一标识，例如，车辆的序列码，车辆注册在相应应 用上的标识信息等。此时，车辆可以基于地图中的第一信息中的历史用户身份信息，确定该用户身份信息对应的第一信息，从而，仅针对该车辆，生成提醒信息。
方式d2，还可以是基于用户以车辆注册在车辆的应用上的身份信息，从而，车辆可以根据地图，获取基于该身份信息对应的第一信息。
方式d3，还可以是以驾驶员的身份信息注册在车辆的应用上的身份信息，从而，车辆可以根据地图，获取驾驶员对应的第一信息，而不限于一个车辆上的第一信息，从而，可以为驾驶员提供个性化的提醒信息。
另一种可能的实现方式，考虑到导航模块规划的导航路径可能有多条，此时，导航地图模块可以根据K条路径上对应的车道级别道路信息，对K条路径的拥堵程度、路径上存在的第一信息的数量进行排序，进而确定K条路径的行驶舒适程度，从而筛选K条路径。例如，导航地图模块可以根据K条路径上的各个子路径的道路类型，车道的曲率、坡度，以及各个子路径的当前天气和交通流量数据，确定K条路径上的各个子路径的最高车速、平均车速、加速减速的频率等，确定路径的拥塞程度，进一步的，根据路径上的第一信息的数量，确定存在可能出现行驶错误的路径。进而根据上述信息，对K条路径进行筛选。例如，以K条路径为4条为例，以通行时间长度排序，第1条路径的通行时间长度为10分钟、第2条路径的通行时间长度为9分钟、第3条路径的通行时间长度为9分钟、第4条路径的通行时间长度为8分钟。以出现第一信息的数量排序，为第1条路径的出现第一信息的数量为1,第2条路径的出现第一信息的数量为2,第3条路径的出现第一信息的数量为1,第4条路径的出现第一信息的数量为1。此时，可以得到4条路径的行驶舒适程度的排序为：第4条，第3条，第2条，第1条。从而，可以将第4条路径推荐给用户，生成提醒信息。该提醒信息用于提醒用户，第4条路径的用时和易违规道路较少，建议采用该路径行驶。该提醒信息可以是在车辆启动之前，开始规划路径时生成的，也可以是在车辆行驶过程中，实时更新的，在此不做限定。
考虑到在车辆行驶过程中，可能存在车辆并未根据导航规划的路径行驶的场景。例如，由于道路拥堵，或者，车道的转向标识被遮挡等原因，导致车辆没有及时变道，或者，由于车道的标识更新等问题，导致车辆没有进入指定方向的车道，进而可能出现偏航或已偏航的问题。
基于上述问题，本申请实施例中，导航地图模块根据地图中的所述第一信息，及导航路径，若确定导航路径中存在易违规的车道，则可以根据确定出的易违规的车道的第一信息、车辆当前位置信息以及目的地，可以及时更新行驶路径，以降低偏航的影响。
地图模块确定车辆所在的车道为车道1，且车道1的车道方向为左转。地图模块根据导航路径，可以确定车辆在当前道路上应行驶方向为直行，因此，地图模块可以确定车辆若继续按照当前车道行驶，则在经过路口时，有较大概率进入左转车道，进而导致车辆偏航。车辆由于进入错误车道导致偏航的场景中，车辆在确定可能偏航所处的位置是否允许变道等因素有关。
例如，如图7a所示，车辆所处位置允许变道，即车辆可以从左转道切换至直行车道，当车辆基于提示信息完成变道后，例如，变换到直行车道，此时，可以仍采用原有的导航路径1。如图7b所示，车辆所处位置不允许变道，则此时车辆的偏航概率较高。此时可以 生成提醒信息，该提醒信息可以用于提示用户是否需要根据当前车道的行驶方向切换导航路径等。例如，如图7b所示，车辆当前位置A所在的车道为车道1，导航地图模块可以根据当前位置A，当前位置A对应的车道1的转向规则(左转)和目的地Y，规划导航路径2。导航地图模块可以将规划后的路径作为备选路径存储至导航地图模块，也可以直接显示至用户界面，用于通知用户是否需要切换导航路径。在导航地图模块接收到用户的切换导航路径的指令后，将备选路径作为更新后的导航路径，向用户展示更新后导航路径。在避免用户未注意到当前车道为左转车道而根据原有的导航路线继续行驶导致出现违反交通法规的行为的同时，提高导航效果。
下面结合附图介绍本申请实施例中用来实现上述方法的装置。因此，上文中的内容均可以用于后续实施例中，重复的内容不再赘述。
图8为本申请实施例提供的辅助驾驶提醒装置800的结构框图。示例性地，辅助驾驶提醒装置800例如为地图服务器、终端设备、车辆或车载装置。辅助驾驶提醒装置800包括：预测模块801、距离确定模块802和提示信息生成模块803。其中，预测模块801、距离确定模块802和提示信息生成模块803可以是彼此独立的装置，预测模块801、距离确定模块802可以是地图服务器内的模块或单元，提示信息生成模块803是车载装置中的模块或单元。预测模块801、距离确定模块802和提示信息生成模块803之间可以通过有线方式或无线方式进行通信。或者，预测模块801、距离确定模块802和提示信息生成模块803也可以是位于车辆中的车载装置，预测模块801、距离确定模块802和提示信息生成模块803之间可以通过有线方式或无线方式进行通信。
示例性地，辅助驾驶提醒装置800可以是车载装置，也可以是应用于车载装置中的芯片，或者是终端装置中具有地图生成功能的组合器件、部件，或者其他具有辅助驾驶提醒功能的组合器件、部件等。或者，辅助驾驶提醒装置800还可以是地图服务器，也可以是应用于地图服务器中的芯片。当辅助驾驶提醒装置800是具有终端功能的部件时，预测模块801、距离确定模块802和提示信息生成模块803可以是处理器，例如基带处理器。当辅助驾驶提醒装置800是芯片系统时，预测模块801、距离确定模块802和提示信息生成模块803可以是芯片系统的处理器，可以包括一个或多个中央处理模块。当辅助驾驶提醒装置800为地图服务器时，预测模块801、距离确定模块802和提示信息生成模块803可以是处理器，例如基带处理器，基带处理器中可以包括一个或多个中央处理模块(central processing unit，CPU)。
辅助驾驶提醒装置800还可以包括发送模块804。当辅助驾驶提醒装置800是具有终端功能的部件时，发送模块804可以是射频单元，当辅助驾驶提醒装置800是芯片系统时，发送模块804可以是芯片系统(例如基带芯片)的输入输出接口。当辅助驾驶提醒装置800为地图服务器时，发送模块804可以是收发器，可以包括天线和射频电路等，也可以是与处理器耦合的接口电路。
其中，预测模块801、距离确定模块802和提示信息生成模块803可以用于执行图3所示的实施例中由辅助驾驶提醒装置所执行的除了收发操作之外的全部操作，和/或用于支持本文所描述的技术的其它过程。发送模块804可以用于执行图3所示的实施例中由辅助驾驶提醒装置所执行的全部发送操作，和/或用于支持本文所描述的技术的其它过程。
另外，发送模块804可以是一个功能模块，该功能模块既能完成发送操作也能完成接收操作，例如发送模块804是辅助驾驶提醒装置800所包括的模块，则发送模块804可以 用于执行图3所示的实施例中由辅助驾驶提醒装置所执行的全部发送操作和接收操作，例如，在执行发送操作时，可以认为发送模块804是发送模块，而在执行接收操作时，可以认为发送模块804是接收模块；或者，发送模块804也可以是两个功能模块的统称，这两个功能模块分别为发送模块和接收模块，发送模块用于完成发送操作，例如发送模块804是车辆所包括的模块，则发送模块可以用于执行图3所示的实施例中由辅助驾驶提醒装置所执行的全部发送操作，接收模块用于完成接收操作，例如发送模块804是车辆所包括的模块，则接收模块可以用于执行图3所示的实施例中由辅助驾驶提醒装置所执行的全部接收操作。
其中，预测模块801，用于根据地图信息、车辆的定位位置和所述车辆的运动状态，预测目标路口，所述目标路口为所述车辆未来将首先经过的路口；
距离确定模块802，用于根据所述地图信息和所述车辆的定位位置确定所述车辆相对于所述目标路口的距离；
提示信息生成模块803，用于在通过所述距离确定模块确定所述车辆相对于所述目标路口的距离小于第一阈值时，根据所述车辆的转向灯状态和所述目标路口关于所述车辆所在第一车道的第一转向规则，生成提示信息，所述提示信息用于提示所述转向灯状态不符合所述第一转向规则。
一种可能的实现方式，在通过所述距离确定模块802确定所述车辆相对于所述目标路口的距离小于所述第一阈值且大于第二阈值时，所述提示信息还用于提示所述车辆从所述第一车道变换到第二车道，所述转向灯状态符合所述目标路口关于所述第二车道的第二转向规则，其中所述第二阈值小于所述第一阈值。
一种可能的实现方式，在通过所述距离确定模块802确定所述车辆相对于所述目标路口的距离小于第二阈值时，所述提示信息还用于提示应该在所述第一车道上按照所述第一转向规则经过所述目标路口，其中所述第二阈值小于所述第一阈值。
一种可能的实现方式，所述第一阈值与所述第一车道的实线长度、所述车辆的行驶速度或所述车辆的定位位置附近的交通拥塞程度中的至少一项相关。
一种可能的实现方式，所述第二阈值与所述第一车道的实线长度、所述车辆的行驶速度或所述车辆的定位位置附近的交通拥塞程度中的至少一项相关。
一种可能的实现方式，还包括：发送模块804；发送模块804用于：向服务器上报第一信息；或者，还包括：存储模块805，用于存储所述第一信息；其中，所述第一信息根据所述提示信息生成，用于记录所述目标路口的所述第一车道为易转向违规车道。
一种可能的实现方式，所述第一信息包括所述车辆的第一标识或者所述车辆的当前驾驶员的第一身份信息中的至少一项。
本申请实施例中对单元的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，另外，在本申请各个实施例中的各功能单元可以集成在一个处理器中，也可以是单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
图8中的各个单元的只一个或多个可以软件、硬件、固件或其结合实现。所述软件或固件包括但不限于计算机程序指令或代码，并可以被硬件处理器所执行。所述硬件包括但不限于各类集成电路，如中央处理单元(CPU)、数字信号处理器(DSP)、现场可编程门阵列(FPGA)或专用集成电路(ASIC)。
图9为本申请实施例提供的辅助驾驶提醒装置900的结构框图。图9所示的辅助驾驶提醒装置900包括至少一个处理器901。辅助驾驶提醒装置900还包括至少一个存储器902，用于存储程序指令和/或数据。存储器902和处理器901耦合。本申请实施例中的耦合是装置、单元或模块之间的间接耦合或通信连接，可以是电性、机械性或其它的形式，用于装置、单元或模块之间的信息交互。处理器901可以和存储器902协同操作，处理器901可以执行存储器902中存储的程序指令，所述至少一个存储器902中的至少一个可以包括于处理器901中。
辅助驾驶提醒装置900还可包括通信接口903，用于通过传输介质和其它设备进行通信，从而用于辅助驾驶提醒装置900可以和其它设备进行通信。在本申请实施例中，通信接口可以是收发器、电路、总线、模块或其它类型的通信接口。在本申请实施例中，通信接口为收发器时，收发器可以包括独立的接收器、独立的发射器；也可以集成收发功能的收发器、或者接口电路等。
应理解，本申请实施例中不限定上述处理器901、存储器902以及通信接口903之间的连接介质。本申请实施例在图9中以存储器902、处理器901以及通信接口903之间通过通信总线904连接，总线在图9中以粗线表示，其它部件之间的连接方式，仅是示意性说明，并不作为限定。所述总线可以包括地址总线、数据总线、控制总线等。为了便于表示，图9中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线等。
在一种示例中，辅助驾驶提醒装置900用于实现上述图3所示流程中辅助驾驶提醒装置执行的步骤，辅助驾驶提醒装置900可以是服务器，或者服务器内的芯片或电路。通信接口903，用于执行上文实施例中辅助驾驶提醒装置收发的相关操作。处理器901，用于执行上文方法实施例中辅助驾驶提醒装置的处理相关操作。
比如，处理器901，据地图信息、车辆的定位位置和所述车辆的运动状态，预测目标路口，所述目标路口为所述车辆未来将首先经过的路口；根据所述地图信息和所述车辆的定位位置确定所述车辆相对于所述目标路口的距离；在通过所述距离确定模块确定所述车辆相对于所述目标路口的距离小于第一阈值时，根据所述车辆的转向灯状态和所述目标路口关于所述车辆所在第一车道的第一转向规则，生成提示信息，所述提示信息用于提示所述转向灯状态不符合所述第一转向规则。
图10为本申请实施例提供的地图辅助驾驶提醒装置1000，该地图辅助驾驶提醒装置1000可以是通信设备或能够支持通信设备实现该方法所需的功能的通信装置，例如芯片系统。示例性的，地图辅助驾驶提醒装置1000可以是服务器、终端设备、车辆或车载装置。所述装置包括：确定模块1001，提醒信息生成模块1002，还可以包括获取模块1003。其中，确定模块1001，提醒信息生成模块1002，获取模块1003可以是彼此独立的装置，例如，确定模块1001，提醒信息生成模块1002可以是地图服务器内的模块或单元，获取模块1003可以是车载装置中的模块，确定模块1001，提醒信息生成模块1002，获取模块1003之间可以通过有线方式或无线方式进行通信。或者，确定模块1001，提醒信息生成模块1002，获取模块1003也可以是位于车辆中的车载装置，确定模块1001，提醒信息生成模块1002，获取模块1003之间可以通过有线方式或无线方式进行通信。
示例性地，地图辅助驾驶提醒装置1000可以是车载装置，也可以是应用于车载装置中的芯片，或者是终端装置中具有地图生成功能的组合器件、部件，或者其他具有辅助驾驶提醒功能的组合器件、部件等。或者，地图辅助驾驶提醒装置1000还可以是地图服务 器，也可以是应用于地图服务器中的芯片。当地图辅助驾驶提醒装置1000是具有终端功能的部件时，确定模块1001和提醒信息生成模块1002以是处理器，例如基带处理器。当地图辅助驾驶提醒装置1000是芯片系统时，确定模块1001和提醒信息生成模块1002可以是芯片系统的处理器，可以包括一个或多个中央处理模块。当地图辅助驾驶提醒装置1000为地图服务器时，确定模块1001和提醒信息生成模块1002可以是处理器，例如基带处理器，基带处理器中可以包括一个或多个中央处理模块。
地图辅助驾驶提醒装置1000还可以包括获取模块1003。当地图辅助驾驶提醒装置1000是具有终端功能的部件时，获取模块1003可以是射频单元，当地图辅助驾驶提醒装置1000是芯片系统时，获取模块1003可以是芯片系统(例如基带芯片)的输入输出接口。当地图辅助驾驶提醒装置1000为地图服务器时，获取模块1003可以是收发器，可以包括天线和射频电路等，也可以是与处理器耦合的接口电路。
其中，确定模块1001和提醒信息生成模块1002可以用于执行图6所示的实施例中由地图辅助驾驶提醒装置所执行的除了收发操作之外的全部操作，和/或用于支持本文所描述的技术的其它过程。获取模块1003可以用于执行图6所示的实施例中由地图辅助驾驶提醒装置所执行的全部发送操作，和/或用于支持本文所描述的技术的其它过程。
另外，获取模块1003可以是一个功能模块，该功能模块既能完成发送操作也能完成接收操作，例如获取模块1003是地图辅助驾驶提醒装置1000所包括的模块，则获取模块1003可以用于执行图6所示的实施例中由地图辅助驾驶提醒装置所执行的全部发送操作和接收操作，例如，在执行发送操作时，可以认为获取模块1003是发送模块，而在执行接收操作时，可以认为获取模块1003是接收模块；或者，获取模块1003也可以是两个功能模块的统称，这两个功能模块分别为发送模块和接收模块，发送模块用于完成发送操作，例如获取模块1003是车辆所包括的模块，则发送模块可以用于执行图6所示的实施例中由地图辅助驾驶提醒装置所执行的全部发送操作，接收模块用于完成接收操作，例如获取模块1003是车辆所包括的模块，则接收模块可以用于执行图6所示的实施例中由地图辅助驾驶提醒装置所执行的全部接收操作。
其中，确定模块1001，用于根据行驶路径规划结果确定车辆将从第一方向经过所述目标路口，以及根据本申请实施例中包括第一信息的地图，确定可用于从所述第一方向经过所述目标路口的所述第一车道，所述第一车道为所述地图中的所述第一信息记录的至少一个易转向违规车道中的一个车道；提醒信息生成模块1002，用于生成提醒信息，所述提醒信息用于提醒驾驶员基于规划的行驶路线未来可能途经的所述第一车道为易转向违规车道。
一种可能的实现方式，所述第一信息还包括在所述第一车道通过所述目标路口时有转向违规风险的历史用户身份信息，所述历史用户身份信息包括所述第一标识或者所述第一身份信息中的至少一项。获取模块1003，用于获取当前用户身份信息，所述当前用户身份信息包括所述车辆的标识或者所述车辆的当前驾驶员的身份信息中的至少一项；提醒信息生成模块1002，用于根据所述当前用户身份信息与所述历史用户身份信息的一致性比较结果，生成所述提醒信息。
图11为本申请实施例提供的地图辅助驾驶提醒装置1100，该地图辅助驾驶提醒装置1100可以是通信设备或能够支持通信设备实现该方法所需的功能的通信装置，例如芯片系统。示例性的，地图辅助驾驶提醒装置可以是服务器、终端设备、车辆或车载装置。所述 装置包括：确定模块1101，提醒信息生成模块1102。还可以包括获取模块1103。其中，确定模块1101，提醒信息生成模块1102，获取模块1103可以是彼此独立的装置，例如，确定模块1101，提醒信息生成模块1102可以是地图服务器内的模块或单元，获取模块1103可以是车载装置中的模块，确定模块1101，提醒信息生成模块1102，获取模块1103之间可以通过有线方式或无线方式进行通信。或者，确定模块1101，提醒信息生成模块1102，获取模块1103也可以是位于车辆中的车载装置，确定模块1101，提醒信息生成模块1102，获取模块1103之间可以通过有线方式或无线方式进行通信。
示例性地，地图辅助驾驶提醒装置1100可以是车载装置，也可以是应用于车载装置中的芯片，或者是终端装置中具有地图生成功能的组合器件、部件，或者其他具有辅助驾驶提醒功能的组合器件、部件等。或者，地图辅助驾驶提醒装置1100还可以是地图服务器，也可以是应用于地图服务器中的芯片。当地图辅助驾驶提醒装置1100是具有终端功能的部件时，确定模块1101和提醒信息生成模块1102以是处理器，例如基带处理器。当地图辅助驾驶提醒装置1100是芯片系统时，确定模块1101和提醒信息生成模块1102可以是芯片系统的处理器，可以包括一个或多个中央处理模块。当地图辅助驾驶提醒装置1100为地图服务器时，确定模块1101和提醒信息生成模块1102可以是处理器，例如基带处理器，基带处理器中可以包括一个或多个中央处理模块。
地图辅助驾驶提醒装置1100还可以包括获取模块1103。当地图辅助驾驶提醒装置1100是具有终端功能的部件时，获取模块1103可以是射频单元，当地图辅助驾驶提醒装置1100是芯片系统时，获取模块1103可以是芯片系统(例如基带芯片)的输入输出接口。当地图辅助驾驶提醒装置1100为地图服务器时，获取模块1103可以是收发器，可以包括天线和射频电路等，也可以是与处理器耦合的接口电路。
其中，确定模块1101和提醒信息生成模块1102可以用于执行图6所示的实施例中由地图辅助驾驶提醒装置所执行的除了收发操作之外的全部操作，和/或用于支持本文所描述的技术的其它过程。获取模块1103可以用于执行图6所示的实施例中由地图辅助驾驶提醒装置所执行的全部发送操作，和/或用于支持本文所描述的技术的其它过程。
另外，获取模块1103可以是一个功能模块，该功能模块既能完成发送操作也能完成接收操作，例如获取模块1103是地图辅助驾驶提醒装置1100所包括的模块，则获取模块1103可以用于执行图6所示的实施例中由地图辅助驾驶提醒装置所执行的全部发送操作和接收操作，例如，在执行发送操作时，可以认为获取模块1103是发送模块，而在执行接收操作时，可以认为获取模块1103是接收模块；或者，获取模块1103也可以是两个功能模块的统称，这两个功能模块分别为发送模块和接收模块，发送模块用于完成发送操作，例如获取模块1103是车辆所包括的模块，则发送模块可以用于执行图6所示的实施例中由地图辅助驾驶提醒装置所执行的全部发送操作，接收模块用于完成接收操作，例如获取模块1103是车辆所包括的模块，则接收模块可以用于执行图6所示的实施例中由地图辅助驾驶提醒装置所执行的全部接收操作。
其中，确定模块1101，用于根据行驶路径规划结果确定车辆将从第一方向经过所述目标路口，以及根据地图确定可用于从所述第一方向经过所述目标路口的所述第一车道，所述第一车道为所述地图中的所述第一信息记录的至少一个易转向违规车道中的一个车道；其中，所述地图包括第一信息；第一信息根据提示信息生成，用于记录目标路口的所述第一车道为易转向违规车道；所述提示信息用于提示车辆的转向灯状态不符合车辆所在第一 车道的第一转向规则；
提醒信息生成模块1102，用于生成提醒信息，所述提醒信息用于提醒驾驶员基于规划的行驶路线未来可能途经的所述第一车道为易转向违规车道。
一种可能的实现方式，所述提示信息为在所述车辆相对于所述目标路口的距离小于第一阈值时，根据所述车辆的转向灯状态和所述目标路口的第一转向规则生成的；所述目标路口为根据地图信息、车辆的定位位置和所述车辆的运动状态，预测的目标路口；所述目标路口为所述车辆未来将首先经过的路口；车辆相对于所述目标路口的距离为根据所述地图信息和所述车辆的定位位置确定的。
一种可能的实现方式，所述第一信息包括所述车辆的第一标识或者所述车辆的当前驾驶员的第一身份信息中的至少一项。
一种可能的实现方式，第一信息为车辆向服务器上报的，或者第一信息为车辆存储的。
一种可能的实现方式，在所述车辆相对于所述目标路口的距离小于所述第一阈值且大于第二阈值时，所述提示信息还用于提示所述车辆从所述第一车道变换到第二车道，所述转向灯状态符合所述目标路口关于所述第二车道的第二转向规则，其中所述第二阈值小于所述第一阈值。
一种可能的实现方式，在所述车辆相对于所述目标路口的距离小于第二阈值时，所述提示信息还用于提示应该在所述第一车道上按照所述第一转向规则经过所述目标路口，其中所述第二阈值小于所述第一阈值。
一种可能的实现方式，所述第一阈值与所述第一车道的实线长度、所述车辆的行驶速度或所述车辆的定位位置附近的交通拥塞程度中的至少一项相关。
一种可能的实现方式，所述第二阈值与所述第一车道的实线长度、所述车辆的行驶速度或所述车辆的定位位置附近的交通拥塞程度中的至少一项相关。
一种可能的实现方式，所述第一信息还包括在所述第一车道通过所述目标路口时有转向违规风险的历史用户身份信息，所述历史用户身份信息包括所述第一标识或者所述第一身份信息中的至少一项，获取模块1103，用于获取当前用户身份信息，所述当前用户身份信息包括所述车辆的标识或者所述车辆的当前驾驶员的身份信息中的至少一项；提醒信息生成模块1102，用于根据所述当前用户身份信息与所述历史用户身份信息的一致性比较结果，生成所述提醒信息。
图12所示的地图辅助驾驶提醒装置1200包括至少一个处理器1201。该地图辅助驾驶提醒装置1200还包括至少一个存储器1202，用于存储程序指令和/或数据。存储器1202和处理器1201耦合。本申请实施例中的耦合是装置、单元或模块之间的间接耦合或通信连接，可以是电性、机械性或其它的形式，用于装置、单元或模块之间的信息交互。处理器1201可以和存储器1202协同操作，处理器1201可以执行存储器1202中存储的程序指令，所述至少一个存储器1202中的至少一个可以包括于处理器1201中。
地图辅助驾驶提醒装置1200还可包括通信接口1203，用于通过传输介质和其它设备进行通信，从而用于地图辅助驾驶提醒装置1200可以和其它设备进行通信。在本申请实施例中，通信接口可以是收发器、电路、总线、模块或其它类型的通信接口。在本申请实施例中，通信接口为收发器时，收发器可以包括独立的接收器、独立的发射器；也可以集成收发功能的收发器、或者接口电路等。
应理解，本申请实施例中不限定上述处理器1201、存储器1202以及通信接口1203之 间的连接介质。本申请实施例在图12中以存储器1202、处理器1201以及通信接口1203之间通过通信总线1204连接，总线在图12中以粗线表示，其它部件之间的连接方式，仅是示意性说明，并不作为限定。所述总线可以包括地址总线、数据总线、控制总线等。为了便于表示，图12中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线等。
在一种示例中，地图辅助驾驶提醒装置1200用于实现上述图6所示流程中地图辅助驾驶提醒装置执行的步骤，地图辅助驾驶提醒装置1200可以是终端，或者终端内的芯片或电路。地图辅助驾驶提醒装置1200也可以是服务器，或服务器内的芯片。通信接口1203，用于执行上文实施例中地图辅助驾驶提醒装置收发的相关操作。处理器1201，用于执行上文方法实施例中地图辅助驾驶提醒装置的处理相关操作。
比如，处理器1201，用于根据行驶路径规划结果确定车辆将从第一方向经过所述目标路口，以及根据本申请实施例中包括第一信息的地图，确定可用于从所述第一方向经过所述目标路口的所述第一车道，所述第一车道为所述地图中的所述第一信息记录的至少一个易转向违规车道中的一个车道；生成提醒信息，所述提醒信息用于提醒驾驶员基于规划的行驶路线未来可能途经的所述第一车道为易转向违规车道。
或者，处理器1201，用于根据行驶路径规划结果确定车辆将从第一方向经过所述目标路口，以及根据地图确定可用于从所述第一方向经过所述目标路口的所述第一车道，所述第一车道为所述地图中的所述第一信息记录的至少一个易转向违规车道中的一个车道；其中，所述地图包括第一信息；第一信息根据提示信息生成，用于记录目标路口的所述第一车道为易转向违规车道；所述提示信息用于提示车辆的转向灯状态不符合车辆所在第一车道的第一转向规则；生成提醒信息，所述提醒信息用于提醒驾驶员基于规划的行驶路线未来可能途经的所述第一车道为易转向违规车道。
本申请提供一种计算机可读存储介质，包括计算机指令，当所述计算机指令在被处理器运行时，使得所述辅助驾驶提醒装置执行本申请实施例中所述的辅助驾驶提醒方法。
本申请提供一种计算机可读存储介质，包括计算机指令，当所述计算机指令在被处理器运行时，使得所述地图辅助驾驶提醒装置地图执行本申请实施例中所述的辅助驾驶提醒方法。
本申请提供一种计算机程序产品，当所述计算机程序产品在处理器上运行时，使得所述辅助驾驶提醒装置执行本申请实施例中所述的辅助驾驶提醒方法。
本申请提供一种计算机程序产品，当所述计算机程序产品在处理器上运行时，使得所述地图辅助驾驶提醒装置执行本申请实施例中所述的地图辅助驾驶提醒方法。
本申请提供一种通信系统，该通信系统包括图8所述的辅助驾驶提醒装置800或图9所述的辅助驾驶提醒装置900，还可以包括图10所述的地图辅助驾驶提醒装置1000、图11所述的地图辅助驾驶提醒装置1100或图12所述的地图辅助驾驶提醒装置1200。
本申请实施例还提供一种计算机存储介质，所述计算机可读存储介质中存储有指令，当其在处理器上运行时，使得所述定位装置执行上述实施例任意一种可能的实施方式中所述的方法。
本申请实施例还提供一种包含指令的计算机程序产品，所述计算机程序产品中存储有指令，当其在处理器上运行时，使得所述定位装置执行上述实施例任意一种可能的实施方式中所述的方法。
在本申请实施例中，处理器可以是通用处理器、数字信号处理器、专用集成电路、现 场可编程门阵列或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件，可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。
在本申请实施例中，存储器可以是非易失性存储器，比如硬盘(hard disk drive，HDD)或固态硬盘(solid-state drive，SSD)等，还可以是易失性存储器(volatile memory)，例如随机存取存储器(random-access memory，RAM)。存储器是能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。本申请实施例中的存储器还可以是电路或者其它任意能够实现存储功能的装置，用于存储程序指令和/或数据。
本申请实施例提供的方法中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时，全部或部分地产生按照本发明实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、网络设备、用户设备或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，简称DSL)或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机可以存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质(例如，软盘、硬盘、磁带)、光介质(例如，数字视频光盘(digital video disc，简称DVD)、或者半导体介质(例如，SSD)等。
显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。
本申请实施例中，“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B的情况，其中A,B可以是单数或者复数。字符“/”一般表示前后关联对象是一种“或”的关系。“以下至少一项(个)”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a,b,或c中的至少一项(个)，可以表示：a,b,c,a和b,a和c,b和c,或a和b和c，其中a,b,c可以是单个，也可以是多个。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请是参照根据本申请的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/ 或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，在没有超过本申请的范围内，可以通过其他的方式实现。例如，以上所描述的实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
另外，所描述装置和方法以及不同实施例的示意图，在不超出本申请的范围内，可以与其它系统，模块，技术或方法结合或集成。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电子、机械或其它的形式。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应所述以权利要求的保护范围为准。

Claims (27)

  1. 一种辅助驾驶提醒方法，其特征在于，该方法包括：
    根据地图信息、车辆的定位位置和所述车辆的运动状态，预测目标路口，所述目标路口为所述车辆未来将首先经过的路口；
    根据所述地图信息和所述车辆的定位位置确定所述车辆相对于所述目标路口的距离；
    在所述车辆相对于所述目标路口的距离小于第一阈值时，根据所述车辆的转向灯状态和所述目标路口关于所述车辆所在第一车道的第一转向规则，生成提示信息，所述提示信息用于提示所述转向灯状态不符合所述第一转向规则。
  2. 如权利要求1所述的方法，其特征在于，所述方法还包括：
    在所述车辆相对于所述目标路口的距离小于所述第一阈值且大于第二阈值时，所述提示信息还用于提示所述车辆从所述第一车道变换到第二车道，所述转向灯状态符合所述目标路口关于所述第二车道的第二转向规则，其中所述第二阈值小于所述第一阈值。
  3. 如权利要求1所述的方法，其特征在于，所述方法还包括：
    在所述车辆相对于所述目标路口的距离小于第二阈值时，所述提示信息还用于提示应该在所述第一车道上按照所述第一转向规则经过所述目标路口，其中所述第二阈值小于所述第一阈值。
  4. 如权利要求1-3任一项所述的方法，其特征在于，所述第一阈值与所述第一车道的实线长度、所述车辆的行驶速度或所述车辆的定位位置附近的交通拥塞程度中的至少一项相关。
  5. 如权利要求1-4任一项所述的方法，其特征在于，所述第二阈值与所述第一车道的实线长度、所述车辆的行驶速度或所述车辆的定位位置附近的交通拥塞程度中的至少一项相关。
  6. 如权利要求1-5任一项所述的方法，其特征在于，所述方法还包括：
    向服务器上报第一信息；或者，存储所述第一信息；
    其中，所述第一信息根据所述提示信息生成，用于记录所述目标路口的所述第一车道为易转向违规车道。
  7. 如权利要求6所述的方法，其特征在于，所述第一信息包括所述车辆的第一标识或者所述车辆的当前驾驶员的第一身份信息中的至少一项。
  8. 一种地图，其特征在于，所述地图包括第一信息，所述第一信息用于记录至少一个目标路口的至少一个车道为易转向违规车道。
  9. 如权利要求8所述的地图，其特征在于，所述第一信息是针对一个用户定制的信息，或者是针对多个用户通用的信息。
  10. 如权利要求9所述的地图，其特征在于，所述第一信息包括所述一个用户或所述多个用户的标识，所述一个用户或所述多个用户的标识包括车辆的标识或者车辆的驾驶员的身份信息中的至少一项。
  11. 一种地图辅助驾驶提醒方法，其特征在于，所述方法包括：
    根据行驶路径规划结果确定车辆将从第一方向经过所述目标路口；
    根据如权利要求8-10任一项所述的地图，确定可用于从所述第一方向经过所述目标路口的所述第一车道，所述第一车道为所述地图中的所述第一信息记录的至少一个易转向违 规车道中的一个车道；
    生成提醒信息，所述提醒信息用于提醒驾驶员基于规划的行驶路线未来可能途经的所述第一车道为易转向违规车道。
  12. 如权利要求11所述的方法，其特征在于，所述第一信息还包括在所述第一车道通过所述目标路口时有转向违规风险的历史用户身份信息，所述历史用户身份信息包括车辆的标识或者车辆的驾驶员的身份信息中的至少一项，所述方法还包括：
    获取当前用户身份信息，所述当前用户身份信息包括车辆的标识或者车辆的当前驾驶员的身份信息中的至少一项；
    所述生成提醒信息包括：
    根据所述当前用户身份信息与所述历史用户身份信息的一致性比较结果，生成所述提醒信息。
  13. 一种辅助驾驶提醒装置，其特征在于，所述装置包括：
    预测模块，用于根据地图信息、车辆的定位位置和所述车辆的运动状态，预测目标路口，所述目标路口为所述车辆未来将首先经过的路口；
    距离确定模块，用于根据所述地图信息和所述车辆的定位位置确定所述车辆相对于所述目标路口的距离；
    提示信息生成模块，用于在通过所述距离确定模块确定所述车辆相对于所述目标路口的距离小于第一阈值时，根据所述车辆的转向灯状态和所述目标路口关于所述车辆所在第一车道的第一转向规则，生成提示信息，所述提示信息用于提示所述转向灯状态不符合所述第一转向规则。
  14. 如权利要求13所述的装置，其特征在于，在通过所述距离确定模块确定所述车辆相对于所述目标路口的距离小于所述第一阈值且大于第二阈值时，所述提示信息还用于提示所述车辆从所述第一车道变换到第二车道，所述转向灯状态符合所述目标路口关于所述第二车道的第二转向规则，其中所述第二阈值小于所述第一阈值。
  15. 如权利要求13所述的装置，其特征在于，在通过所述距离确定模块确定所述车辆相对于所述目标路口的距离小于第二阈值时，所述提示信息还用于提示应该在所述第一车道上按照所述第一转向规则经过所述目标路口，其中所述第二阈值小于所述第一阈值。
  16. 如权利要求13-15任一项所述的装置，其特征在于，所述第一阈值与所述第一车道的实线长度、所述车辆的行驶速度或所述车辆的定位位置附近的交通拥塞程度中的至少一项相关。
  17. 如权利要求13-16任一项所述的装置，其特征在于，所述第二阈值与所述第一车道的实线长度、所述车辆的行驶速度或所述车辆的定位位置附近的交通拥塞程度中的至少一项相关。
  18. 如权利要求13-17任一项所述的装置，其特征在于，还包括：发送模块；所述发送模块用于：向服务器上报第一信息；
    或者，还包括：存储模块，用于存储所述第一信息；
    其中，所述第一信息根据所述提示信息生成，用于记录所述目标路口的所述第一车道为易转向违规车道。
  19. 如权利要求18所述的装置，其特征在于，所述第一信息包括所述车辆的第一标识或者所述车辆的当前驾驶员的第一身份信息中的至少一项。
  20. 一种地图辅助驾驶提醒装置，其特征在于，所述装置包括：
    确定模块，用于根据行驶路径规划结果确定车辆将从第一方向经过所述目标路口，以及根据如权利要求8-10任一项所述的地图确定可用于从所述第一方向经过所述目标路口的所述第一车道，所述第一车道为所述地图中的所述第一信息记录的至少一个易转向违规车道中的一个车道；
    提醒信息生成模块，用于生成提醒信息，所述提醒信息用于提醒驾驶员基于规划的行驶路线未来可能途经的所述第一车道为易转向违规车道。
  21. 如权利要求20所述的装置，其特征在于，所述第一信息还包括在所述第一车道通过所述目标路口时有转向违规风险的历史用户身份信息，所述历史用户身份信息包括车辆的标识或者车辆的驾驶员的身份信息中的至少一项，所述装置还包括：
    获取模块，用于获取当前用户身份信息，所述当前用户身份信息包括车辆的标识或者车辆的当前驾驶员的身份信息中的至少一项；
    所述提醒信息生成模块生成提醒信息，包括根据所述当前用户身份信息与所述历史用户身份信息的一致性比较结果，生成所述提醒信息。
  22. 一种辅助驾驶提醒装置，其特征在于，包括：
    处理器和接口电路；
    其中，所述处理器通过所述接口电路与存储器耦合，所述处理器用于执行所述存储器中的程序代码，以实现如权利要求1-7中任一项所述的方法。
  23. 一种地图辅助驾驶提醒装置，其特征在于，包括：
    处理器和接口电路；
    其中，所述处理器通过所述接口电路与存储器耦合，所述处理器用于执行所述存储器中的程序代码，以实现如权利要求11或12所述的方法。
  24. 一种计算机可读存储介质，其特征在于，包括计算机指令，当所述计算机指令在被处理器运行时，使得所述辅助驾驶提醒装置执行如权利要求1-7任一项所述的方法。
  25. 一种计算机可读存储介质，其特征在于，包括计算机指令，当所述计算机指令在被处理器运行时，使得所述地图辅助驾驶提醒装置执行如权利要求11或12所述的方法。
  26. 一种计算机程序产品，其特征在于，包括计算机指令，当所述计算机指令在被处理器运行时，使得所述辅助驾驶提醒装置执行如权利要求1-7任一项所述的方法。
  27. 一种计算机程序产品，其特征在于，包括计算机指令，当所述计算机指令在被处理器运行时，使得所述辅助驾驶提醒装置执行如权利要求11或12所述的方法。
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