Driving reminder method and device

Abstract

The application discloses a driving reminding method and device, and belongs to the technical field of automobile electronics. The method comprises the following steps: an environment image in front of a vehicle is captured through a front-view camera; a state message is sent to an instrument cluster module (ICM) through the front-view camera based on the environment image; display information corresponding to each indication information in the state message is determined through the ICM; and corresponding display content is displayed on an instrument panel according to a display mode corresponding to each indication information, so as to perform driving reminding. After the state of different systems configured by the vehicle and the traffic condition around the vehicle are determined, the state message is sent to the ICM through the front-view camera, and then different information is displayed on the instrument panel by the ICM. Since the state of different systems and different traffic conditions correspond to different display information, a driver can determine the current state of the vehicle and the traffic condition around the vehicle based on the display information of the instrument panel, so that the purpose of reminding the driver is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automotive electronics, in particular to a driving reminding method and device. BACKGROUND

[0002] With the expansion of urbanization and transportation network, the road situation is becoming more and more complex. In this case, the driver needs to be highly concentrated to ensure safe arrival at the destination. However, during driving, the driver may be in a state of fatigue or inattention, and in the face of complex road conditions in front and fast vehicle travel speed or long reaction time of the driver, the driver may not be able to timely and efficiently control the vehicle, thereby endangering the safety of driving, therefore, a driving reminding method is needed to remind the driver and ensure driving safety. SUMMARY

[0003] The present application provides a driving reminding method and device, which can determine the state of different systems configured by the vehicle and the traffic situation around the vehicle, and perform corresponding reminding, thereby improving the safety performance of the vehicle. The technical solution is as follows:

[0004] In one aspect, a driving reminding method is provided, the method comprising:

[0005] capturing an environment image in front of the vehicle by a front-view camera;

[0006] based on the environment image, sending a state message to an instrument cluster module (ICM) by the front-view camera, the state message comprising at least one of lane departure suppression indication information, lane departure warning indication information, traffic sign indication information and signal lamp indication information;

[0007] determining display information corresponding to each indication information in the state message by the ICM, the display information comprising display content and display mode;

[0008] displaying the corresponding display content on the instrument panel according to the display mode corresponding to each indication information, to perform driving reminding.

[0009] Optionally, the state message comprises the lane departure suppression indication information, and the lane departure suppression indication information comprises a first signal value, the first signal value being used to indicate the state of the lane departure suppression system;

[0010] determining display information corresponding to each indication information in the state message by the ICM, comprising:

[0011] Based on the first signal value, display information corresponding to the first signal value is obtained from a first correspondence relationship, the first correspondence relationship being used to store a correspondence relationship between display information of each state of the lane departure warning system and a corresponding signal value.

[0012] Optionally, the departure warning indication information further comprises a departure angle, the departure angle being an angle at which the vehicle departs from a lane on which the vehicle travels.

[0013] Before the state message is sent to the instrument cluster module (ICM) by the front-view camera, the method further comprises:

[0014] The departure angle is determined based on the environment image.

[0015] Optionally, the state message comprises the departure warning indication information, the departure warning indication information comprising a second signal value, the second signal value being used to indicate a state of the lane departure warning system.

[0016] The display information corresponding to each indication information in the state message is determined by the ICM, comprising:

[0017] Based on the second signal value, display information corresponding to the second signal value is obtained from a second correspondence relationship, the second correspondence relationship being used to store a correspondence relationship between display information of each state of the lane departure warning system and a corresponding signal value.

[0018] Optionally, the state message comprises the traffic sign indication information, the traffic sign indication information comprising a third signal value, the third signal value being used to indicate a traffic sign in front of the vehicle.

[0019] The display information corresponding to each indication information in the state message is determined by the ICM, comprising:

[0020] Based on the third signal value, display information corresponding to the third signal value is obtained from a third correspondence relationship, the third correspondence relationship being used to store a correspondence relationship between display information of different traffic signs and a corresponding signal value.

[0021] Optionally, before the state message is sent to the instrument cluster module (ICM) by the front-view camera, the method further comprises:

[0022] The environment image is identified to determine whether a traffic sign exists in the environment image.

[0023] If no traffic sign exists in the environment image, the third signal value is determined to be a first value.

[0024] If the traffic sign exists in the environment image, the third signal value is determined from a correspondence relationship between signal value and signal information based on the traffic sign in the environment image.

[0025] Optionally, the state message includes the traffic signal indication information, and the traffic signal indication information includes a fourth signal value, the fourth signal value being used to indicate a color of a traffic signal in front of the vehicle.

[0026] The display information corresponding to each indication information in the state message is determined by the ICM, including:

[0027] The display information corresponding to the fourth signal value is obtained from a fourth correspondence relationship based on the fourth signal value, the fourth correspondence relationship being used to store a correspondence relationship between display information of a traffic signal of different colors and corresponding signal value.

[0028] Optionally, before the sending module sends the state message to the ICM through the front-view camera, the method further includes:

[0029] The environment image is recognized to determine whether a traffic signal exists in the environment image.

[0030] If the traffic signal does not exist in the environment image, the fourth signal value is determined as a second value.

[0031] If the traffic signal exists in the environment image, it is determined whether a turn signal is turned on.

[0032] In the case that the turn signal is turned on, the fourth signal value is determined as the second value.

[0033] In the case that the turn signal is not turned on, the fourth signal value is determined from a correspondence relationship between signal value and signal information based on a traffic signal of a straight lane in the environment image.

[0034] In another aspect, a driving reminding device is provided, and the device includes:

[0035] A shooting module is configured to shoot an environment image in front of a vehicle through a front-view camera.

[0036] A sending module is configured to send a state message to an instrument cluster module (ICM) through the front-view camera based on the environment image, the state message including at least one of deviation suppression indication information, deviation warning indication information, traffic sign indication information, and signal indication information.

[0037] The first determining module is configured to determine, by the ICM, display information corresponding to each indication information in the state message, the display information including display content and a display manner;

[0038] The display module is configured to display the corresponding display content on the dashboard in the display manner corresponding to each indication information, so as to provide driving reminders.

[0039] Optionally, the state message includes the lane departure suppression indication information, and the lane departure suppression indication information includes a first signal value, the first signal value being used to indicate a state of a lane departure suppression system.

[0040] The first determining module is specifically configured to:

[0041] Based on the first signal value, the display information corresponding to the first signal value is obtained from a first corresponding relationship, the first corresponding relationship being used to store a corresponding relationship between display information of each state of the lane departure suppression system and a corresponding signal value.

[0042] Optionally, the lane departure suppression indication information further includes a departure angle, the departure angle being an angle at which the vehicle departs from a lane on which the vehicle travels.

[0043] The apparatus further includes:

[0044] The second determining module is configured to determine the departure angle based on the environment image.

[0045] Optionally, the state message includes the lane departure warning indication information, and the lane departure warning indication information includes a second signal value, the second signal value being used to indicate a state of a lane departure warning system.

[0046] The first determining module is specifically configured to:

[0047] Based on the second signal value, the display information corresponding to the second signal value is obtained from a second corresponding relationship, the second corresponding relationship being used to store a corresponding relationship between display information of each state of the lane departure warning system and a corresponding signal value.

[0048] Optionally, the state message includes the traffic sign indication information, and the traffic sign indication information includes a third signal value, the third signal value being used to indicate a traffic sign in front of the vehicle.

[0049] The first determining module is specifically configured to:

[0050] The third signal value is obtained from a third correspondence relationship, and the third correspondence relationship is used to store a correspondence relationship between display information of different traffic signs and corresponding signal values.

[0051] Optionally, the apparatus further comprises:

[0052] The first identification module is configured to identify the environment image to determine whether a traffic sign exists in the environment image.

[0053] The third determination module is configured to determine the third signal value as a first value if the traffic sign does not exist in the environment image, and determine the third signal value based on the traffic sign in the environment image from a correspondence relationship between traffic sign information and signal values if the traffic sign exists in the environment image.

[0054] Optionally, the state packet comprises the traffic signal lamp indication information, and the traffic signal lamp indication information comprises a fourth signal value, and the fourth signal value is used to indicate a color of a traffic signal lamp in front of the vehicle.

[0055] The first determination module is specifically configured to:

[0056] The fourth signal value is obtained from a fourth correspondence relationship based on the fourth signal value, and the fourth correspondence relationship is used to store a correspondence relationship between display information of traffic signal lamps of different colors and corresponding signal values.

[0057] Optionally, the apparatus further comprises:

[0058] The second identification module is configured to identify the environment image to determine whether a traffic signal lamp exists in the environment image.

[0059] The fourth determination module is configured to determine the fourth signal value as a second value if the traffic signal lamp does not exist in the environment image.

[0060] The fifth determination module is configured to determine whether a turn signal is turned on if the traffic signal lamp exists in the environment image.

[0061] The sixth determination module is configured to determine the fourth signal value as the second value if the turn signal is turned on, and determine the fourth signal value based on a traffic signal lamp of a straight lane in the environment image from a correspondence relationship between signal lamp information and signal values if the turn signal is not turned on.

[0062] In another aspect, a vehicle is provided, which includes a memory for storing a computer program and a processor for executing the computer program stored on the memory to implement the steps of the driving reminding method described above.

[0063] In another aspect, a computer readable storage medium is provided, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the driving reminding method described above.

[0064] In another aspect, a computer program product containing instructions, which, when run on a computer, causes the computer to perform the steps of the driving reminding method described above.

[0065] The technical solutions provided by the embodiments of the present application can bring at least the following beneficial effects:

[0066] After determining the states of different systems configured by the vehicle and the traffic conditions around the vehicle, the ICM is sent a state message by the front-view camera, and then the ICM displays different information through the instrument panel. Since the states of different systems and different traffic conditions correspond to different display information, the driver can determine the current state of the vehicle and the traffic conditions around the vehicle based on the display information of the instrument panel, so as to achieve the purpose of reminding the driver. That is, by using the method provided by the embodiments of the present application, not only the real-time states of the lane departure inhibition system and the lane departure warning system of the vehicle can be displayed, but also the surrounding environment of the vehicle can be monitored in real time, so that the traffic sign information and the traffic light information around the vehicle can be identified in the shortest time, and corresponding reminders can be given, thereby improving the safety performance of the vehicle and ensuring the driving safety. BRIEF DESCRIPTION OF DRAWINGS

[0067] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0068] Figure 1 is a schematic diagram of a vehicle provided by the embodiments of the present application;

[0069] Figure 2 is a flowchart of a driving reminding method provided by the embodiments of the present application;

[0070] Figure 3 is a schematic diagram of a driving reminding method provided by the embodiments of the present application;

[0071] Figure 4is a structural schematic diagram of a driving reminding device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0072] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the drawings.

[0073] Before the driving reminding method provided by the embodiments of the present application is explained in detail, the vehicle involved in the embodiments of the present application will be introduced.

[0074] Please refer to Figure 1 , Figure 1 is a schematic diagram of a vehicle according to an exemplary embodiment. The vehicle includes a front-view camera 101, an ICM (Instrument Cluster Module) 102, a processor 103 and a memory 104. The front-view camera 101, the ICM 102, the processor 103 and the memory 104 can be communicatively connected. The communication connection can be a wired connection, for example, the front-view camera 101 and the ICM 102 are connected through a CAN (Controller Area Network) bus, which is not limited in the embodiments of the present application.

[0075] The front-view camera 101 is usually installed at the front windshield of the vehicle, used to shoot the environment in front of the vehicle, and obtain the environment image in front of the vehicle. The ICM 102 is used to display the working status of each system of the vehicle on the instrument panel. The processor 103 can be configured with an LDP (Lane Departure Prohibitive) system 1031, an LDW (Lane Departure Warning) system 1032, a TSI (Traffic Sign Identify) system 1033 and a TLl (Traffic Light Identify) system 1034. The LDP system 1031 is used to assist the driver to keep the vehicle in the original lane. The LDW system 1032 can provide lane departure warning, and remind the driver that the vehicle is about to deviate from the lane through the alarm, to provide more reaction time for the driver. The TSI system 1033 is used to identify the traffic signs around the vehicle, and display the related content on the ICM 102 to remind the driver. The TLl system 1034 is used to identify the red, green and yellow states of the traffic signal, and display the related content on the ICM 102 to remind the driver.

[0076] The processor 103 can include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 103 can be implemented in at least one of a hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), a PLA (Programmable Logic Array). The processor 103 can also include a main processor and a coprocessor, the main processor being a processor for processing data in a wake-up state, also referred to as a CPU (Central Processing Unit), and the coprocessor being a low-power processor for processing data in a standby state.

[0077] The memory 104 can include one or more computer-readable storage media, which can be non-transitory. The memory 104 can also include a high-speed random access memory, and a non-volatile memory such as one or more disk storage devices, flash storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 104 is used to store at least one instruction for being executed by the processor 103 to implement the method provided by the embodiments of the present application.

[0078] Those skilled in the art should understand that the functions of the above-mentioned front-view camera 101, ICM 102, processor 103 and memory 104 are only examples, and other existing or future possible other functions, such as applicable to the embodiments of the present application, should also be included in the protection scope of the embodiments of the present application, and are hereby incorporated by reference.

[0079] It should be noted that the vehicle described in the embodiments of the present application is for more clearly illustrating the technical solutions of the embodiments of the present application, and does not constitute a limitation on the technical solutions provided by the embodiments of the present application, and those skilled in the art can know that Figure 1 The structure shown in the figure does not constitute a limitation on the vehicle, and can include more or fewer components than shown, or combine certain components, or adopt different component arrangements.

[0080] Next, the driving reminding method provided by the embodiments of the present application will be explained in detail.

[0081] Figure 2 is a flowchart of a driving reminding method provided by the embodiments of the present application. Please refer to Figure 2 The method includes the following steps.

[0082] Step 201: capturing an environment image in front of the vehicle through a front-view camera.

[0083] The environmental image includes, but is not limited to, lane lines of a road surface, obstacles around a vehicle, traffic signs around the vehicle, and a traffic light in front of the image vehicle, and the like.

[0084] Step 202: based on the environmental image, sending a state message to the ICM through the front-view camera, the state message including at least one of deviation suppression indication information, deviation warning indication information, traffic sign indication information, and signal light indication information.

[0085] Since the state message includes at least one of deviation suppression indication information, deviation warning indication information, traffic sign indication information, and signal light indication information, before sending the state message to the ICM through the front-view camera, each indication information in the state message can also be determined, and the determination process of each indication information is introduced next.

[0086] (1) In the case where the state message includes deviation suppression indication information, the deviation suppression indication information includes a first signal value, the first signal value being used to indicate a state of the lane deviation suppression system. At this time, the state of the lane deviation suppression system can be obtained, and based on the state of the lane deviation suppression system, the value of the first signal value is determined from the stored corresponding relationship between the deviation suppression state and the signal value.

[0087] The lane deviation suppression system can be in a closed state, can also be in an open state, and can also be in a fault state. In the case where the lane deviation suppression system is in an open state, the lane deviation suppression function provided by the lane deviation suppression system can be in a closed state, can also be in an open state, and can also be in an open preparation state. That is, the state of the lane deviation suppression system includes a system closed state, a suppression function closed state, a suppression function open state, a suppression function open preparation state, and a system fault state. Of course, the lane deviation suppression system can also be in other states.

[0088] The suppression function closed state means that the lane deviation suppression system has been opened but does not perform lane deviation suppression on the vehicle. The suppression function open state means that the lane deviation suppression system is performing lane deviation suppression on the vehicle. The suppression open preparation state means that the lane deviation suppression system is preparing to perform lane deviation suppression on the vehicle.

[0089] The above-mentioned corresponding relationship between the deviation suppression state and the signal value stores the corresponding relationship between each state of the lane deviation suppression system and the corresponding signal value, so after obtaining the state of the lane deviation suppression system, the value of the first signal value can be determined from the corresponding relationship.

[0090] In some embodiments, the first signal value can be a three-bit binary number, i.e. the length of the first signal value can be 3 bits. In this case, the first signal value can represent a range of hexadecimal numbers from 0 to 7.

[0091] For example, the correspondence between the deviation suppression state and the signal value is shown in Table 1 below. When it is detected that the lane deviation suppression system is in a system-off state, the first signal value is determined to be 0. When it is detected that the lane deviation suppression system is in a suppression function-off state, the first signal value is determined to be 1. When it is detected that the lane deviation suppression system is in a suppression function-on state, the first signal value is determined to be 2. When it is detected that the lane deviation suppression system is in a suppression function-on preparation state, the first signal value is determined to be 3. When it is detected that the lane deviation suppression system is in a system fault state, the first signal value is determined to be 4. 5 to 7 can be reserved bits, and other attributes of the lane deviation suppression system can be added later.

[0092] Table 1

[0093] Deviation suppression state Signal value System off state 0 Suppression function off state 1 Suppression function on state 2 Suppression function on preparation state 3 System failure state 4 Reserved bit 5～7

[0094] In some embodiments, the state of the lane departure suppression function provided by the lane departure suppression system depends on the driving situation of the vehicle in the current lane. At this time, the determination can be based on the environmental image captured by the forward-looking camera. That is, it is determined whether the turn signal of the vehicle is on, and in the case that the turn signal of the vehicle is on, the lane departure suppression is not performed. In the case that the turn signal of the vehicle is not on, the environmental image captured by the forward-looking camera is recognized to determine the positions of the outer contours of the left and right sides of the vehicle body, the positions of the two lane lines of the current lane, and the direction of the vehicle head. The positions of the outer edges of the tires on the left and right sides of the vehicle body are determined based on the positions of the outer contours of the left and right sides of the vehicle body. The driving direction of the vehicle is determined based on the direction of the vehicle head. Based on the positions of the outer edges of the tires on the left and right sides of the vehicle body and the positions of the two lane lines of the current lane, it is determined whether the tires on the left and right sides of the vehicle body are located between the two lane lines of the current lane. If the tires on the left and right sides of the vehicle body are located between the two lane lines of the current lane, the suppression function of the lane departure suppression system is not started, that is, the lane departure suppression system is in the suppression function off state. If the tires on the left and right sides of the vehicle body are not located between the two lane lines of the current lane, the distance between the outer edge of the tire on the side close to the driving direction of the vehicle and the lane line is determined based on the position of the outer edge of the tire and the position of the lane line. When the distance between the outer edge of the tire and the lane line is lower than the minimum distance threshold, the lane departure suppression is started, that is, the lane departure suppression system is in the suppression function on preparation state. When the distance between the outer edge of the tire and the lane line exceeds the minimum distance threshold and is lower than the maximum distance threshold, the suppression function of the lane departure suppression system is started, that is, the lane departure suppression system is in the suppression function on state. At this time, the driver can be reminded by means of steering wheel vibration and the like, and the driver can also be assisted to implement the steering operation to help the driver drive the vehicle back to the current lane to avoid danger. When the distance between the outer edge of the tire and the lane line exceeds the maximum distance threshold, the lane departure suppression system is still in the suppression function on state. At this time, in addition to reminding the driver by means of steering wheel vibration and the like, the vehicle can also be braked to prompt the driver.

[0095] In the case that the turn signal of the vehicle is on, it indicates that the driver can currently perform the lane change operation, and at this time the lane departure suppression is not performed. In the case that the turn signal of the vehicle is not on, it indicates that the driver can not currently perform the lane change operation. In this case, if the tires on the left and right sides of the vehicle body are located between the two lane lines of the current lane, that is, the vehicle does not deviate from the current lane, at this time the vehicle does not need to be subjected to the lane departure suppression. If the tires on the left and right sides of the vehicle body are not located between the two lane lines of the current lane, that is, the vehicle deviates from the current lane, at this time the vehicle needs to be subjected to the lane departure suppression by the lane departure suppression function provided by the lane departure suppression system.

[0096] The distance between the vehicle body and the tire edge can be calibrated in advance, so that the position of the tire edge can be determined after the position of the vehicle body is determined. The minimum distance threshold and the maximum distance threshold are set in advance, for example, the minimum distance threshold can be 0.3 m, and the maximum distance threshold can be 0.6 m. Moreover, in different cases, different requirements can be adjusted.

[0097] In the embodiments of the present application, "exceeds" can be understood as greater than, or greater than or equal to. In the case of "exceeds" being greater than, "less than" can be understood as less than or equal to. In the case of "exceeds" being greater than or equal to, "less than" can be understood as less than. The "exceeds" and "less than" referred to later can be referred to this explanation.

[0098] In some embodiments, the deviation suppression indication information further includes a deviation angle, which refers to the angle at which the vehicle deviates from the lane on which it travels. In this case, the angle at which the vehicle deviates from the lane on which it travels is determined based on the environment image captured by the front-view camera.

[0099] In the embodiments of the present application, the angle at which the vehicle deviates from the lane on which it travels can be determined based on the environment image captured by the front-view camera according to a related algorithm. The algorithm is not limited in the embodiments of the present application.

[0100] (2) In the case where the state message includes deviation warning indication information, the deviation warning indication information includes a second signal value, and the second signal value is used to indicate the state of the lane deviation warning system. At this time, the state of the lane deviation warning system can be obtained, and based on the state of the lane deviation warning system, the value of the second signal value is determined from the stored corresponding relationship between the deviation warning state and the signal value.

[0101] The lane deviation warning system can be in a closed state, or in an open state, or in a fault state. When the lane deviation warning system is in an open state, the lane deviation warning function provided by the lane deviation warning system can be in a closed state, or in an open state, or in an open preparation state. That is, the state of the lane deviation warning system includes a system closed state, a warning function closed state, a warning function open state, a warning function open preparation state, and a system fault state. Of course, the lane deviation warning system can also be in other states.

[0102] The warning function closed state means that the lane deviation warning system has been opened but has not performed lane deviation warning for the vehicle. The warning function open state means that the lane deviation warning system is performing lane deviation warning for the vehicle. The warning open preparation state means that the lane deviation warning system is preparing to perform lane deviation warning for the vehicle.

[0103] The correspondence between the above-mentioned departure warning state and the signal value stores the correspondence between the various states of the lane departure warning system and the corresponding signal values. Therefore, after obtaining the state of the lane departure warning system, the value of the second signal value can be determined from the correspondence.

[0104] In some embodiments, the second signal value may be a three-bit binary number, that is, the length of the first signal value may be 3 bits. In this case, the second signal value may represent a hexadecimal number ranging from 0 to 7.

[0105] For example, the correspondence between the lane departure warning state and the signal value is shown in Table 2 below. When the lane departure warning system is detected to be in the system off state, the second signal value is determined to be 0. When the lane departure warning system is detected to be in the warning function off state, the second signal value is determined to be 1. When the lane departure warning system is detected to be in the warning function on state, the second signal value is determined to be 2. When the lane departure warning system is detected to be in the warning function on preparation state, the second signal value is determined to be 3. When the lane departure warning system is detected to be in the system failure state, the second signal value is determined to be 4. 5 to 7 can be reserved as positions, and other attributes of the lane departure warning system can be added later.

[0106] Table 2

[0107] Deviation warning state Signal value System off state 0 Warning function off state 1 Warning function on state 2 Warning function on preparation state 3 System failure state 4 Reserved bit 5～7

[0108] In some embodiments, the state of the lane departure warning function provided by the lane departure warning system depends on the driving condition of the vehicle in the current lane. At this time, it can be determined based on the environment image captured by the front-view camera. That is, it is determined whether the turn signal of the vehicle is turned on, and in the case where the turn signal of the vehicle is turned on, lane departure suppression is not performed. In the case where the turn signal of the vehicle is not turned on, it is determined whether the speed of the vehicle exceeds a speed threshold, and in the case where the speed of the vehicle is lower than the speed threshold, lane departure warning is not performed. In the case where the speed of the vehicle exceeds the speed threshold, the environment image captured by the front-view camera is recognized to determine the positions of the outer contours of the left and right sides of the vehicle body, the positions of the two lane lines of the current lane, and the direction of the vehicle head. The positions of the outer edges of the tires on both sides of the vehicle body are determined based on the positions of the outer contours of the left and right sides of the vehicle body. The driving direction of the vehicle is determined based on the direction of the vehicle head. The distance between the lane line on the side close to the driving direction of the vehicle and the outer edge of the tire is determined based on the position of the lane line and the position of the outer edge of the tire. The time taken by the vehicle to deviate from the lane line is determined based on the distance and the speed of the vehicle. When the time exceeds a deviation time threshold, the lane departure warning function is started to be prepared, that is, the lane departure warning system is in a warning function opening preparation state. When the time is lower than the deviation time threshold, the warning function of the lane departure warning system is opened, that is, the lane departure warning system is in a warning function opening state. At this time, the driver can be reminded by means of steering wheel vibration, alarm prompt sound, etc.

[0109] In the case where the turn signal of the vehicle is turned on, it indicates that the driver may currently perform a lane change operation, and at this time, lane departure warning is not performed. In the case where the turn signal of the vehicle is not turned on and the speed of the vehicle is lower than the speed threshold, it indicates that the speed of the vehicle is low, and even if the vehicle may deviate from the lane, the driver's reaction time is sufficient to correct the deviation of the vehicle in time, and the lane departure warning system does not need to remind. In the case where the turn signal of the vehicle is not turned on and the speed of the vehicle exceeds the speed threshold, it indicates that the speed of the vehicle is high, and in this case, if the time taken by the vehicle to deviate from the lane line exceeds the deviation time threshold, that is, the driver's reaction time is sufficient, at this time, the vehicle does not need to be warned by the lane departure warning function. If the time taken by the vehicle to deviate from the lane line is lower than the deviation time threshold, that is, the driver's reaction time is insufficient, at this time, the vehicle needs to be warned by the lane departure warning function provided by the lane departure warning system.

[0110] wherein the speed threshold and the deviation time threshold are set in advance, for example, the speed threshold can be 65 km / h, and the deviation time threshold can be 0.6 s. Moreover, in different cases, they can also be adjusted according to different needs.

[0111] (3) In the case that the state message includes traffic sign indication information, the traffic sign indication information includes a third signal value, the third signal value is used to indicate a traffic sign in front of the vehicle. At this time, the environment image captured by the front-view camera can be recognized to determine whether there is a traffic sign in the environment image. If there is no traffic sign in the environment image, the third signal value is determined as the first value; if there is a traffic sign in the environment image, the third signal value is determined from the correspondence between the traffic sign information and the signal value based on the traffic sign in the environment image. That is, the value of the third signal value depends on whether there is a traffic sign in the environment image and the specific content of the traffic sign.

[0112] In some embodiments, before recognizing the environment image captured by the front-view camera, a plurality of traffic sign icons can be stored. In this case, the environment image captured by the front-view camera can be matched with the stored traffic sign icons, and in the case that there is no traffic sign icon in the stored traffic sign icons that matches the environment image, it is determined that there is no traffic sign in the environment image. In the case that there is a traffic sign icon in the stored traffic sign icons that matches the environment image, it is determined that there is a traffic sign in the environment image.

[0113] The correspondence between the traffic sign information and the signal value described above can store the correspondence between each traffic sign icon and the signal value, or can store the correspondence between the description information of each traffic sign and the signal value. In the case that the correspondence stores the correspondence between each traffic sign icon and the signal value, the value of the third signal value can be determined from the correspondence between the traffic sign icon and the signal value based on the traffic sign icon in the environment image. In the case that the correspondence stores the correspondence between the description information of each traffic sign and the signal value, the corresponding description information can be determined based on the traffic sign icon in the environment image. Then, the value of the third signal value is determined from the correspondence between the description information of the traffic sign and the signal value based on the description information of the traffic sign icon in the environment image.

[0114] In some embodiments, the correspondence between the traffic sign information and the signal value described above can include the correspondence between different traffic sign information and the signal value, of course, if there is no traffic sign in the environment image, the corresponding signal value when there is no traffic sign can also be stored in the correspondence between the traffic sign information and the signal value.

[0115] In some embodiments, the third signal value can be a four-bit binary number, that is, the length of the first signal value can be 4 bits. In this case, the range of hexadecimal numbers that the third signal value can represent is 0 to F.

[0116] For example, the correspondence between traffic sign information and signal values ​​is shown in Table 3 below. When there is no traffic sign in the environmental image, the third signal value is determined to be the first value, that is, the third signal value is 0. When there is a traffic sign in the environmental image and the description information of the traffic sign is "Watch out for pedestrians passing", the third signal value is determined to be 1. When there is a traffic sign in the environmental image and the description information of the traffic sign is "Watch out for children", the third signal value is determined to be 2. When there is a traffic sign in the environmental image and the description information of the traffic sign is "Road construction ahead", the third signal value is determined to be 3. When there is a traffic sign in the environmental image and the description information of the traffic sign is "Vehicle merging from the right", the third signal value is determined to be 4. When there is a traffic sign in the environmental image and the description information of the traffic sign is "Stop and yield", the third signal value is determined to be 5. When there is a traffic sign in the environmental image and the description information of the traffic sign is "Yield sign", the third signal value is determined to be 6. 7 to F can be used as reserved bits, and other attributes of traffic sign information can be added later.

[0117] Table 3

[0118]

[0119]

[0120] For another example, the correspondence between traffic sign information and signal values ​​is shown in Table 4 below. When it is determined that there is no traffic sign in the environmental image, the third signal value is determined to be the first value, that is, the third signal value is 0. When there is a traffic sign in the environmental image and the traffic sign icon is an icon in the second row of Table 4, the third signal value is determined to be 1. When there is a traffic sign in the environmental image and the traffic sign icon is an icon in the third row of Table 4, the third signal value is determined to be 2. When there is a traffic sign in the environmental image and the traffic sign icon is an icon in the fourth row of Table 4, the third signal value is determined to be 3. When there is a traffic sign in the environmental image and the traffic sign icon is an icon in the fifth row of Table 4, the third signal value is determined to be 4. When there is a traffic sign in the environmental image and the traffic sign icon is an icon in the sixth row of Table 4, the third signal value is determined to be 5. When there is a traffic sign in the environmental image and the traffic sign icon is an icon in the seventh row of Table 4, the third signal value is determined to be 6. 7 to F can be used as reserved bits, and other attributes of traffic sign information can be added later.

[0121] Table 4

[0122]

[0123]

[0124] (4) In the case that the state message includes traffic signal indication information, the traffic signal indication information includes a fourth signal value, the fourth signal value is used to indicate the color of the traffic signal in front of the vehicle. At this time, the environment image captured by the front-view camera can be recognized to determine whether there is a traffic signal in the environment image. If there is no traffic signal in the environment image, the fourth signal value is determined as the second value. If there is a traffic signal in the environment image, it is determined whether the turn signal is turned on. In the case that the turn signal is turned on, the fourth signal value is determined as the second value. In the case that the turn signal is not turned on, the fourth signal value is determined from the corresponding relationship between the signal lamp information and the signal value based on the traffic signal of the straight lane in the environment image.

[0125] In some embodiments, before recognizing the environment image captured by the front-view camera, a plurality of signal lamp icons can be stored. In this case, the environment image captured by the front-view camera can be matched with the stored signal lamp icons, and in the case that there is no signal lamp icon matching the environment image in the stored signal lamp icons, it is determined that there is no traffic signal in the environment image. In the case that there is a signal lamp icon matching the environment image in the stored signal lamp icons, it is determined that there is a traffic signal in the environment image.

[0126] In the case that the arrangement mode of the traffic signal at the intersection is different, the position of the traffic signal of the straight lane can be different, for example, there is an arrow-shaped turning light in the traffic signal of some intersections, at this time, the middle round light is the traffic signal of the straight lane. There is no arrow-shaped turning light in the traffic signal of some intersections, at this time, the turning lane and the straight lane can correspond to the same traffic signal. The embodiments of the present application can store the corresponding relationship between the traffic signal of different arrangement modes and the traffic signal of the straight lane in advance, so that after the arrangement mode of the traffic signal in the environment image is determined, the traffic signal of the straight lane can be determined from the environment image.

[0127] The corresponding relationship between the signal lamp information and the signal value can store the corresponding relationship between each signal lamp icon and the signal value, or store the corresponding relationship between the description information of each signal lamp and the signal value. In the case that the corresponding relationship stores the corresponding relationship between each signal lamp icon and the signal value, the value of the fourth signal value can be determined from the corresponding relationship between the signal lamp icon and the signal value based on the signal lamp icon in the environment image. In the case that the corresponding relationship stores the corresponding relationship between the description information of each signal lamp and the signal value, the corresponding description information can be determined based on the signal lamp icon in the environment image. Then the value of the fourth signal value is determined from the corresponding relationship between the description information of the signal lamp and the signal value based on the description information of the signal lamp in the environment image.

[0128] In some embodiments, the correspondence between the signal lamp information and the signal value can include a correspondence between different signal lamp information and signal values, and of course, if there is no signal lamp in the environment image or the turn signal is on, the corresponding signal value when there is no signal lamp or the turn signal is on can also be stored in the correspondence between the traffic light information and the signal value.

[0129] In some embodiments, the fourth signal value can be a two-bit binary number, that is, the length of the first signal value can be 2 bits. In this case, the range of the hexadecimal numbers that the fourth signal value can represent is 0 to 3.

[0130] For example, the correspondence between the signal lamp information and the signal value is shown in Table 5 below. When there is no signal lamp in the environment image or there is a signal lamp in the environment image but the turn signal is on, the fourth signal value is determined to be the second value, that is, the fourth signal value is 0. When there is a signal lamp in the environment image and the description information of the signal lamp is a green light, the fourth signal value is determined to be 1. When there is a signal lamp in the environment image and the description information of the signal lamp is a yellow light, the fourth signal value is determined to be 2. When there is a signal lamp in the environment image and the description information of the signal lamp is a red light, the fourth signal value is determined to be 3.

[0131] Table 5

[0132] Signal light information Signal value No signal light / signal light with turn signal on 0 Green light 1 Yellow light 2 Red light 3

[0133] For another example, the correspondence between the signal lamp information and the signal value is shown in Table 6 below. When there is no signal lamp in the environment image or there is a signal lamp in the environment image but the turn signal is on, the fourth signal value is determined to be the second value, that is, the fourth signal value is 0. When there is a signal lamp in the environment image and the signal lamp icon is the icon in the second row of Table 6 and the lowermost part of the icon is a green light, the fourth signal value is determined to be 1. When there is a signal lamp in the environment image and the signal lamp icon is the icon in the third row of Table 6 and the middle part of the icon is a yellow light, the fourth signal value is determined to be 2. When there is a signal lamp in the environment image and the signal lamp icon is the icon in the fourth row of Table 6 and the uppermost part of the icon is a red light, the fourth signal value is determined to be 3.

[0134] Table 6

[0135]

[0136]

[0137] In some embodiments, the state message can be sent to the ICM through the CAN bus by the front-view camera. Moreover, carrying each of the above-mentioned indication information in the same state message can display each of the prompt information on the instrument panel at the same time, and can also save bus resources and reduce bus load.

[0138] The state message can carry a message identifier, which is used to identify the message as a state message and to instruct the ICM to display corresponding prompt information on the dashboard. For example, the message identifier is 0x3FC.

[0139] Step 203: The ICM determines display information corresponding to each indication information in the state message, which includes display content and display mode.

[0140] Based on the above description, the state message includes at least one of lane departure suppression indication information, lane departure warning indication information, traffic sign indication information, and signal light indication information. For different indication information, the way of determining the display information corresponding to the indication information is different, and therefore will be introduced separately.

[0141] (1) For the lane departure suppression indication information, in the case where the lane departure suppression indication information includes a first signal value, the display information corresponding to the first signal value is obtained from a first correspondence relationship based on the first signal value, and the first correspondence relationship is used to store the correspondence relationship between the display information of each state of the lane departure suppression system and the corresponding signal value.

[0142] The display content of each state of the lane departure suppression system has multiple types, such as icons, texts, etc., and the display mode of each state of the lane departure suppression system has multiple types, such as always-on, always-bright, flashing, etc. The present application does not limit this.

[0143] For example, the first correspondence relationship is shown in Table 7 below: when the first signal value is 0, no display content and no display mode are determined. When the first signal value is 1, the display content is the icon in the second row of Table 7 and the icon is black, and the display mode is always-on. When the first signal value is 2, the display content is the icon in the third row of Table 7 and the icon is green, and the display mode is always-bright. When the first signal value is 3, the display content is the icon in the fourth row of Table 7 and the icon is green, and the display mode is flashing. When the first signal value is 4, the display content is the icon in the fifth row of Table 7 and the icon is yellow, and the display mode is always-bright. 5 to 7 can be reserved as signal bits, and other properties of the display information of each state of the lane departure suppression system can be added in the future.

[0144] Table 7

[0145]

[0146] (2) For the deviation warning indication information, in a case where the deviation warning indication information comprises a second signal value, based on the second signal value, display information corresponding to the second signal value is acquired from a second correspondence relationship, the second correspondence relationship being used to store a correspondence relationship between display information of each state of the lane deviation warning system and a corresponding signal value.

[0147] The display content of each state of the lane deviation warning system can be various, such as an icon, a character, and the like. The display mode of each state of the lane deviation warning system can be various, such as always-on, always-bright, flickering, and the like. The embodiments of the present application do not limit this.

[0148] For example, the second correspondence relationship is shown in Table 8 below. When the second signal value is 0, it is determined that there is no display content and no display mode. When the second signal value is 1, it is determined that the display content is the icon in the second row of Table 8 and the icon is black, and the display mode is always-bright. When the second signal value is 2, it is determined that the display content is the icon in the third row of Table 8 and the icon is green, and the display mode is always-bright. When the second signal value is 3, it is determined that the display content is the icon in the fourth row of Table 8 and the icon is green, and the display mode is flickering. When the second signal value is 4, it is determined that the display content is the icon in the fifth row of Table 8 and the icon is yellow, and the display mode is always-bright. 5 to 7 can be reserved as signal bits, and other attributes of the display information of each state of the lane deviation warning system can be added later

[0149] Table 8

[0150]

[0151]

[0152] (3) For the traffic sign indication information, in a case where the traffic sign indication information comprises a third signal value, based on the third signal value, display information corresponding to the third signal value is acquired from a third correspondence relationship, the third correspondence relationship being used to store a correspondence relationship between display information of different traffic signs and a corresponding signal value.

[0153] The display content of the traffic sign can be various, such as an icon, a character, and the like. In a case where the display content of the traffic sign is an icon, the icon can be acquired from a captured image or stored in advance. The display mode of the traffic sign can also be various, such as always-on, always-bright, flickering, and the like. The embodiments of the present application do not limit this.

[0154] For example, the third correspondence relationship is shown in Table 9 below. When the third signal value is 0, it is determined that there is no display content and no display mode. When the third signal value is 1, it is determined that the display content is the icon in the second row of Table 9 and the display mode is constant brightness. When the third signal value is 2, it is determined that the display content is the icon in the third row of Table 9 and the display mode is constant brightness. When the third signal value is 3, it is determined that the display content is the icon in the fourth row of Table 9 and the display mode is constant brightness. When the third signal value is 4, it is determined that the display content is the icon in the fifth row of Table 9 and the display mode is constant brightness. When the third signal value is 5, it is determined that the display content is the icon in the sixth row of Table 9 and the display mode is constant brightness. When the third signal value is 6, it is determined that the display content is the icon in the seventh row of Table 9 and the display mode is constant brightness. 7 to F can be reserved bits, and other attributes of the display information of different traffic signs can be added later.

[0155] Table 9

[0156]

[0157]

[0158] For example, the third correspondence relationship is shown in Table 10 below. When the third signal value is 0, it is determined that there is no display content and no display mode. When the third signal value is 1, it is determined that the display content is pay attention to pedestrians and the display mode is constant brightness. When the third signal value is 2, it is determined that the display content is pay attention to children and the display mode is constant brightness. When the third signal value is 3, it is determined that the display content is road construction ahead and the display mode is constant brightness. When the third signal value is 4, it is determined that the display content is vehicles merging from the right and the display mode is constant brightness. When the third signal value is 5, it is determined that the display content is stop and yield and the display mode is constant brightness. When the third signal value is 6, it is determined that the display content is yield and the display mode is constant brightness. 7 to F can be reserved bits, and other attributes of the display information of different traffic signs can be added later.

[0159] Table 10

[0160]

[0161]

[0162] (4) For traffic signal light indication information, in a case where the traffic signal light indication information includes a fourth signal value, display information corresponding to the fourth signal value is obtained from a fourth correspondence relationship based on the fourth signal value, the fourth correspondence relationship being used to store a correspondence relationship between display information of a traffic signal light of different colors and a corresponding signal value.

[0163] The display content of the traffic signal lamp can be various, such as an icon, a character, and the like. In the case where the display information of the traffic signal lamp is an icon, the icon can be acquired from a captured image or stored in advance. The display mode of the traffic signal lamp can also be various, such as always-on, always-bright, flashing, and the like. The embodiments of the present application do not limit this.

[0164] For example, the fourth correspondence is shown in Table 11 below. When the fourth signal value is 0, it is determined that there is no display content and no display mode. When the fourth signal value is 1, it is determined that the display content is the icon in the second row of Table 11 and the lowermost part of the icon is a green light, and the display mode is always-bright. When the fourth signal value is 2, it is determined that the display content is the icon in the third row of Table 11 and the middle part of the icon is a yellow light, and the display mode is always-bright. When the fourth signal value is 3, it is determined that the display content is the icon in the fourth row of Table 11 and the uppermost part of the icon is a red light, and the display mode is always-bright.

[0165] Table 11

[0166]

[0167]

[0168] For another example, the fourth correspondence is shown in Table 12 below. When the fourth signal value is 0, it is determined that there is no display content and no display mode. When the fourth signal value is 1, it is determined that the display content is a green light, and the display mode is always-bright. When the fourth signal value is 2, it is determined that the display content is a yellow light, and the display mode is always-bright. When the fourth signal value is 3, it is determined that the display content is a red light, and the display mode is always-bright.

[0169] Table 12

[0170] Signal value Display content Display mode 0 No No 1 Green light Constantly on 2 Yellow light Constantly on 3 Red light Constantly on

[0171] Step 204: Display the corresponding display content on the instrument panel according to the display mode corresponding to each indication information, to perform driving reminding.

[0172] Optionally, in the case where the deviation suppression indication information further includes a deviation angle, the deviation angle can also be displayed on the instrument panel.

[0173] Next, the implementation process of the embodiments of the present application will be introduced. Please refer to Figure 3 The front-view camera captures the environment in front of the vehicle to obtain an environmental image of the surroundings of the vehicle. The front-view camera determines a state message to be sent based on the environmental image, and transmits the state message to the ICM through the CAN bus. The ICM determines the corresponding display content based on the state message, and displays the display content on the instrument panel.

[0174] In the embodiment of the present application, after determining the states of different systems of the vehicle and the traffic conditions around the vehicle, the state message is sent to the ICM through the front-view camera, and then the ICM displays different information through the instrument panel. Since the states of different systems and different traffic conditions correspond to different display information, the driver can determine the current state of the vehicle and the traffic conditions around the vehicle based on the display information of the instrument panel, so as to achieve the purpose of reminding the driver. That is, by using the method provided in the embodiment of the present application, not only the real-time states of the lane departure inhibition system and the lane departure warning system of the vehicle can be displayed, but also the surrounding environment of the vehicle can be monitored in real time, so that the traffic sign information and the traffic light information around the vehicle can be identified in the shortest time, and corresponding reminders can be given, thereby improving the safety performance of the vehicle and ensuring the driving safety.

[0175] Figure 4 FIG. 1 is a structural schematic diagram of a driving reminding device provided in an embodiment of the present application. The driving reminding device can be realized by software, hardware or a combination of both as part of or the whole of a vehicle. The device comprises a photographing module 401, a sending module 402, a first determining module 403 and a display module 404.

[0176] The photographing module 401 is configured to capture an environmental image in front of the vehicle through a front-view camera. For details, reference can be made to the corresponding content in the above embodiments, which will not be described herein again.

[0177] The sending module 402 is configured to send a state message to an instrument combination module (ICM) through the front-view camera based on the environmental image. The state message comprises at least one of lane departure inhibition indication information, lane departure warning indication information, traffic sign indication information and signal light indication information. For details, reference can be made to the corresponding content in the above embodiments, which will not be described herein again.

[0178] The first determining module 403 is configured to determine display information corresponding to each indication information in the state message through the ICM. The display information comprises display content and a display manner. For details, reference can be made to the corresponding content in the above embodiments, which will not be described herein again.

[0179] The display module 404 is configured to display corresponding display content on the instrument panel in the display manner corresponding to each indication information, so as to perform driving reminding. For details, reference can be made to the corresponding content in the above embodiments, which will not be described herein again.

[0180] Optionally, the state message comprises the lane departure inhibition indication information, and the lane departure inhibition indication information comprises a first signal value, which is used to indicate the state of the lane departure inhibition system.

[0181] The first determining module 403 is specifically configured to:

[0182] The first signal value is used to obtain display information corresponding to the first signal value from a first correspondence relationship, the first correspondence relationship being used to store a correspondence relationship between display information of each state of the lane departure warning system and a corresponding signal value.

[0183] Optionally, the departure warning indication information further comprises a departure angle, the departure angle being an angle at which the vehicle departs from a lane on which the vehicle travels.

[0184] The apparatus further comprises:

[0185] The second determination module is configured to determine the departure angle based on the environment image.

[0186] Optionally, the state message comprises departure warning indication information, the departure warning indication information comprising a second signal value, the second signal value being used to indicate a state of the lane departure warning system.

[0187] The first determination module 403 is further configured to:

[0188] The second signal value is used to obtain display information corresponding to the second signal value from a second correspondence relationship, the second correspondence relationship being used to store a correspondence relationship between display information of each state of the lane departure warning system and a corresponding signal value.

[0189] Optionally, the state message comprises traffic sign indication information, the traffic sign indication information comprising a third signal value, the third signal value being used to indicate a traffic sign in front of the vehicle.

[0190] The first determination module 403 is further configured to:

[0191] The third signal value is used to obtain display information corresponding to the third signal value from a third correspondence relationship, the third correspondence relationship being used to store a correspondence relationship between display information of different traffic signs and a corresponding signal value.

[0192] Optionally, the apparatus further comprises:

[0193] The first identification module is configured to identify the environment image to determine whether a traffic sign exists in the environment image.

[0194] The third determination module is configured to determine the third signal value as a first value if no traffic sign exists in the environment image, and determine the third signal value based on the traffic sign in the environment image from a correspondence relationship between traffic sign information and a signal value if a traffic sign exists in the environment image.

[0195] Optionally, the state message comprises traffic signal indication information, and the traffic signal indication information comprises a fourth signal value, the fourth signal value being used for indicating a color of a traffic signal in front of the vehicle.

[0196] The first determining module 403 is further specifically configured to:

[0197] Based on the fourth signal value, display information corresponding to the fourth signal value is obtained from a fourth correspondence relationship, the fourth correspondence relationship being used for storing a correspondence relationship between display information of different colors of traffic signals and corresponding signal values.

[0198] Optionally, the apparatus further comprises:

[0199] The second identifying module is configured to identify the environment image to determine whether the environment image comprises a traffic signal.

[0200] The fourth determining module is configured to determine that the fourth signal value is the second value if the environment image does not comprise a traffic signal.

[0201] The fifth determining module is configured to determine whether a turn signal is turned on if the environment image comprises a traffic signal.

[0202] The sixth determining module is configured to determine that the fourth signal value is the second value if the turn signal is turned on, and determine the fourth signal value from a correspondence relationship between signal information and signal values based on a traffic signal of a straight lane in the environment image if the turn signal is not turned on.

[0203] In the embodiments of the present application, after the state of different systems configured by the vehicle and the traffic condition around the vehicle are determined, a state message is sent to the ICM through the forward-looking camera, and then different information is displayed by the ICM through the instrument panel. Since the state of different systems and different traffic conditions correspond to different display information, the driver can determine the current state of the vehicle and the traffic condition around the vehicle based on the display information of the instrument panel, so as to achieve the purpose of reminding the driver. That is, the method provided in the embodiments of the present application can not only display the real-time state of the lane departure inhibition system and the lane departure warning system of the vehicle, but also can monitor the environment around the vehicle in real time, so as to identify the traffic sign information and the traffic light information around the vehicle in the shortest time and give corresponding reminders, thereby improving the safety performance of the vehicle and ensuring the driving safety.

[0204] It should be noted that the driving reminding device provided in the above embodiments only takes the above-mentioned division of the functional modules as an example when performing driving reminding, and in actual application, the above-mentioned functions can be distributed to be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the driving reminding device and the driving reminding method provided in the above embodiments belong to the same concept, and the specific implementation process is detailed in the method embodiments, which will not be described here.

[0205] In some embodiments, a computer readable storage medium is also provided, and the computer readable storage medium stores a computer program. The computer program is executed by a processor to implement the steps of the driving reminding method in the above embodiments. For example, the computer readable storage medium can be a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0206] It should be noted that the computer readable storage medium mentioned in the embodiments of the present application can be a non-volatile storage medium, in other words, a non-transitory storage medium.

[0207] It should be understood that all or part of the steps of the above-mentioned embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in the form of a computer program product in whole or in part. The computer program product includes one or more computer instructions. The computer instructions can be stored in the above-mentioned computer readable storage medium.

[0208] That is, in some embodiments, a computer program product containing instructions is also provided, which, when running on a computer, causes the computer to perform the steps of the driving reminding method described above.

[0209] It should be understood that "at least one" mentioned herein refers to one or more, and "multiple" refers to two or more. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B; "and / or" in this paper is only a description of the association between the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the existence of A alone, the existence of A and B, and the existence of B alone. In addition, in order to clearly describe the technical solutions of the embodiments of the present application, "first", "second" and the like are used to distinguish the same items or similar items with basically the same function and effect in the embodiments of the present application. Those skilled in the art can understand that "first", "second" and the like do not limit the number and execution order, and "first", "second" and the like do not necessarily mean different.

[0210] It should be noted that the information (including but not limited to user equipment information, user personal information, etc.), data (including but not limited to data for analysis, stored data, displayed data, etc.) and signals involved in the embodiments of the present application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of relevant countries and regions. For example, the environment image in front of the vehicle involved in the embodiments of the present application is acquired under sufficient authorization.

[0211] The above describes the embodiments provided by the present application, and is not used to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A driving reminder method, characterized in that: The method comprises: Capturing an image of the environment in front of the vehicle through a front-view camera; Based on the environmental image, a status message is sent to the instrument combination module ICM through the front-view camera, and the status message includes departure suppression indication information, departure warning indication information, traffic sign indication information and traffic light indication information, wherein the departure suppression indication information includes a first signal value, and different values ​​of the first signal value are used to indicate different states of the lane departure suppression system. The states of the lane departure suppression system include a system off state, a suppression function off state, a suppression function on state, a suppression function on-ready state and a system fault state. The suppression function off state means that the lane departure suppression system is on but does not suppress lane departure of the vehicle, the suppression function on state means that the lane departure suppression system is suppressing lane departure of the vehicle, and the suppression function on-ready state means that the lane departure suppression system is preparing to suppress lane departure of the vehicle; the departure suppression indication information also includes a deviation angle, which means that the vehicle the angle at which the vehicle deviates from the lane in which it is traveling; the departure warning indication information includes a second signal value, different values ​​of the second signal value are used to indicate different states of the lane departure warning system, and the states of the lane departure warning system include an off state, a warning function off state, a warning function on state, a warning function on-ready state, and a system failure state, the warning function off state means that the lane departure warning system is turned on but does not provide lane departure warning to the vehicle, the warning function on state means that the lane departure warning system is providing lane departure warning to the vehicle, and the warning function on-ready state means that the lane departure warning system is preparing to provide lane departure warning to the vehicle; the traffic sign indication information includes a third signal value, different values ​​of the third signal value are used to indicate different traffic signs in front of the vehicle; the traffic light indication information includes a fourth signal value, different values ​​of the fourth signal value are used to indicate different colors of the traffic light in front of the vehicle; Determining, by the ICM, display information corresponding to each indication information in the status message, the display information including display content and display mode; wherein different values ​​of each indication information correspond to different display information; According to the display mode corresponding to the value of each indication information, the corresponding display content and the deviation angle are displayed on the instrument panel to provide driving reminders.

2. The method according to claim 1, wherein Determining, by the ICM, display information corresponding to each indication information in the status message, including: Based on the first signal value, display information corresponding to the first signal value is obtained from a first correspondence relationship, where the first correspondence relationship is used to store a correspondence between display information of various states of the lane departure prevention system and corresponding signal values.

3. The method according to claim 2, wherein Before sending a status message to the instrument combination module ICM through the front camera, the method further includes: The deviation angle is determined based on the environment image.

4. The method according to claim 1, wherein Determining, by the ICM, display information corresponding to each indication information in the status message, including: Based on the second signal value, display information corresponding to the second signal value is obtained from a second corresponding relationship, where the second corresponding relationship is used to store the corresponding relationship between the display information of each state of the lane departure warning system and the corresponding signal value.

5. The method according to claim 1, wherein Determining, by the ICM, display information corresponding to each indication information in the status message, including: Based on the third signal value, display information corresponding to the third signal value is obtained from a third corresponding relationship, where the third corresponding relationship is used to store a corresponding relationship between display information of different traffic signs and corresponding signal values.

6. The method according to claim 5, wherein Before sending a status message to the instrument combination module ICM through the front camera, the method further includes: Identifying the environment image to determine whether there is a traffic sign in the environment image; If no traffic sign exists in the environment image, determining the third signal value to be a first value; If a traffic sign exists in the environment image, the third signal value is determined from a correspondence between traffic sign information and signal values ​​based on the traffic sign in the environment image.

7. The method according to claim 1, wherein Determining, by the ICM, display information corresponding to each indication information in the status message, including: Based on the fourth signal value, display information corresponding to the fourth signal value is obtained from a fourth corresponding relationship, where the fourth corresponding relationship is used to store a corresponding relationship between display information of traffic lights of different colors and corresponding signal values.

8. The method according to claim 7, wherein Before sending a status message to the instrument combination module ICM through the front camera, the method further includes: Identifying the environment image to determine whether a traffic light exists in the environment image; If there is no traffic light in the environment image, determining the fourth signal value to be the second value; If a traffic light is present in the environment image, determining whether a turn signal is turned on; When the turn signal lamp is turned on, determining the fourth signal value to be the second value; In a case where the turn signal lamp is not turned on, the fourth signal value is determined from a correspondence between signal lamp information and signal values ​​based on the traffic light of the through lane in the environment image.

9. A driving reminder device, characterized in that: The device comprises: A shooting module is used to capture an image of the environment in front of the vehicle through a front-view camera; A sending module is used to send a status message to the instrument combination module ICM through the front-view camera based on the environmental image, wherein the status message includes departure suppression indication information, departure warning indication information, traffic sign indication information and traffic light indication information, wherein the departure suppression indication information includes a first signal value, and different values ​​of the first signal value are used to indicate different states of the lane departure suppression system. The states of the lane departure suppression system include a system off state, a suppression function off state, a suppression function on state, a suppression function on-ready state and a system fault state. The suppression function off state means that the lane departure suppression system is on but does not suppress lane departure of the vehicle, the suppression function on state means that the lane departure suppression system is suppressing lane departure of the vehicle, and the suppression function on-ready state means that the lane departure suppression system is preparing to suppress lane departure of the vehicle; the departure suppression indication information also includes a deviation angle, and the deviation angle is refers to the angle at which the vehicle deviates from the lane in which it is traveling; the departure warning indication information includes a second signal value, and different values ​​of the second signal value are used to indicate different states of the lane departure warning system. The states of the lane departure warning system include an off state, a warning function off state, a warning function on state, a warning function on-ready state, and a system failure state. The warning function off state means that the lane departure warning system is turned on but does not provide a lane departure warning to the vehicle, the warning function on state means that the lane departure warning system is providing a lane departure warning to the vehicle, and the warning function on-ready state means that the lane departure warning system is preparing to provide a lane departure warning to the vehicle; the traffic sign indication information includes a third signal value, and different values ​​of the third signal value are used to indicate different traffic signs in front of the vehicle; the traffic light indication information includes a fourth signal value, and different values ​​of the fourth signal value are used to indicate different colors of the traffic light in front of the vehicle; A first determining module is configured to determine, through the ICM, display information corresponding to each indication information in the status message, wherein the display information includes display content and display mode; wherein different values ​​of each indication information correspond to different display information; The display module is used to display the corresponding display content and the deviation angle on the instrument panel according to the display mode corresponding to the value of each indication information, so as to provide driving reminders.

10. The device according to claim 9, wherein The first determining module is specifically configured to: Based on the first signal value, display information corresponding to the first signal value is obtained from a first correspondence relationship, where the first correspondence relationship is used to store a correspondence between display information of various states of the lane departure prevention system and corresponding signal values.

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