WO2023029469A1

WO2023029469A1 - Vehicle traveling warning method and apparatus

Info

Publication number: WO2023029469A1
Application number: PCT/CN2022/084343
Authority: WO
Inventors: 李阳; 李弘扬; 王诚
Original assignee: 上海商汤智能科技有限公司
Priority date: 2021-08-30
Filing date: 2022-03-31
Publication date: 2023-03-09
Also published as: CN113581196A; CN113581196B

Abstract

A vehicle traveling warning method and apparatus, a computer device, and a storage medium, wherein the method comprises: obtaining a target traveling image corresponding to a target vehicle; recognizing the target traveling image to determine a target lane line of a lane where the target vehicle is currently located and category information of the target lane line; and giving an abnormal traveling warning for the target vehicle on the basis of the category information of the target lane line, traveling state information of the target vehicle, and positional relationship information between the target vehicle and the target lane line. According to the method, various factors affecting warning are considered, thereby improving the warning accuracy.

Description

[Title of the invention formulated by the ISA under Rule 37.2] Vehicle driving warning method and device

Cross References to Related Applications

This application claims priority to a Chinese patent application with application number CN2021110064692 filed with the China Patent Office on August 30, 2021, the entire contents of which are incorporated in this disclosure by reference.

technical field

The present disclosure relates to the technical field of information processing, and in particular, to a method, device, computer equipment, and storage medium for early warning of vehicle driving.

Background technique

The vehicle driving warning system is an important part of the vehicle's assisted driving system. It is used to warn the occupants of the vehicle by sending out an early warning signal to prevent danger when the vehicle is driving abnormally.

The vehicle driving warning method is mainly to judge the relative position of the vehicle and the lane line, and it will give an early warning when the vehicle is closer to the lane line.

The above-mentioned vehicle driving early warning method is prone to misjudgment, and the accuracy of early warning is low.

Contents of the invention

Embodiments of the present disclosure at least provide a method, device, computer equipment, and storage medium for early warning of vehicle driving.

In the first aspect, an embodiment of the present disclosure provides a method for early warning of vehicle driving, including: acquiring a target driving image corresponding to the target vehicle; identifying the target driving image, and determining the target lane line of the lane where the target vehicle is currently located and the category information of the target lane line; based on the category information of the target lane line, the driving state information of the target vehicle, and the positional relationship information between the target vehicle and the target lane line, the target vehicle is Abnormal driving warning.

In the second aspect, an embodiment of the present disclosure further provides a device for early warning of vehicle driving, including: an acquisition module, configured to acquire a target driving image corresponding to a target vehicle; a determination module, configured to identify the target driving image, and determine the The target lane line of the lane where the target vehicle is currently located and the category information of the target lane line; the early warning module is used for based on the category information of the target lane line, the driving state information of the target vehicle, and the target vehicle and the category information of the target vehicle The position relationship information of the target lane line is used to give the target vehicle an abnormal driving warning.

In a third aspect, an embodiment of the present disclosure further provides a computer device, including: a processor, a memory, and a bus, the memory stores machine-readable instructions executable by the processor, and when the computer device is running, the processing The processor communicates with the memory through a bus, and when the machine-readable instructions are executed by the processor, the above-mentioned first aspect, or the steps in any possible implementation manner of the first aspect are executed.

In a fourth aspect, embodiments of the present disclosure further provide a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned first aspect, or any of the first aspects of the first aspect, may be executed. Steps in one possible implementation.

In order to make the above-mentioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments will be described in detail below together with the accompanying drawings.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present disclosure more clearly, the following will briefly introduce the accompanying drawings used in the embodiments. The accompanying drawings here are incorporated into the specification and constitute a part of the specification. The drawings show the embodiments consistent with the present disclosure, and are used together with the description to explain the technical solution of the present disclosure. It should be understood that the following drawings only show some embodiments of the present disclosure, and therefore should not be regarded as limiting the scope. For those skilled in the art, they can also make From these drawings other related drawings are obtained.

FIG. 1 shows a flow chart of a method for early warning of vehicle driving provided by an embodiment of the present disclosure;

FIG. 2 shows a schematic diagram of a driving image in front of a target vehicle provided by an embodiment of the present disclosure;

Fig. 3 shows a schematic diagram of a device for early warning of vehicle running provided by an embodiment of the present disclosure;

Fig. 4 shows a schematic diagram of a computer device provided by an embodiment of the present disclosure.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only It is a part of the embodiments of the present disclosure, but not all of them. The components of the disclosed embodiments generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the present disclosure provided in the accompanying drawings is not intended to limit the scope of the claimed disclosure, but merely represents selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present disclosure.

After research, it is found that the vehicle driving warning system is simply based on the relative position of the vehicle and the lane line. The way of early warning is prone to misjudgment, it may not be possible to make accurate early warning, and the accuracy of early warning is low.

Based on the above research, the present disclosure provides a vehicle driving early warning method, device, computer equipment and storage medium, including: acquiring the target driving image corresponding to the target vehicle; identifying the target driving image, and determining the target vehicle in the current lane The category information of the lane line and the target lane line; based on the category information of the target lane line, the driving state information of the target vehicle, and the positional relationship information between the target vehicle and the target lane line, an abnormal driving warning is given to the target vehicle. The technical solution of the present disclosure, in addition to judging the relative position of the vehicle and the lane line, also judges the type of the lane line and the driving state of the vehicle, and considers various factors that affect the early warning, so that the vehicle early warning system combines more Information early warning, improve the accuracy of early warning.

The defects in the above solutions are all the results obtained by the inventor after practice and careful research. Therefore, the discovery process of the above problems and the solutions proposed by the present disclosure below for the above problems should be the result of the inventor Contributions made to this disclosure during the course of this disclosure.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In order to facilitate the understanding of this embodiment, a method for early warning of vehicle driving disclosed in the embodiment of the present disclosure is firstly introduced in detail. The method for early warning of vehicle driving provided by the embodiment of the present disclosure is generally executed by a computer with certain computing power device, the computer device includes, for example: an onboard processor or a server or other processing devices. In some possible implementations, when the computer device is a vehicle-mounted processor, the vehicle-mounted processor may be an advanced driving assistance system (Advanced Driving Assistant System, ADAS), and the advanced driving assistance system executes the vehicle driving warning method provided by the embodiment of the present disclosure A step of. In some possible implementation manners, when the computer device is a server, the server may be a cloud server, and the cloud server executes the steps of the method for early warning of vehicle driving provided by the embodiments of the present disclosure. In some possible implementation manners, the computer device may include an advanced driving assistance system and a cloud server, and the advanced driving assistance system and the cloud server jointly execute the steps of the method for vehicle driving warning provided by the embodiments of the present disclosure. In some possible implementation manners, the method for early warning of vehicle driving may be implemented by a processor invoking computer-readable instructions stored in a memory.

The vehicle driving warning method provided by the embodiment of the present disclosure will be described below by taking the vehicle-mounted processor as an example for execution.

Referring to FIG. 1 , it is a flow chart of a method for vehicle driving warning provided by an embodiment of the present disclosure, the method includes S101-S103, wherein:

S101: Acquire a target driving image corresponding to the target vehicle.

In the embodiment of the present disclosure, the target vehicle may include an autonomous driving vehicle, a semi-autonomous driving vehicle, or an assisted driving vehicle, and the like. The target driving image may refer to a driving image in which the speed of the target vehicle satisfies a preset condition and includes lane lines on the road where the target vehicle is located. Wherein, the vehicle speed meeting the preset condition means that the vehicle speed exceeds a set threshold.

That is, the target driving image of the target vehicle is a driving image that satisfies the following two conditions at the same time: first, the speed of the target vehicle meets the preset condition; second, the driving image includes the lane line on the road where the target vehicle is located.

In a specific implementation, the vehicle-mounted processor can obtain the target driving image in the following ways: the first way: the vehicle-mounted processor can filter out the target driving image that meets the above two conditions from all the driving images corresponding to the target vehicle acquired in real time; The second method: the on-board processor can also filter out the target driving image containing the lane line on the road where the target vehicle is located from all the driving images corresponding to the target vehicle acquired in real time when the speed of the target vehicle meets the preset conditions .

For the first way of acquiring the target driving image, in a possible implementation manner, S101 may be performed according to the following steps:

Step 11: Obtain the driving image corresponding to the target vehicle and the vehicle speed information of the target vehicle.

Step 12: Based on the vehicle speed information of the target vehicle, select the driving image corresponding to the vehicle speed information when the vehicle speed exceeds the first set threshold from the driving images as the target driving image.

In step 11, the driving image corresponding to the target vehicle can be acquired in real time by an image acquisition device, the image acquisition device can be an image acquisition device installed on the road, and the image acquisition device on the road will collect the corresponding driving image of the target vehicle After uploading to the server, the vehicle-mounted processor can send a driving image acquisition request to the server, and the server sends the corresponding driving image to the vehicle-mounted processor based on the driving image acquisition request. The image acquisition device can also be a vehicle-mounted sensor installed on the target vehicle, and the vehicle-mounted sensor can specifically include millimeter-wave radar, laser radar, monocular camera, binocular camera, and satellite navigation.

The on-board sensor can be arranged on the front of the target vehicle (for example, on the front windshield) and/or on the left and right sides of the car body, and the on-board sensor installed on the front of the vehicle can acquire the driving image in front of the target vehicle , the on-board sensors installed on the left and right sides of the vehicle body can acquire the driving images of the left and right sides of the target vehicle.

In some possible implementations, only the on-board sensor arranged at the front of the vehicle body can be used to obtain the driving image in front of the target vehicle, and the on-board processor can realize the target lane line of the lane where the target vehicle is currently located through the driving image in front of the target vehicle. In the schematic diagram of the driving image in front of the target vehicle as shown in Figure 2, it shows the driving image acquired by the on-board sensor installed in the front of the target vehicle. The on-board processor can identify the target by recognizing the driving image. The target lane line of the lane the vehicle is currently in.

In some possible implementations, the on-board processor can also recognize the target lane line of the lane where the target vehicle is currently located through the driving images on the left and right sides of the target vehicle, so only the on-board sensors arranged on both sides of the vehicle body can also be used Driving images of the left and right sides of the target vehicle can be acquired.

In some possible implementations, for example, when the front view is not good, the on-board sensors installed on the front of the vehicle body can be used to obtain the driving image in front of the target vehicle, and the on-board sensors installed on both sides of the vehicle body can be used at the same time In order to obtain the driving images on both sides of the target vehicle, this embodiment enables the on-board processor to more comprehensively obtain the corresponding driving images of the target vehicle, so as to identify the target more accurately based on the driving images in front and the driving images on both sides Lane line information of the lane where the vehicle is located.

When the on-board sensor acquires image information in real time, it may acquire image information that contains unrecognizable image information or image information that is not in the process of driving, or image information that does not include the lane line on the road where the target vehicle is located. Therefore, in the specific implementation process, through image information After the acquisition device obtains the video information or picture information corresponding to the target vehicle, it can extract the video information or picture information to obtain the frame image of the target vehicle during driving and including the lane line, that is, the driving image corresponding to the target vehicle .

Further, in order to continuously track and recognize the lane lines included in the driving image, continuous frame images in video information or picture information may be extracted. In some possible implementation manners, specifically, continuous frame images at the same time interval may be extracted based on time stamps in video information or picture information. In some possible implementation manners, based on the similarity of video information or picture information, consecutive frame images whose similarity meets a preset value may also be extracted.

The speed information of the target vehicle can be obtained in real time through the Controller Area Network (CAN) bus and transmitted to the on-board processor.

In step 12, considering that when the vehicle speed of the target vehicle is too low in some driving processes (such as starting, stepping on the brakes, etc.), it can be considered that the probability that the target vehicle is driving abnormally is small, so the target vehicle with a vehicle speed that is too low It is not necessary to perform abnormal driving warning, so the embodiment of the present disclosure mainly performs the method of vehicle driving warning for the target vehicle whose vehicle speed exceeds the first set threshold, so here the vehicle speed can be selected from the driving image based on the vehicle speed information of the target vehicle The driving image when the vehicle speed corresponding to the information exceeds the first set threshold is used as the target driving image. Wherein, the first set threshold refers to an artificially preset vehicle speed threshold.

According to the embodiment disclosed in steps 11 to 12, the selected target driving image is a driving image whose vehicle speed exceeds the first set threshold and includes the lane line on the road where the target vehicle is located.

For the second way of acquiring the target driving image, in a possible implementation, the on-board processor can acquire the speed information of the target vehicle in real time through the CAN bus, and detect in real time whether the speed of the target vehicle exceeds the first set threshold, When it is detected that the vehicle speed of the target vehicle exceeds the first set threshold, the driving image corresponding to the target vehicle at the moment when the vehicle speed exceeds the first set threshold is used as the target driving image.

Comparing the above two ways of acquiring the target driving image, in the first way of acquiring the target driving image, after the vehicle-mounted processor acquires the corresponding driving image of the target vehicle and the vehicle speed information of the target vehicle, it can directly determine the driving speed according to the vehicle speed information. In the second way of acquiring target driving images, after the vehicle-mounted processor obtains the speed information of the target vehicle, when it is judged that the speed of the target vehicle exceeds the first set threshold, the vehicle-mounted processor needs to send information to the image acquisition The device sends a collection instruction, so that the image collection device collects the corresponding driving image when the vehicle speed exceeds the first set threshold. Therefore, compared with the first method of acquiring target driving images, the second method of acquiring target driving images increases the process that the on-board processor needs to send acquisition instructions to the image acquisition device, and is suitable for image acquisition that can receive acquisition instructions in real time equipment, but it is impossible for general image acquisition equipment to receive acquisition instructions in real time. Therefore, in a specific implementation, the way of acquiring the driving image of the target can be selected according to the working principle of the image acquisition device.

S102: Recognize the target driving image, and determine the target lane line of the lane where the target vehicle is currently located and the category information of the target lane line.

In the embodiment of the present disclosure, the image recognition model can be used to recognize the target driving image in the camera coordinates, and the target lane line in the world coordinate system can be obtained. Specifically, the curve equation information (curve equation information of the target lane line) can be obtained applications will be described below). In a specific implementation, the target driving image can be input into the image recognition model, and the image recognition model can output the target lane line of the lane where the target vehicle is currently located and the category information of the target lane line.

The target lane line refers to the lane line of the lane where the target vehicle is currently located and within the preset range of the target vehicle. The preset range of the target vehicle may be a range within a preset radius centered on the target vehicle; or a preset fan-shaped area in front of the vehicle.

The type information of the target lane line includes a lane line that can be crossed and a lane line that is forbidden to cross. Lane crossing means that the target vehicle can cross the lane line to achieve lane change, U-turn and other driving actions; lane line prohibition means that the target vehicle cannot cross the lane line, and can only drive within the lane line, and cannot Realize driving actions such as lane changes and U-turns. In some possible implementations, the category information of the target lane line can change over time. For example, the same target lane line, in the morning and evening peak hours, is prohibited from crossing the lane line; Therefore, during specific implementation, the type information of the target lane line can also be determined in combination with the current time value of the target vehicle.

The category information of the target lane line is determined according to the attribute information of the target lane line, and the attribute information of the target lane line refers to information characterizing the characteristics of the target lane line. The attribute information of the target lane line may include the color of the lane line (eg, white, yellow, etc.), the type of lane line (eg, solid line, dashed line, etc.), the number of lane lines, and the like. The embodiment of the present disclosure does not specifically limit the attribute information of the lane line.

S103: Based on the category information of the target lane line, the driving state information of the target vehicle, and the positional relationship information between the target vehicle and the target lane line, give an abnormal driving warning to the target vehicle.

In the embodiments of the present disclosure, the driving state information of the target vehicle refers to information that can reflect the driving state of the target vehicle. Specifically, the driving state information of the target vehicle may include at least one of the following information: vehicle speed information, acceleration information , turn signal information, driving direction information.

Among them, the vehicle speed information refers to the speed and speed direction information; the acceleration information refers to the acceleration magnitude and acceleration direction information; the turn signal information refers to whether the turn signal is turned on and the function information of the turn signal that has been turned on; the driving direction information refers to What is the target vehicle's wheels or the direction of travel of the body.

The driving status information of the target vehicle can be transmitted to the on-board processor through the CAN bus. The onboard processor determines the driving state of the target vehicle based on at least one of the driving state information of the target vehicle.

The positional relationship information between the target vehicle and the target lane line refers to the relative positional relationship between the target vehicle and the target lane line in a preset plane. The preset plane may be a plane (such as flat ground) where the wheels of the target vehicle and the target lane line are located. In a specific implementation, the target vehicle can be mapped to a preset plane, and the relative positional relationship between the target vehicle and the target lane line can be the distance information and/or the distance information between a point in the target vehicle and the target lane line in the preset plane. Angle information between the vehicle and the target lane line.

During normal driving, the driving status information of the target vehicle and the positional relationship information between the target vehicle and the target lane line should match the category information of the target lane line, that is, the target vehicle should be in the lane according to the category of the lane line it is in. Driving in the lane indicated by the line or performing operations such as changing lanes or turning around, the vehicle speed is at a normal value, the turn signal is on or off normally, the driving direction is consistent with the direction of the lane line, and the shortest distance between the target vehicle and the target lane line The distance is greater than the set threshold. For example, when driving in the lane indicated by the prohibition of crossing the lane line, the target vehicle cannot approach the crossing lane line, and the left turn signal and the right turn signal cannot be turned on. In contrast, in the abnormal driving state, at least one of the driving state information of the target vehicle and the positional relationship information between the target vehicle and the target lane line does not match the type information of the target lane line, that is, the driving state information of the target vehicle (including vehicle speed information, turn signal status information, driving direction information, etc.) is in an abnormal state, and/or the positional relationship information between the target vehicle and the target lane line is in an abnormal state (for example, the shortest distance between the target vehicle and the target lane line is less than the set threshold ).

In a possible implementation manner, S103 may be performed according to the following steps:

Step 21: Based on the positional relationship information between the target vehicle and the target lane line, determine the shortest distance between the target vehicle and the target lane line;

Step 22: Based on the category information of the target lane line, the driving state information of the target vehicle, and the shortest distance between the target vehicle and the target lane line, an abnormal driving warning is given to the target vehicle.

In the embodiment disclosed in steps 21 to 22, the positional relationship information between the target vehicle and the target lane line refers to the distance information between a certain point in the target vehicle and the target lane line in the preset plane. The distance from a point in the target vehicle to the target lane line determines the shortest distance between the target vehicle and the target lane line.

In a specific implementation, the relationship between a certain point in the target vehicle (such as the center point of the target vehicle) and the target lane in the preset plane can be determined through the relevant data of the on-board sensor (such as camera parameters) and the curve equation information of the target lane line. Line distance information.

In a specific implementation, a distance threshold can be set to judge whether the target vehicle is in an abnormal driving state according to the category information of the target lane line, the driving state information of the target vehicle, the shortest distance between the target vehicle and the target lane line, and the distance threshold. If the vehicle is in an abnormal driving state, an abnormal driving warning will be given to the target vehicle. For example, when it is forbidden to drive across the lane indicated by the lane line, and the shortest distance between the target vehicle and the target lane line is less than the distance threshold, an abnormal driving reminder is given to the target vehicle.

Further, considering that the process of determining the shortest distance between the target vehicle and the target lane line according to the distance from a certain point in the target vehicle to the target lane line is relatively complicated, in order to facilitate calculation, it can be based on the center point on the target vehicle in the preset plane The distance to the target lane line determines the shortest distance between the target vehicle and the target lane line, so when step 21 is performed, the following steps can be followed:

Step 31: Based on the positional relationship between the wheels of the target vehicle and the center point of the target vehicle, and the distance information between the center point of the target vehicle and the target lane line, determine the distance information between the wheels of the target vehicle and the target lane line;

Step 32: Based on the distance information between the wheels and the target lane line, determine the distance between each wheel and the target lane line, determine the wheel with the shortest distance to the target lane line, and determine the distance between the wheel and the target lane line as the distance between the target vehicle and the target lane line The shortest distance of the target lane line.

In the embodiment disclosed in step 31 to step 32, the geometric figure where the target vehicle is located can be determined with the wheel of the target vehicle mapped to the preset plane as the vertex, and the center of the geometric figure can be determined according to the distance between the wheels of the target vehicle point. According to the distance between the wheels of the target vehicle and the center point, the positional relationship between the wheel of the target vehicle and the center point of the geometric figure can be determined.

According to the positional relationship between the wheels of the target vehicle and the center point of the geometric figure, and the distance information between the center point of the geometric figure and the target lane line, the distance information between each wheel of the target vehicle and the target lane line is determined.

According to the determined distance information between each wheel of the target vehicle and the target lane line, the wheel with the shortest distance to the target lane line can be determined, and the distance information between the wheel and the target lane line can be regarded as the shortest distance between the target vehicle and the target lane line distance.

In a possible implementation manner, the distance information between the wheels of the target vehicle and the target lane line can also be determined according to the following process: in the plane where the geometric figure corresponding to the target vehicle is located, the center point of the target vehicle is taken as the origin, and The traveling direction of the target vehicle is taken as the positive direction of the first direction axis, and the direction perpendicular to the traveling direction is taken as the second direction axis to establish a coordinate system.

According to the established coordinate system, the origin of the coordinate system (the center point of the target vehicle), the position information of the wheel and the origin of the target vehicle, and the curve equation information of the target lane line, determine the geometry of the target vehicle and the target lane line in the coordinate system location information in .

Respectively in the positive direction and the negative direction of the first direction axis, determine the straight line parallel to the second direction axis and the vertical distance from the origin as the preset distance as the first straight line and the second straight line, and determine the first straight line and the second straight line The first intersection point of the target lane line, and the second intersection point of the second straight line and the target lane line, the distance from the center point of the first intersection point and the second intersection point to the center point of the target vehicle is used as the center point of the target vehicle and the target lane line distance.

For each wheel, according to the distance between the center point of the target vehicle and the target lane line, and the positional relationship between the wheel and the center point of the target vehicle, the distance between the wheel and the target lane line can be obtained, and according to the distance between each wheel and the target lane line , determine the wheel with the shortest distance to the target lane line, and determine the distance between the wheel and the target lane line as the shortest distance between the target vehicle and the target lane line.

In a possible implementation manner, for each wheel, the distance between each wheel and the target lane line may be directly calculated. Specifically, in the positive direction and the negative direction of the first direction axis, the straight lines parallel to the second direction axis and the vertical distance from a wheel are determined as the third straight line and the fourth straight line, and the third straight line is determined. The third intersection point of the three straight lines and the target lane line, and the fourth intersection point of the fourth straight line and the target lane line, the distance from the center point of the third intersection point and the fourth intersection point to the wheel is taken as the distance between the wheel and the target lane line, By calculating the distance between each wheel and the target lane line, the wheel with the shortest distance to the target lane line is determined, and the distance between the wheel and the target lane line is determined as the shortest distance between the target vehicle and the target lane line.

In the above technical solution, the distance information between the wheels and the target lane line can be determined more accurately by using the positional relationship between the wheels of the target vehicle and the center point of the target vehicle, and the distance information between the target vehicle and the target lane line can be determined more accurately by using the distance information corresponding to the wheels. the shortest distance.

In step S103, a pre-warning method for abnormal driving of the target vehicle may be used, wherein the pre-warning method includes at least one of the following: voice, vibration, light flashing, and text prompt.

Specifically, for the voice early warning method, a voice broadcast device can be installed in the target vehicle, and when the vehicle-mounted processor judges that the target vehicle is in an abnormal driving state, it can send an instruction to the voice broadcast device, so that the voice broadcast device performs voice broadcast early warning. For the early warning method of vibration, a vibration device can be installed on the seat (for example, seat bottom, seat back) in the target vehicle, and the on-board processor can send instructions to the vibration device when judging that the target vehicle is in an abnormal driving state. Make the vibration device perform vibration warning on the seat according to the preset vibration frequency. For the early warning method of flashing lights, flashing lights can be installed in the target vehicle. When the on-board processor judges that the target vehicle is in an abnormal driving state, it can send instructions to the flashing lights so that the flashing lights flash according to the preset flashing frequency. The early warning method is suitable for the situation where the external light of the target vehicle is weak. For the early warning method of text prompts, a text display device can be installed in the target vehicle. When the on-board processor judges that the target vehicle is in an abnormal driving state, it can send instructions to the text display device, so that the text display device displays the warning text.

It should be noted here that the above-mentioned preset early warning method is applicable to the situation that there are passengers in the target vehicle. In a specific implementation, any two or more of the above preset early warning methods may be combined, and the specific early warning methods are not limited. Through the vehicle driving warning method provided by the embodiments of the present disclosure, the personnel in the target vehicle can be prompted to adjust the driving state of the target vehicle in time, so as to improve the driving safety of the vehicle.

In order to understand the process of S103 more clearly, the following implementation manners will be listed below to explain the steps of S103 in detail.

Step 41: When the category information of the target lane line is a white dotted line, determine that the target lane line is a crossable lane line;

Step 42: Determine the shortest distance between the target vehicle and the target lane line based on the positional relationship information between the target vehicle and the target lane line;

Step 43: When the driving state information indicates that the speed of the target vehicle exceeds the second set threshold, the turn signal of the target vehicle is not turned on, the shortest distance is less than the third set threshold, and the target lane line is a crossable lane line, the target vehicle The vehicle performs abnormal driving warning.

In the embodiment disclosed in steps 41 to 43, by identifying the target driving image, the type information of the target lane line is obtained as a white dotted line, and then it can be determined that the target lane line is a crossable lane line, that is, the target vehicle can cross over to achieve Driving actions such as changing lanes.

According to the foregoing steps, the shortest distance between the target vehicle and the white dotted line can be determined, which will not be repeated here.

The on-board processor can obtain the speed information and turn signal information of the target vehicle through the CAN bus. The vehicle-mounted processor judges whether the vehicle speed exceeds the second set threshold according to the vehicle speed information to determine whether the vehicle speed is too fast. The on-board processor judges whether the turn signal is turned on according to the turn signal information. The on-board processor determines whether the target vehicle is too close to the target lane line according to whether the shortest distance is less than the third set threshold.

When the driving state information indicates that the speed of the target vehicle exceeds the second set threshold, the turn signal of the target vehicle is not turned on, and the shortest distance is less than the third set threshold, it indicates that the target vehicle may be about to turn on too quickly without turning on the turn signal. Changing lanes at a speed of 0 is an abnormal driving state. At this time, an abnormal driving warning can be given to the target vehicle.

In a possible implementation manner, S103 may also be performed according to the following steps:

Step 51: In the case where the category information of the target lane line is a white solid line, determine that the target lane line is a prohibited lane line;

Step 52: Determine the shortest distance between the target vehicle and the target lane line based on the positional relationship information between the target vehicle and the target lane line;

Step 53: When the driving state information indicates that the driving direction of the target vehicle deviates, the shortest distance is less than the fourth set threshold, and the target lane line is prohibited from crossing the lane line, give an abnormal driving warning to the target vehicle.

In the embodiment disclosed in steps 51 to 53, by recognizing the target driving image, the category information of the target lane line is obtained as a white solid line, and then it can be determined that the target lane line is a lane line that is prohibited from crossing, that is, the target vehicle cannot Execute a straddling driving action.

According to the foregoing steps, the shortest distance between the target vehicle and the white solid line can be determined, which will not be repeated here.

The on-board processor can obtain the driving direction information of the target vehicle through the CAN bus, and judge whether the driving direction of the target vehicle is traveling in the normal direction. The on-board processor determines whether the target vehicle is too close to the target lane line according to whether the shortest distance is less than the fourth set threshold.

When the driving state information indicates that the traveling direction of the target vehicle is shifted, the shortest distance is less than the fourth set threshold, and the target lane line is a prohibited crossing lane line, it indicates that the target vehicle may be about to cross the prohibited crossing lane line and change lanes, which is an abnormal driving state. At this time, the target vehicle can be alerted to abnormal driving.

Step 61: When the category information of the target lane line is a yellow double solid line, determine that the target lane line is a prohibited crossing lane line;

Step 62: Based on the positional relationship information between the target vehicle and the target lane line, determine the shortest distance between the target vehicle and the target lane line;

Step 63: When the driving state information indicates that the driving direction of the target vehicle deviates, the shortest distance is less than the fifth set threshold, and the target lane line is prohibited from crossing the lane line, give an abnormal driving warning to the target vehicle.

In the embodiment disclosed in steps 61 to 63, by recognizing the target driving image, the type information of the target lane line is obtained as a yellow double solid line, and then it can be determined that the target lane line is a lane line that is prohibited from crossing, that is, the target vehicle does not It can perform driving actions such as crossing, pressing the line, and turning around.

According to the foregoing steps, the shortest distance between the target vehicle and the yellow double solid line can be determined, and details will not be repeated here.

The on-board processor can obtain the driving direction information of the target vehicle through the CAN bus. The on-board processor judges whether the target vehicle is traveling in the normal direction according to the traveling direction information of the target vehicle. The on-board processor determines whether the target vehicle is too close to the target lane line according to whether the shortest distance is less than the fifth set threshold.

When the driving state information indicates that the driving direction of the target vehicle is offset, the turn signal of the target vehicle is turned on, and the shortest distance is less than the fifth set threshold, it indicates that the target vehicle may be about to change lanes or make a U-turn across the prohibited lane line, which is an abnormal driving state. At this time, the target vehicle can be alerted to abnormal driving.

The technical solution of the present disclosure, in addition to judging the relative position of the vehicle and the lane line, also judges the type of the lane line and the driving state of the vehicle, and considers various factors that affect the early warning, so that the vehicle early warning system combines more Information early warning, improve the accuracy of early warning.

In the embodiments of the present disclosure, a port for modifying the warning parameters may also be provided for the user, and the user may be a passenger or a developer of the target vehicle. The warning parameters may specifically include the distance threshold between the target vehicle and the target lane line, the duration of the abnormal driving state of the target vehicle before the warning, the thresholds of various vehicle speeds, and the like. .

For the passengers, a display interface that can edit the warning parameters can be set in the target vehicle, and the passengers can modify the warning parameters on the display interface.

For the developer of the target vehicle, the interface for modifying the early warning parameters can be set, and the developer can update the early warning parameters through the interface.

Those skilled in the art can understand that in the above method of specific implementation, the writing order of each step does not mean a strict execution order and constitutes any limitation on the implementation process. The specific execution order of each step should be based on its function and possible The inner logic is OK.

Based on the same inventive concept, the embodiment of the present disclosure also provides a vehicle driving warning device corresponding to the vehicle driving warning method, because the problem-solving principle of the device in the disclosed embodiment is the same as the above-mentioned vehicle driving warning method in the disclosed embodiment Similar, therefore, the implementation of the device can refer to the implementation of the method, and repeated descriptions will not be repeated.

Referring to FIG. 3 , it is a schematic structural diagram of a vehicle driving early warning device provided by an embodiment of the present disclosure. The device includes: an acquisition module 301 , a determination module 302 , and an early warning module 303 ; wherein,

An acquisition module 301, configured to acquire a target driving image corresponding to the target vehicle;

A determination module 302, configured to identify the target driving image, determine the target lane line of the lane where the target vehicle is currently located and the category information of the target lane line;

The early warning module 303 is configured to give an early warning of abnormal driving of the target vehicle based on the category information of the target lane line, the driving state information of the target vehicle, and the positional relationship information between the target vehicle and the target lane line.

In a possible implementation manner, the acquisition module 301 is specifically configured to: acquire the driving image corresponding to the target vehicle and the vehicle speed information of the target vehicle;

Based on the vehicle speed information of the target vehicle, a driving image when the vehicle speed corresponding to the vehicle speed information exceeds a first set threshold is selected from the driving images as the target driving image.

In a possible implementation manner, the determination module 302 is specifically configured to: determine the shortest distance between the target vehicle and the target lane line based on the positional relationship information between the target vehicle and the target lane line;

Based on the category information of the target lane line, the driving state information of the target vehicle, and the shortest distance between the target vehicle and the target lane line, an abnormal driving warning is given to the target vehicle.

In a possible implementation manner, the positional relationship information includes distance information between the center point of the target vehicle and the target lane line;

The determination module 302 is specifically configured to: determine the position of the target vehicle based on the positional relationship between the wheels of the target vehicle and the center point of the target vehicle, and the distance information between the center point of the target vehicle and the target lane line. distance information between each wheel and the target lane line;

Based on the distance information between each of the wheels and the target lane line, determine the wheel with the shortest distance from the target lane line among the wheels, and use the distance between the wheel and the target lane line as the distance between the target vehicle and the target lane line. The shortest distance of the target lane line.

In a possible implementation manner, the driving state information of the target vehicle includes at least one of the following information: vehicle speed information, acceleration information, turn signal information, and driving direction information.

In a possible implementation manner, the early warning module 303 is specifically configured to: determine that the target lane line is a crossable lane line when the category information of the target lane line is a white dotted line;

determining the shortest distance between the target vehicle and the target lane line based on positional relationship information between the target vehicle and the target lane line;

When the driving state information indicates that the speed of the target vehicle exceeds a second set threshold, the turn signal of the target vehicle is not turned on, the shortest distance is less than a third set threshold and the target lane line is a crossable lane In the case of the line, an abnormal driving warning is given to the target vehicle.

In a possible implementation manner, the early warning module 303 is specifically configured to: determine that the target lane line is a prohibited lane line if the category information of the target lane line is a white solid line;

When the driving state information indicates that the driving direction of the target vehicle is shifted, the shortest distance is less than a fourth set threshold, and the target lane line is prohibited from crossing the lane line, perform abnormal driving on the target vehicle early warning.

In a possible implementation manner, the early warning module 303 is specifically configured to: determine that the target lane line is prohibited from crossing the lane line when the category information of the target lane line is a yellow double solid line;

When the driving status information indicates that the driving direction of the target vehicle is shifted, the shortest distance is less than a fifth set threshold, and the target lane line is prohibited from crossing the lane line, abnormally driving the target vehicle early warning.

In a possible implementation manner, the early warning module 303 is specifically configured to: use a preset early warning method to perform an abnormal driving warning on the target vehicle; wherein the preset early warning method includes at least one of the following: voice, Vibration, flashing lights, text prompts.

For the description of the processing flow of each module in the device and the interaction flow between the modules, reference may be made to the relevant description in the above method embodiment, and details will not be described here.

Based on the same technical idea, the embodiment of the present disclosure also provides a computer device. Referring to FIG. 4 , it is a schematic structural diagram of a computer device 400 provided by an embodiment of the present disclosure, including a processor 401 , a memory 402 , and a bus 403 . Among them, the memory 402 is used to store execution instructions, including a memory 4021 and an external memory 4022; the memory 4021 here is also called an internal memory, and is used to temporarily store calculation data in the processor 401 and exchange data with an external memory 4022 such as a hard disk. The processor 401 exchanges data with the external memory 4022 through the memory 4021. When the computer device 400 is running, the processor 401 communicates with the memory 402 through the bus 403, so that the processor 401 executes the following instructions:

Obtain the target driving image corresponding to the target vehicle;

Recognizing the target driving image, determining the target lane line of the lane where the target vehicle is currently located and the category information of the target lane line;

Based on the category information of the target lane line, the driving state information of the target vehicle, and the positional relationship information between the target vehicle and the target lane line, an abnormal driving warning is given to the target vehicle.

An embodiment of the present disclosure also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, the steps of the method for vehicle driving warning described in the above-mentioned method embodiments are executed . Wherein, the storage medium may be a volatile or non-volatile computer-readable storage medium.

An embodiment of the present disclosure also provides a computer program product, the computer product carries a program code, and the instructions included in the program code can be used to execute the steps of the vehicle driving warning method described in the above method embodiment, for details, please refer to the above-mentioned The method embodiment will not be repeated here.

Wherein, the above-mentioned computer program product may be specifically implemented by means of hardware, software or a combination thereof. In an optional embodiment, the computer program product is embodied as a computer storage medium, and in another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK) etc. wait.

Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the system and device described above can refer to the corresponding process in the foregoing method embodiment, and details are not repeated here. In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices and methods may be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

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

In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.

If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present disclosure. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disc and other media that can store program codes. .

Finally, it should be noted that: the above-described embodiments are only specific implementations of the present disclosure, used to illustrate the technical solutions of the present disclosure, not to limit them, and the scope of protection of the present disclosure is not limited thereto, although referring to the aforementioned The embodiments have described the present disclosure in detail, and those skilled in the art should understand that any person familiar with the technical field can still modify the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present disclosure Changes can be easily imagined, or equivalent replacements can be made to some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should be included in the disclosure. within the scope of protection. Therefore, the protection scope of the present disclosure should be determined by the protection scope of the claims.

Claims

A method for early warning of vehicle running, characterized in that it comprises:

Obtain the target driving image corresponding to the target vehicle;

Recognizing the target driving image, determining the target lane line of the lane where the target vehicle is currently located and the category information of the target lane line;

Based on the category information of the target lane line, the driving state information of the target vehicle, and the positional relationship information between the target vehicle and the target lane line, an abnormal driving warning is given to the target vehicle.
The method according to claim 1, wherein obtaining the target driving image corresponding to the target vehicle comprises:

Acquiring the driving image corresponding to the target vehicle and the vehicle speed information of the target vehicle;

Based on the vehicle speed information of the target vehicle, a driving image when the vehicle speed corresponding to the vehicle speed information exceeds a first set threshold is selected from the driving images as the target driving image.
The method according to claim 1, characterized in that, based on the category information of the target lane line, the driving state information of the target vehicle, and the positional relationship information between the target vehicle and the target lane line, the The target vehicle carries out abnormal driving warning, including:

determining the shortest distance between the target vehicle and the target lane line based on positional relationship information between the target vehicle and the target lane line;

Based on the category information of the target lane line, the driving state information of the target vehicle, and the shortest distance between the target vehicle and the target lane line, an abnormal driving warning is given to the target vehicle.
The method according to claim 3, wherein the positional relationship information includes distance information between the center point of the target vehicle and the target lane line;

Determining the shortest distance between the target vehicle and the target lane line based on positional relationship information between the target vehicle and the target lane line includes:

Determine each wheel of the target vehicle and the target lane line based on the positional relationship between the wheels of the target vehicle and the center point of the target vehicle, and the distance information between the center point of the target vehicle and the target lane line distance information;

Based on the distance information between each of the wheels and the target lane line, determine the wheel with the shortest distance from the target lane line among the wheels, and use the distance between the wheel and the target lane line as the distance between the target vehicle and the target lane line. The shortest distance of the target lane line.
The method according to claim 1, wherein the driving state information of the target vehicle includes at least one of the following information: vehicle speed information, acceleration information, turn signal information, and driving direction information.
The method according to claim 5, characterized in that, based on the category information of the target lane line, the driving state information of the target vehicle, and the positional relationship information between the target vehicle and the target lane line, the The target vehicle carries out abnormal driving warning, including:

If the category information of the target lane line is a white dotted line, determine that the target lane line is a crossable lane line;

determining the shortest distance between the target vehicle and the target lane line based on positional relationship information between the target vehicle and the target lane line;

When the driving state information indicates that the speed of the target vehicle exceeds a second set threshold, the turn signal of the target vehicle is not turned on, the shortest distance is less than a third set threshold and the target lane line is a crossable lane In the case of the line, an abnormal driving warning is given to the target vehicle.
The method according to claim 5, characterized in that, based on the category information of the target lane line, the driving state information of the target vehicle, and the positional relationship information between the target vehicle and the target lane line, the The target vehicle carries out abnormal driving warning, including:

In the case where the category information of the target lane line is a white solid line, it is determined that the target lane line is prohibited from crossing the lane line;

determining the shortest distance between the target vehicle and the target lane line based on positional relationship information between the target vehicle and the target lane line;

When the driving state information indicates that the driving direction of the target vehicle is shifted, the shortest distance is less than a fourth set threshold, and the target lane line is prohibited from crossing the lane line, perform abnormal driving on the target vehicle early warning.
The method according to claim 5, characterized in that, based on the category information of the target lane line, the driving state information of the target vehicle, and the positional relationship information between the target vehicle and the target lane line, the The target vehicle carries out abnormal driving warning, including:

In the case where the category information of the target lane line is a yellow double solid line, it is determined that the target lane line is prohibited from crossing the lane line;

determining the shortest distance between the target vehicle and the target lane line based on positional relationship information between the target vehicle and the target lane line;

When the driving status information indicates that the driving direction of the target vehicle is shifted, the shortest distance is less than a fifth set threshold, and the target lane line is prohibited from crossing the lane line, abnormally driving the target vehicle early warning.
The method according to any one of claims 1 to 8, wherein the pre-warning of abnormal driving of the target vehicle includes:

Pre-warning the abnormal driving of the target vehicle by using a preset warning method; wherein, the preset warning method includes at least one of the following: voice, vibration, flashing lights, and text prompts.
A device for early warning of vehicle running, characterized in that it includes:

An acquisition module, configured to acquire a target driving image corresponding to the target vehicle;

A determination module, configured to identify the target driving image, determine the target lane line of the lane where the target vehicle is currently located and the category information of the target lane line;

An early warning module, configured to give an early warning of abnormal driving of the target vehicle based on the category information of the target lane line, the driving state information of the target vehicle, and the positional relationship information between the target vehicle and the target lane line.
A computer device, characterized in that it includes: a processor, a memory, and a bus, the memory stores machine-readable instructions executable by the processor, and when the computer device is running, the connection between the processor and the memory The machine-readable instructions are executed by the processor through the bus communication, and the steps of the vehicle driving warning method according to any one of claims 1 to 9 are executed.
A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, the method for vehicle driving warning according to any one of claims 1 to 9 is executed A step of.