Speed ​​warning methods, devices and computer-readable storage media

Abstract

This invention discloses a speed warning method, device, and computer-readable storage medium, relating to the field of vehicle control technology. The method includes the following steps: acquiring the current vehicle's own information, first vehicle information of a vehicle being overtaken in an adjacent lane, and second vehicle information of the overtaking vehicle; when the first vehicle information and the current vehicle information meet preset speeding conditions, outputting a speeding warning message; when the second vehicle information and the current vehicle information meet preset slowing conditions, outputting a slowing warning message. This invention ensures driver safety and vehicle traffic efficiency without relying on speed limit signs or other road traffic signs or facilities.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a vehicle speed reminder method, device, and computer-readable storage medium. Background Technology

[0002] In recent years, for driving safety reasons, vehicles have been equipped with speeding warning functions to alert drivers when they are speeding. However, existing speeding warning functions identify speed limit signs on the road to determine the speed limit, and then use that speed limit to determine whether the vehicle is speeding. Therefore, the current method of issuing speeding warnings by recognizing speed limit signs is limited by the construction of road speed limit signs, and is not very applicable on roads lacking speed limit signs, making it difficult to guarantee driver safety. Summary of the Invention

[0003] The main objective of this invention is to provide a vehicle speed reminder method, which aims to solve the technical problem that existing vehicle speed reminder methods cannot guarantee the safety of drivers on roads lacking speed limit signs.

[0004] To achieve the above objectives, the present invention provides a vehicle speed reminder method, the vehicle speed reminder method comprising the following steps:

[0005] Obtain the current vehicle's own information, the first vehicle information of the vehicle overtaken by the current vehicle in the adjacent lane, and the second vehicle information of the vehicle overtaking the current vehicle;

[0006] When the first vehicle information and the self-vehicle information meet the preset self-vehicle speeding conditions, a speeding reminder message is output.

[0007] When the second vehicle information and the self-vehicle information meet the preset self-vehicle slow speed conditions, a slow speed reminder message is output.

[0008] Optionally, before the step of obtaining the current vehicle's own information, the first vehicle information of the vehicle being overtaken in the adjacent lane, and the second vehicle information of the vehicle overtaking the current vehicle, the following steps are included:

[0009] Acquire target information of the moving target, and determine the target vehicle in the adjacent lane based on the target information;

[0010] Based on the relative longitudinal distance change trend of the target vehicles, identify the vehicles being overtaken and the vehicles overtaking the target vehicles.

[0011] Optionally, the target information includes a target identifier, a target category, and a target relative position. The step of determining the target vehicle in the adjacent lane based on the target information includes:

[0012] When the target identifier of the moving target is a newly added identifier, the moving target is determined to be a newly added target;

[0013] When the target category of the newly added target is a vehicle, the newly added target is determined to be a newly added vehicle;

[0014] When the target relative position of the newly added vehicle is located in an adjacent lane, the newly added vehicle is determined to be the target vehicle.

[0015] Optionally, before determining that the newly added vehicle is the target vehicle when the target relative position of the newly added vehicle is in an adjacent lane, the method includes:

[0016] Obtain the lane line equation of the lane currently occupied by the vehicle;

[0017] The lateral reference distance of the lane line is calculated based on the lane line equation and the relative longitudinal distance of the target relative position of the newly added vehicle.

[0018] If the relative lateral distance of the target relative position is greater than or equal to the lateral reference distance, it is determined that the target relative position of the newly added vehicle is located in the adjacent lane.

[0019] Optionally, the step of identifying the vehicle being overtaken and the vehicle overtaking the target vehicle based on the relative longitudinal distance change trend of the target vehicle includes:

[0020] When the relative longitudinal distance between the target vehicle and the target vehicle shows a decreasing trend, the target vehicle is determined to be the vehicle being overtaken by the vehicle.

[0021] When the relative longitudinal distance between the target vehicle and the target vehicle shows an increasing trend, the target vehicle is determined to be the overtaking vehicle.

[0022] Optionally, the first vehicle information includes a first number of vehicles and a first average vehicle speed. Before the step of outputting a speeding warning message when the first vehicle information and the vehicle information meet preset speeding conditions, the method includes:

[0023] Determine whether the number of the first vehicles is greater than a first preset quantity threshold within a preset statistical period;

[0024] If the number of the first vehicles is greater than the first preset quantity threshold, then determine whether the speed difference between the vehicle speed in the vehicle information and the first average vehicle speed is greater than the first preset speed threshold.

[0025] If the speed difference between the vehicle speed and the first average vehicle speed is greater than a first preset speed threshold, then the first vehicle information and the vehicle information are determined to meet the preset vehicle speeding condition.

[0026] Optionally, the second vehicle information includes a second number of vehicles and a second average vehicle speed. Before the step of outputting a slow speed reminder when the second vehicle information and the vehicle information meet a preset slow speed condition, the method includes:

[0027] Determine whether the number of the second vehicle exceeds a second preset quantity threshold within a preset statistical period;

[0028] If the second number of vehicles is greater than the second preset number threshold, then determine whether the speed difference between the vehicle speed in the vehicle information and the second average vehicle speed is greater than the second preset speed threshold.

[0029] If the speed difference between the vehicle speed and the second average speed is greater than the second preset speed threshold, then the second vehicle information and the vehicle information are determined to meet the preset slow vehicle condition.

[0030] Optionally, after the step of obtaining the current vehicle's own information, the first vehicle information of the vehicle being overtaken in the adjacent lane, and the second vehicle information of the vehicle overtaking the current vehicle, the method further includes:

[0031] When the first vehicle information and the autonomous vehicle information meet the preset autonomous vehicle speeding conditions, a first suggested speed is generated and output based on the first average vehicle speed in the first vehicle information.

[0032] When the second vehicle information and the self-vehicle information meet the preset self-vehicle slow speed conditions, a second suggested speed is generated and output based on the second average vehicle speed in the second vehicle information.

[0033] In addition, to achieve the above objectives, the present invention also provides a vehicle speed reminder device, the vehicle speed reminder device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the vehicle speed reminder method as described above.

[0034] In addition, to achieve the above objectives, the present invention also provides a computer-readable storage medium storing a vehicle speed reminder program, which, when executed by a processor, implements the steps of the vehicle speed reminder method as described above.

[0035] This invention proposes a speed warning method that acquires the current vehicle's own information, information on a first vehicle being overtaken in an adjacent lane, and information on a second vehicle overtaking the current vehicle. When the first vehicle information and the current vehicle information meet preset speeding conditions, a speeding warning is output; when the second vehicle information and the current vehicle information meet preset slowing conditions, a slowing warning is output. Thus, this invention determines the current vehicle's driving condition in real-time traffic flow by using information on vehicles overtaken in adjacent lanes and the vehicles overtaken by the current vehicle. Therefore, this invention can provide both speeding and slowing warnings to the driver without relying on speed limit signs or other road traffic signs or facilities, effectively improving driver safety and traffic efficiency. Attached Figure Description

[0036] Figure 1 This is a flowchart illustrating the first embodiment of the vehicle speed reminder method of the present invention;

[0037] Figure 2 This is a schematic diagram of a scenario in the second embodiment of the vehicle speed reminder method of the present invention;

[0038] Figure 3 This is a schematic diagram of a scenario representing an embodiment of the vehicle speed reminder method of the present invention;

[0039] Figure 4 This is a flowchart illustrating the third embodiment of the vehicle speed reminder method of the present invention;

[0040] Figure 5 This is a signal logic system block diagram of an optional embodiment of the vehicle speed reminder method of the present invention;

[0041] Figure 6 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiments of the present invention.

[0042] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0043] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0044] The term "and / or" in this article is merely a description of the association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0045] The terms "first" and "second," etc., used in the specification and claims of this application are used to distinguish different objects, not to describe a specific order of objects. For example, "first target object" and "second target object," etc., are used to distinguish different target objects, not to describe a specific order of target objects.

[0046] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0047] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0048] When driving on the road, in addition to obeying traffic regulations, vehicles should maintain a reasonable speed range, going as fast as necessary and as slow as appropriate. Driving at low speeds can cause other vehicles in the same lane to move slowly, affecting the rapid and efficient flow of traffic. Furthermore, excessively slow traffic can negatively impact the mood of other drivers, potentially leading to dangerous driving situations such as road rage and deliberate cutting off of other vehicles. Driving at excessive speeds weakens the driver's spatial awareness and speed recognition abilities, increases driver fatigue, shortens reaction time, and increases braking distance in dangerous situations, significantly affecting safe driving.

[0049] For speeding situations, various technological solutions are currently available to alert drivers. For example, vehicles equipped with ADAS (Advanced Driving Assistance Systems) can use intelligent cameras to identify speed limit signs and alert drivers when exceeding them. Alternatively, public transportation vehicles can have their maximum speed limit set, with voice prompts given to drivers when exceeding this limit. However, for low-speed driving situations, there are currently few devices or methods to alert drivers to slow-moving conditions. Even those that exist often rely on setting fixed low-speed thresholds, resulting in limited applicability.

[0050] In summary, existing speed warning methods that rely on speed limit signs are limited to speeding warnings and are also constrained by the availability of such signs. In contrast, methods that use fixed speed limits have very low applicability. Therefore, existing speed warning methods are poorly applicable on roads lacking speed limit signs, making it difficult to ensure driver safety and traffic efficiency.

[0051] The vehicle speed reminder method of the present invention will be described below with reference to some embodiments:

[0052] The vehicle speed reminder method of the present invention can be implemented by a vehicle speed reminder device, which can be an ADAS (Advanced Driving Assistance System) controller, VCU (Vehicle Control Unit), PC (Personal Computer), tablet computer, portable computer or server, etc.

[0053] In one embodiment of the present invention, the vehicle information of the current vehicle, the first vehicle information of the vehicle being overtaken in the adjacent lane, and the second vehicle information of the vehicle overtaking the current vehicle are acquired. When the first vehicle information and the vehicle information meet a preset speeding condition, a speeding warning is output; when the second vehicle information and the vehicle information meet a preset slowing condition, a slowing warning is output. Thus, the present invention determines the driving condition of the current vehicle in real-time traffic flow by using the vehicle information of the vehicles being overtaken in adjacent lanes and the vehicles overtaken by the current vehicle. Specifically, when there are many vehicles overtaking the current vehicle and / or the average speed of the overtaking vehicles is relatively faster than the current vehicle, it indicates that the current vehicle is driving at a slow speed in real-time traffic flow; when there are many vehicles being overtaken the current vehicle and / or the average speed of the overtaken vehicles is relatively slower than the current vehicle, it indicates that the current vehicle is driving at a speeding speed in real-time traffic flow. Therefore, this invention can warn drivers of speeding and slowing down simultaneously without relying on road traffic signs or facilities such as speed limit signs, effectively improving driver safety and vehicle traffic efficiency.

[0054] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the vehicle speed reminder method of the present invention. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0055] The first embodiment of the present invention provides a vehicle speed reminder method, the vehicle speed reminder method comprising the following steps:

[0056] Step S100: Obtain the current vehicle's own vehicle information, the first vehicle information of the vehicle overtaken by the current vehicle in the adjacent lane, and the second vehicle information of the vehicle overtaking the current vehicle.

[0057] Specifically, the current vehicle's information includes at least its speed, and may also include lane markings and its position within its current lane. Adjacent lanes may include the left adjacent lane (the lane outside the left lane marking) and the right adjacent lane (the lane outside the right lane marking). The vehicle being overtaken can be a target vehicle that has already been overtaken by the current vehicle, or a target vehicle that is about to be overtaken (i.e., a target vehicle that has not been overtaken by the current vehicle but has a speed lower than the current vehicle's speed). The vehicle overtaking the current vehicle can be a target vehicle that has already overtaken the current vehicle, or a target vehicle that is about to be overtaken (i.e., a target vehicle that has not overtaken the current vehicle but has a speed higher than the current vehicle's speed). It is understood that sensors can typically detect the relative longitudinal distance between the current vehicle and a target vehicle in front of it. Therefore, when the relative longitudinal distance to the target vehicle gradually decreases, it indicates that the target vehicle has been or is about to be overtaken by the current vehicle. When the relative longitudinal distance shows an increasing trend, it indicates that the current vehicle has been or is about to be overtaken by the target vehicle. This allows us to obtain first vehicle information of the vehicle being overtaken in the adjacent lane and second vehicle information of the vehicle overtaking us. The first vehicle information may include the first number of vehicles being overtaken and the first average speed, while the second vehicle information may include the second number of vehicles overtaking us and the second average speed.

[0058] Step S200: When the first vehicle information and the self-vehicle information meet the preset self-vehicle speeding conditions, an overspeeding reminder message is output.

[0059] Specifically, the preset speeding condition is a judgment condition preset by the manufacturer or user that the current vehicle's driving condition in real-time traffic flow is speeding (i.e., the current vehicle's speed is too fast relative to other vehicles in the real-time traffic flow). For example, within a preset statistical period (e.g., 5 minutes, 10 minutes, 15 minutes, etc.), the number of vehicles overtaken by the vehicle in the first vehicle information exceeds a first preset threshold (e.g., 15, 20, 30, etc.), or within a preset statistical period, the number of vehicles overtaken by the vehicle in the first vehicle information exceeds a first preset threshold, and the speed difference between the first average speed of the vehicles overtaken by the vehicle in the first vehicle information and the vehicle speed in the vehicle information exceeds a first preset speed threshold (e.g., 10 km / h, 15 km / h, etc.). When the first vehicle information and the vehicle information meet the preset speeding condition, it indicates that the current vehicle's speed is too fast relative to other vehicles in the real-time traffic flow, and a speeding reminder message can be output to remind the driver that the current vehicle's speed is too fast and needs to slow down. The speeding warning information can be a combination of one or more forms, such as text, images, symbols, voice, and vibration. In this embodiment, by determining whether the first vehicle information and the vehicle information meet preset speeding conditions, it is determined whether the current vehicle's driving condition in the real-time traffic flow is speeding. Therefore, when the first vehicle information and the vehicle information meet the preset speeding conditions, a speeding warning information is output to remind the user. Thus, this embodiment accurately identifies whether the current vehicle's speed is too high in the real-time traffic flow by using the first vehicle information of the vehicle being overtaken and the current vehicle's vehicle information. This allows for speeding warnings to the driver without relying on speed limit signs or other road traffic signs or facilities, effectively ensuring driver safety while improving the applicability of the speed warning method of this invention.

[0060] Further, the first vehicle information includes a first number of vehicles and a first average vehicle speed, and includes the following before step S200:

[0061] Step S210: Determine whether the number of the first vehicles is greater than the first preset quantity threshold within the preset statistical period;

[0062] Step S220: If the number of the first vehicles is greater than the first preset quantity threshold, then determine whether the speed difference between the vehicle speed in the vehicle information and the first average vehicle speed is greater than the first preset speed threshold.

[0063] Step S230: If the speed difference between the vehicle speed and the first average vehicle speed is greater than the first preset speed threshold, then it is determined that the first vehicle information and the vehicle information meet the preset vehicle speeding condition.

[0064] Specifically, the first vehicle information includes the number of vehicles overtaken by the vehicle (i.e., the first vehicle count) and the average speed of the overtaken vehicles (i.e., the first average speed). Then, it is determined whether the first vehicle count exceeds a first preset threshold (e.g., 15, 20, 30 vehicles) within a preset statistical period (e.g., 10 minutes). If the first vehicle count exceeds the first preset threshold, it indicates that a significant number of vehicles in adjacent lanes have been overtaken by the current vehicle in the real-time traffic flow. If the first vehicle count does not exceed the first preset threshold, it indicates that a significant number of vehicles in adjacent lanes have not been overtaken by the current vehicle in the real-time traffic flow, and it can be determined that the first vehicle information and the vehicle information do not meet the preset vehicle speeding conditions. Then, it is further determined whether the speed difference between the vehicle speed in the vehicle information and the first average speed exceeds a first preset speed threshold (e.g., 10 km / h, 15 km / h, etc.). If the speed difference between the vehicle's speed and the first average speed is greater than a first preset speed threshold, it indicates that the current vehicle has not only overtaken a large number of adjacent vehicles, but also that the current vehicle's speed is higher than the sum of the average speed of the overtaken vehicles and the first preset speed threshold. In this case, the current vehicle's driving condition in the real-time traffic flow can be considered as speeding, and the first vehicle information and the vehicle information are determined to meet the preset vehicle speeding condition. If the speed difference between the vehicle's speed and the first average speed is not greater than the first preset speed threshold, it indicates that although the current vehicle has overtaken a large number of vehicles in adjacent lanes in the real-time traffic flow, the difference between the current vehicle's speed and the first average speed of the overtaken vehicles is small, i.e., the current vehicle's speed is similar to the first average speed of the overtaken vehicles. In this case, the first vehicle information and the vehicle information can also be determined not to meet the preset vehicle speeding condition.

[0065] Step S300: When the second vehicle information and the self-vehicle information meet the preset self-vehicle slow speed conditions, a slow speed reminder message is output.

[0066] Specifically, the preset slow-speed condition is a judgment condition preset by the manufacturer or user that the current vehicle's driving condition in real-time traffic flow is slow (i.e., the current vehicle's speed is too slow relative to other vehicles in the real-time traffic flow). For example, within a preset statistical period (e.g., 5 minutes, 10 minutes, 15 minutes, etc.), the number of second vehicles overtaking the vehicle in the second vehicle information exceeds a second preset threshold (e.g., 15, 20, 30, etc.), or within a preset statistical period, the number of second vehicles overtaking the vehicle in the second vehicle information exceeds a second preset threshold, and the speed difference between the second average speed of the overtaking vehicles in the second vehicle information and the vehicle speed in the vehicle information exceeds a second preset speed threshold (e.g., 10 km / h, 15 km / h, etc.). When the second vehicle information and the vehicle information meet the preset slow-speed condition, it indicates that the current vehicle's speed is too slow relative to other vehicles in the real-time traffic flow, and a slow-speed reminder message can be output to remind the driver that the current vehicle's speed is too slow and needs to be accelerated. The slow-speed reminder information can be a combination of one or more of the following forms: text, images, symbols, voice, vibration, etc. In this embodiment, by determining whether the second vehicle information and the vehicle information meet preset slow-speed conditions, the current vehicle's driving condition in the real-time traffic flow is determined to be slow. Therefore, when the second vehicle information and the vehicle information meet the preset slow-speed conditions, a slow-speed reminder information is output to alert the user. Thus, this embodiment accurately identifies whether the current vehicle's speed is too slow in the real-time traffic flow by using the second vehicle information of overtaking vehicles and the current vehicle's own vehicle information, thereby providing a slow-speed warning to the driver. This effectively ensures driver safety and vehicle traffic efficiency while also improving the applicability of the speed reminder method of this invention.

[0067] Further, the second vehicle information includes a second number of vehicles and a second average vehicle speed, and includes the following before step S300:

[0068] Step S310: Determine whether the second number of vehicles is greater than the second preset quantity threshold within the preset statistical period;

[0069] Step S320: If the second number of vehicles is greater than the second preset number threshold, then determine whether the speed difference between the vehicle speed in the vehicle information and the second average vehicle speed is greater than the second preset speed threshold.

[0070] Step S330: If the speed difference between the vehicle speed and the second average vehicle speed is greater than the second preset speed threshold, then it is determined that the second vehicle information and the vehicle information meet the preset vehicle slow speed condition.

[0071] Specifically, the second vehicle information includes the number of vehicles that overtook the vehicle (i.e., the second vehicle count) and the average speed of the overtaking vehicles (i.e., the second average speed). Then, it is determined whether the second vehicle count exceeds a second preset threshold (e.g., 15, 20, 30 vehicles, etc.) within a preset statistical period (e.g., 10 minutes). If the second vehicle count exceeds the second preset threshold, it indicates that many vehicles in adjacent lanes are overtaking the current vehicle in the real-time traffic flow. If the second vehicle count does not exceed the second preset threshold, it indicates that few vehicles in adjacent lanes are overtaking the current vehicle in the real-time traffic flow, and it can be determined that the second vehicle information and the vehicle information do not meet the preset slow vehicle condition. Then, it is further determined whether the speed difference between the vehicle speed in the vehicle information and the second average speed exceeds a second preset speed threshold (e.g., 10 km / h, 15 km / h, etc.). If the speed difference between the current vehicle's speed and the second average speed is greater than the second preset speed threshold, it indicates that in the real-time traffic flow, not only are there many vehicles overtaking the current vehicle in adjacent lanes, but the current vehicle's speed is also lower than the sum of the average speed of the overtaking vehicles and the second preset speed threshold. Therefore, the current vehicle's driving condition in the real-time traffic flow can be considered slow, and the second vehicle information and the current vehicle information are determined to meet the preset slow speed condition. If the speed difference between the current vehicle's speed and the second average speed is not greater than the second preset speed threshold, it indicates that in the real-time traffic flow, there are many vehicles overtaking the current vehicle in adjacent lanes. However, the difference between the current vehicle's speed and the second average speed of the overtaking vehicles is small, meaning the current vehicle's speed is similar to the second average speed of the overtaking vehicles. In this case, the second vehicle information and the current vehicle information are also determined not to meet the preset slow speed condition.

[0072] In the first embodiment of the present invention, the system acquires the current vehicle's own information, the first vehicle information of the vehicle being overtaken in the adjacent lane, and the second vehicle information of the vehicle overtaking the current vehicle. When the first vehicle information and the current vehicle information meet a preset speeding condition, a speeding warning is output; when the second vehicle information and the current vehicle information meet a preset slowing condition, a slowing warning is output. Thus, the present invention determines the current vehicle's driving condition in real-time traffic flow by using the vehicle information of the vehicles being overtaken in adjacent lanes and the vehicles being overtaken. Therefore, the present invention can provide both speeding and slowing warnings to the driver without relying on speed limit signs or other road traffic signs or facilities, effectively improving driver safety and vehicle traffic efficiency.

[0073] Further, refer to Figure 2 The second embodiment of the present invention provides a vehicle speed reminder method, based on the above. Figure 1 The illustrated embodiment includes the following steps before step S100:

[0074] Step S110: Obtain target information of the moving target, and determine the target vehicle in the adjacent lane based on the target information;

[0075] Step S120: Based on the relative longitudinal distance change trend of the target vehicles, identify the vehicles being overtaken by the target vehicle and the vehicles overtaking the target vehicle.

[0076] For reference Figure 3 , Figure 3 This is a schematic diagram illustrating an embodiment of the vehicle speed warning method of the present invention. The vehicle can be equipped with a camera and a millimeter-wave radar. The camera can be used to accurately identify moving targets on the road and determine the relative speed and position of the moving target relative to the vehicle. The millimeter-wave radar can also be used to detect the relative speed of the moving target, thus improving the accuracy of relative speed estimation when used in conjunction with the camera. By fusing data collected from the camera and millimeter-wave radar, target information of the moving target is obtained. This target information may include target identifier (ID, Identity Document), target category (vehicle, pedestrian, roadblock, unidentified object, etc.), target relative speed, and target relative position. Then, based on this target information, the target identifier, target category, and target relative position of each moving target are analyzed to determine target vehicles in adjacent lanes. Then, based on the trend of relative longitudinal distance changes of the target vehicles, it is determined whether the speed of the target vehicle is greater than the speed of the current vehicle, thereby identifying the vehicle being overtaken and the vehicle overtaking the target vehicle.

[0077] Further, the target information includes target identifier, target category, and target relative position. Step S110 includes:

[0078] Step S111: When the target identifier of the moving target is a newly added identifier, the moving target is determined to be a newly added target;

[0079] Step S112: When the target category of the newly added target is a vehicle, the newly added target is determined to be a newly added vehicle;

[0080] Step S113: When the target relative position of the newly added vehicle is located in an adjacent lane, the newly added vehicle is determined to be the target vehicle.

[0081] Understandably, vehicle cameras and millimeter-wave radar typically label detected moving targets with corresponding target identifiers, such as target 001, target 002, target 003, etc. Therefore, by determining whether the target identifier of the moving target is a new identifier, it can be determined whether the moving target has already been counted. When the target identifier of the moving target is a new identifier, it means that the moving target has not been counted, and thus it can be determined as a new target; when the target identifier of the moving target is not a new identifier, it means that the moving target has already been counted, and thus it can be determined as a historical target, thereby avoiding repeated counting of already counted targets. The images captured by the cameras can identify the target category of each moving target. Therefore, by determining whether the target category of a newly added target is a vehicle, it can be determined whether the newly added target is a new vehicle. When the target category of the newly added target is a vehicle, it can be determined as a new vehicle; when the target category of the newly added target is not a vehicle, it can be determined as another type of newly added target. Furthermore, by obtaining the lane lines of the current vehicle's lane, and by determining whether the target relative position of the newly added vehicle is outside the lane lines of the current lane, it can be determined whether the target relative position of the newly added vehicle is in an adjacent lane. In other words, if the target relative position of a newly added vehicle is outside the lane lines of the current lane, then the target relative position of the newly added vehicle is located in the adjacent lane; if the target relative position of a newly added vehicle is not outside the lane lines of the current lane, then the target relative position of the newly added vehicle is not located in the adjacent lane. When the target relative position of the newly added vehicle is located in the adjacent lane, the newly added vehicle is determined to be a target vehicle. Thus, this embodiment determines the target vehicle in the adjacent lane by using target information such as the target identifier, target category, and target relative position of the moving target.

[0082] Further, prior to step S113, the following steps are included:

[0083] Step A10: Obtain the lane line equation of the lane where the vehicle is currently located;

[0084] Step A20: Calculate the lateral reference distance of the lane line based on the lane line equation and the relative longitudinal distance between the target relative positions of the newly added vehicles;

[0085] Step A30: When the relative lateral distance of the target relative position is greater than or equal to the lateral reference distance, it is determined that the target relative position of the newly added vehicle is located in the adjacent lane.

[0086] Specifically, the lane lines of the lane currently occupied by the vehicle can be identified using images captured by a camera, and the lane line equation corresponding to the lane line of the current vehicle's lane can be calculated. Then, based on the lane line equation and the relative longitudinal distance of the target relative position of the newly added vehicle, the lateral reference distance of the lane line can be calculated, that is, the relative lateral distance of the lane line at the relative longitudinal distance of the target relative position. When the relative lateral distance of the target relative position is greater than or equal to the lateral reference distance, it indicates that the target relative position exceeds the lane line, and it can be determined that the target relative position of the newly added vehicle is located in an adjacent lane, that is, the newly added vehicle is in an adjacent lane. For example, the target relative position of the newly added vehicle is (x target ,y target If the relative lateral distance of the newly added vehicle is x, then the lateral position coordinate corresponding to the lateral distance is x. target The vertical position coordinate corresponding to the relative vertical distance is y. target The equation of the lane line where the vehicle is currently located is x = c3y 3 +c2y 2 +c1y 1 +c0. When |x target |-|c3y target 3 +c2y target 2 +c1y target 1 When +c0|≥0, it can be determined that the target relative position of the newly added vehicle is located in the adjacent lane, that is, the newly added vehicle is in the adjacent lane.

[0087] Further, step S120 includes:

[0088] Step S121: When the relative longitudinal distance between the target vehicle and the target vehicle changes in a decreasing trend, the target vehicle is determined to be the vehicle being overtaken by the vehicle.

[0089] Step S122: When the relative longitudinal distance of the target vehicle changes in an increasing trend, the target vehicle is determined to be the overtaking vehicle.

[0090] Specifically, the relative longitudinal distance change rate of the target vehicle can be calculated based on its relative longitudinal distance, and the relative longitudinal distance change trend of the target vehicle can then be determined based on the relative longitudinal distance change rate. For example, when the relative longitudinal distance change rate is less than a preset decreasing threshold (-1m / s, -2m / s, -3m / s, etc.), or when the relative longitudinal distance change rate is less than the preset decreasing threshold and the decreasing duration of the relative longitudinal distance change rate is less than the preset decreasing threshold exceeds a preset judgment duration (2s, 3s, 5s, etc.), the relative longitudinal distance change trend of the target vehicle is determined to be a decreasing trend. When the relative longitudinal distance change rate is greater than a preset increasing threshold (1m / s, 2m / s, 3m / s, etc.), or when the relative longitudinal distance change rate is greater than the preset increasing threshold and the increasing duration of the relative longitudinal distance change rate is greater than the preset increasing threshold exceeds a preset judgment duration (2s, 3s, 5s, etc.), the relative longitudinal distance change trend of the target vehicle is determined to be an increasing trend. When the relative longitudinal distance between the target vehicle and the current vehicle shows a decreasing trend, it indicates that the target vehicle's speed is less than the current vehicle's own speed, and therefore the target vehicle can be determined to be the vehicle being overtaken. When the relative longitudinal distance between the target vehicle and the current vehicle shows an increasing trend, it indicates that the target vehicle's speed is greater than the current vehicle's own speed, and therefore the target vehicle can be determined to be the vehicle overtaking. In this embodiment, the speed of the target vehicle is determined by the changing trend of the relative longitudinal distance between the target vehicle and the current vehicle, thereby determining whether the target vehicle is the vehicle being overtaken or the vehicle overtaking.

[0091] Further, refer to Figure 4 The third embodiment of the present invention provides a vehicle speed reminder method, based on the above. Figure 1 In the embodiment shown, after step S100, the vehicle speed reminder method of this embodiment further includes:

[0092] Step S400: When the first vehicle information and the self-vehicle information meet the preset self-vehicle overspeed conditions, generate and output a first suggested speed based on the first average speed in the first vehicle information.

[0093] Step S410: When the second vehicle information and the self-vehicle information meet the preset self-vehicle slow speed conditions, generate and output the second suggested vehicle speed based on the second average vehicle speed in the second vehicle information.

[0094] Specifically, after obtaining the current vehicle's own speed from ABS (Antilock Braking System), ESC (Electronic Stability Controller), or VCU (Vehicle Control Unit), and obtaining the target vehicle's relative speed to the current vehicle via a camera and / or millimeter-wave radar, the target vehicle's absolute speed relative to the ground can be calculated based on the current vehicle's own speed and the target vehicle's relative speed. For example, the absolute speed v of the target vehicle in the adjacent lane... abs =v act +v rel , where v abs v is the absolute speed of the target vehicle relative to the ground in the adjacent lane. act v is the vehicle's speed. rel The first average speed is calculated by taking the average absolute speed of vehicles in adjacent lanes relative to the current vehicle. The second average speed is calculated by taking the average absolute absolute speed of vehicles overtaken by the target vehicle.

[0095] To further improve driver safety and vehicle traffic efficiency, when the first vehicle information and the vehicle information meet preset vehicle speeding conditions, a first suggested speed can be generated and output based on the first average speed in the first vehicle information. For example, the first average speed can be directly used as the first suggested speed. However, considering the current vehicle is speeding, a speed value lower than the first average speed can also be used as the first suggested speed. For instance, the first average speed can be subtracted from a first preset adjustment value (3 km / h, 5 km / h, etc.) as the first suggested speed, or the product of the first average speed and a first preset adjustment ratio (95%, 90%, etc.) can be used as the first suggested speed. When the second vehicle information and the vehicle information meet preset vehicle slow speed conditions, a second suggested speed can be generated and output based on the second average speed in the second vehicle information. For example, the second average vehicle speed can be directly used as the second suggested speed. However, considering the current vehicle is in a slow-moving driving condition, a speed value greater than the second average vehicle speed can also be selected as the second suggested speed. For instance, the second average vehicle speed can be added to a second preset adjustment value (3 km / h, 5 km / h, etc.) as the second suggested speed, or the product of the second average vehicle speed and a second preset adjustment ratio (105%, 110%, etc.) can be used as the second suggested speed. In this embodiment, when the vehicle is in a speeding / slow-moving driving condition, a corresponding suggested speed is generated and output based on the first average vehicle speed in the first vehicle information or the second average vehicle speed in the second vehicle information, to prompt the driver to drive at the suggested speed, thereby further improving driver safety and vehicle traffic efficiency.

[0096] Reference Figure 5 , Figure 5 This is a signal logic system block diagram of an optional embodiment of the vehicle speed reminder method of the present invention.

[0097] like Figure 5As shown, the execution entity in this embodiment is the ADAS controller. The ADAS controller obtains the vehicle's current information (such as vehicle speed) from power domain or chassis domain controllers such as VCU / ABS / ESC, and obtains target information such as the target identifier (i.e., target ID), target category, target relative speed, target relative position, and lane line of the current vehicle from cameras and millimeter-wave radar. Then, based on the target information of the moving target, it identifies the vehicles being overtaken by the vehicle and the vehicles overtaking the vehicle in adjacent lanes. It then counts the first vehicle information, such as the first number of vehicles overtaken and the first average number of vehicles, and the second vehicle information, such as the second number of vehicles overtaking the vehicle and the second average number of vehicles. When the first vehicle information and the vehicle information meet the preset vehicle speeding conditions, it sends a speeding reminder to the HMI (Human Machine Interface) device via a CAN (Controller Area Network) message to display the speeding reminder to the driver. Similarly, when the second vehicle information and the vehicle information meet the preset slow speed conditions, a slow speed reminder is also sent to the HMI device via a CAN message to display the reminder and alert the driver. The HMI device can be an instrument cluster, central control unit, or similar device. Further, when the first vehicle information and the vehicle information meet the preset overspeed conditions, a first suggested speed is generated based on the first average speed in the first vehicle information and sent to the HMI device via a CAN message; when the second vehicle information and the vehicle information meet the preset slow speed conditions, a second suggested speed is generated based on the second average speed in the second vehicle information and sent to the HMI device via a CAN message. Additionally, a function switch can be provided on the HMI device for the driver to turn the vehicle function corresponding to the speed reminder method of this invention on or off. When the ADAS controller receives a control command to turn the function on or off, it executes the command to turn the vehicle function corresponding to the speed reminder method of this invention on or off.

[0098] like Figure 6 As shown, Figure 6 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiments of the present invention.

[0099] Specifically, the vehicle speed reminder device may be an ADAS (Advanced Driving Assistance System) controller, VCU (Vehicle Control Unit), PC (Personal Computer), tablet computer, portable computer, or server, etc.

[0100] like Figure 6 As shown, the vehicle speed warning device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0101] Those skilled in the art will understand that Figure 6 The device structure shown does not constitute a limitation on the speed warning device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0102] like Figure 6 As shown, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a vehicle speed reminder application.

[0103] exist Figure 6 In the device shown, network interface 1004 is mainly used to connect to the backend server and communicate data with it; user interface 1003 is mainly used to connect to the client and communicate data with it; and processor 1001 can be used to call the vehicle speed reminder program stored in memory 1005 and execute the following steps:

[0104] Obtain the current vehicle's own information, the first vehicle information of the vehicle overtaken by the current vehicle in the adjacent lane, and the second vehicle information of the vehicle overtaking the current vehicle;

[0105] When the first vehicle information and the self-vehicle information meet the preset self-vehicle speeding conditions, a speeding reminder message is output.

[0106] When the second vehicle information and the self-vehicle information meet the preset self-vehicle slow speed conditions, a slow speed reminder message is output.

[0107] Furthermore, the processor 1001 can be used to call the vehicle speed reminder program stored in the memory 1005, and also perform the following steps:

[0108] Acquire target information of the moving target, and determine the target vehicle in the adjacent lane based on the target information;

[0109] Based on the relative longitudinal distance change trend of the target vehicles, identify the vehicles being overtaken and the vehicles overtaking the target vehicles.

[0110] Furthermore, the target information includes target identifier, target category, and target relative position; the processor 1001 can be used to call the vehicle speed reminder program stored in the memory 1005, and also execute the following steps:

[0111] When the target identifier of the moving target is a newly added identifier, the moving target is determined to be a newly added target;

[0112] When the target category of the newly added target is a vehicle, the newly added target is determined to be a newly added vehicle;

[0113] When the target relative position of the newly added vehicle is located in an adjacent lane, the newly added vehicle is determined to be the target vehicle.

[0114] Furthermore, the processor 1001 can be used to call the vehicle speed reminder program stored in the memory 1005, and also perform the following steps:

[0115] Obtain the lane line equation of the lane currently occupied by the vehicle;

[0116] The lateral reference distance of the lane line is calculated based on the lane line equation and the relative longitudinal distance of the target relative position of the newly added vehicle.

[0117] If the relative lateral distance of the target relative position is greater than or equal to the lateral reference distance, it is determined that the target relative position of the newly added vehicle is located in the adjacent lane.

[0118] Furthermore, the processor 1001 can be used to call the vehicle speed reminder program stored in the memory 1005, and also perform the following steps:

[0119] When the relative longitudinal distance between the target vehicle and the target vehicle shows a decreasing trend, the target vehicle is determined to be the vehicle being overtaken by the vehicle.

[0120] When the relative longitudinal distance between the target vehicle and the target vehicle shows an increasing trend, the target vehicle is determined to be the overtaking vehicle.

[0121] Furthermore, the first vehicle information includes a first number of vehicles and a first average vehicle speed. The processor 1001 can be used to call the vehicle speed reminder program stored in the memory 1005 and also perform the following steps:

[0122] Determine whether the number of the first vehicles is greater than a first preset quantity threshold within a preset statistical period;

[0123] If the number of the first vehicles is greater than the first preset quantity threshold, then determine whether the speed difference between the vehicle speed in the vehicle information and the first average vehicle speed is greater than the first preset speed threshold.

[0124] If the speed difference between the vehicle speed and the first average vehicle speed is greater than a first preset speed threshold, then the first vehicle information and the vehicle information are determined to meet the preset vehicle speeding condition.

[0125] Furthermore, the second vehicle information includes a second number of vehicles and a second average vehicle speed. The processor 1001 can be used to call the vehicle speed reminder program stored in the memory 1005 and also perform the following steps:

[0126] Determine whether the number of the second vehicle exceeds a second preset quantity threshold within a preset statistical period;

[0127] If the second number of vehicles is greater than the second preset number threshold, then determine whether the speed difference between the vehicle speed in the vehicle information and the second average vehicle speed is greater than the second preset speed threshold.

[0128] If the speed difference between the vehicle speed and the second average speed is greater than the second preset speed threshold, then the second vehicle information and the vehicle information are determined to meet the preset slow vehicle condition.

[0129] Furthermore, the processor 1001 can be used to call the vehicle speed reminder program stored in the memory 1005, and also perform the following steps:

[0130] When the first vehicle information and the autonomous vehicle information meet the preset autonomous vehicle speeding conditions, a first suggested speed is generated and output based on the first average vehicle speed in the first vehicle information.

[0131] When the second vehicle information and the self-vehicle information meet the preset self-vehicle slow speed conditions, a second suggested speed is generated and output based on the second average vehicle speed in the second vehicle information.

[0132] Furthermore, embodiments of the present invention also propose a vehicle including the aforementioned speed warning device. It is understood that the vehicle also includes other devices that ensure the normal operation of the vehicle, such as a drive unit and sensing devices.

[0133] Furthermore, this embodiment of the invention also proposes a computer storage medium storing a computer program. When the computer program is executed by a processor, it implements the operations in the vehicle speed reminder method provided in the above embodiments. The specific steps will not be described in detail here.

[0134] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity / operation / object from another, and do not necessarily require or imply any such actual relationship or order between these entities / operations / objects; the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0135] For the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and relevant details can be found in the description of the method embodiments. The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separate. Some or all of the modules can be selected to achieve the purpose of the present invention according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0136] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0137] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, vehicle, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0138] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A method for reminding drivers of vehicle speed, characterized in that, The vehicle speed reminder method includes the following steps: The system acquires the vehicle information of the current vehicle, the first vehicle information of the vehicle being overtaken by the vehicle in the adjacent lane, and the second vehicle information of the vehicle overtaking the vehicle. The vehicle being overtaken by the vehicle is either the target vehicle that has been overtaken by the current vehicle or the target vehicle that has not been overtaken by the current vehicle but whose speed is lower than the current vehicle's own speed. The vehicle overtaking the vehicle is either the target vehicle that has overtaken the vehicle or the target vehicle that has not overtaken the vehicle but whose speed is higher than the vehicle's own speed. When the first vehicle information and the self-vehicle information meet the preset self-vehicle speeding conditions, an overspeeding reminder message is output. The preset self-vehicle speeding conditions include the number of vehicles overtaken by the self-vehicle in the first vehicle information exceeding a first preset number threshold within a preset statistical period, and the speed difference between the first average speed of the vehicles overtaken by the self-vehicle in the first vehicle information and the speed of the self-vehicle in the self-vehicle information exceeding a first preset speed threshold. When the second vehicle information and the self-vehicle information meet the preset self-vehicle slow speed conditions, a slow speed reminder message is output. The preset self-vehicle slow speed conditions include the number of second vehicles in the second vehicle information that overtake the self-vehicle within a preset statistical period exceeding a second preset quantity threshold, and the speed difference between the second average speed of the vehicles overtaking the self-vehicle in the second vehicle information and the speed of the self-vehicle in the self-vehicle information exceeding a second preset speed threshold. Before the step of obtaining the current vehicle's own information, the first vehicle information of the vehicle being overtaken in the adjacent lane, and the second vehicle information of the overtaking vehicle, the following steps are included: Acquire target information of the moving target, and determine the target vehicle in the adjacent lane based on the target information; When the target vehicle is in front of the current vehicle and the relative longitudinal distance between the target vehicle and the current vehicle is decreasing, the target vehicle is determined to be the vehicle being overtaken. When the target vehicle is in front of the current vehicle and the relative longitudinal distance between the target vehicle and the current vehicle shows an increasing trend, the target vehicle is determined to be the vehicle that is overtaking.

2. The speed reminder method as described in claim 1, characterized in that, The target information includes target identifier, target category, and target relative position. The step of determining the target vehicle in the adjacent lane based on the target information includes: When the target identifier of the moving target is a newly added identifier, the moving target is determined to be a newly added target; When the target category of the newly added target is a vehicle, the newly added target is determined to be a newly added vehicle; When the target relative position of the newly added vehicle is located in an adjacent lane, the newly added vehicle is determined to be the target vehicle.

3. The speed reminder method as described in claim 2, characterized in that, Before the step of determining that the newly added vehicle is the target vehicle when the target relative position of the newly added vehicle is in an adjacent lane, the following steps are included: Obtain the lane line equation of the lane currently occupied by the vehicle; The lateral reference distance of the lane line is calculated based on the lane line equation and the relative longitudinal distance of the target relative position of the newly added vehicle. If the relative lateral distance of the target relative position is greater than or equal to the lateral reference distance, it is determined that the target relative position of the newly added vehicle is located in the adjacent lane.

4. The speed reminder method as described in claim 1, characterized in that, The first vehicle information includes a first number of vehicles and a first average vehicle speed. Before the step of outputting a speeding warning message when the first vehicle information and the vehicle information meet preset speeding conditions, the following steps are included: Determine whether the number of the first vehicles is greater than a first preset quantity threshold within a preset statistical period; If the number of the first vehicles is greater than the first preset quantity threshold, then determine whether the speed difference between the vehicle speed in the vehicle information and the first average vehicle speed is greater than the first preset speed threshold. If the speed difference between the vehicle speed and the first average vehicle speed is greater than a first preset speed threshold, then the first vehicle information and the vehicle information are determined to meet the preset vehicle speeding condition.

5. The speed reminder method as described in claim 1, characterized in that, The second vehicle information includes a second number of vehicles and a second average vehicle speed. Before the step of outputting a slow speed reminder when the second vehicle information and the vehicle information meet a preset slow speed condition, the following steps are included: Determine whether the number of the second vehicle exceeds a second preset quantity threshold within a preset statistical period; If the second number of vehicles is greater than the second preset number threshold, then determine whether the speed difference between the vehicle speed in the vehicle information and the second average vehicle speed is greater than the second preset speed threshold. If the speed difference between the vehicle speed and the second average speed is greater than the second preset speed threshold, then the second vehicle information and the vehicle information are determined to meet the preset slow vehicle condition.

6. The vehicle speed reminder method as described in any one of claims 1 to 5, characterized in that, After the steps of acquiring the current vehicle's own information, the first vehicle information of the vehicle being overtaken in the adjacent lane, and the second vehicle information of the vehicle overtaking the current vehicle, the method further includes: When the first vehicle information and the self-vehicle information meet the preset self-vehicle speeding conditions, a first suggested speed is generated and output based on the first average vehicle speed in the first vehicle information. When the second vehicle information and the self-vehicle information meet the preset self-vehicle slow speed conditions, a second suggested speed is generated and output based on the second average vehicle speed in the second vehicle information.

7. A vehicle speed reminder device, characterized in that, The vehicle speed reminder device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the vehicle speed reminder method as described in any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a vehicle speed reminder program, which, when executed by a processor, implements the steps of the vehicle speed reminder method as described in any one of claims 1 to 6.

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