A method and device for reminding of lane speed limit

Abstract

The present invention relates to a lane speed limit reminder method and device. The method includes: obtaining the lateral displacement of the vehicle within a preset time period before the current moment; determining the difference in the number of lane lines on the left and right sides of the vehicle at the current moment and the number of lane lines on the left and right sides of the vehicle at the previous moment according to the collected lane line images in front of the vehicle; obtaining the steering lever signal within the preset time period; determining whether the vehicle has changed lanes according to the lateral displacement, the difference in the number of lane lines, and the steering lever signal; obtaining the speed limit value matching the current lane from the pre-collected lane speed limit information, and generating a speed limit reminder message based on the speed limit value. This solution obtains the speed limit value matching the current lane from the lane speed limit information and generates a speed limit reminder message, so as to perform corresponding traffic speed limit reminders for the driver when driving in different lanes, reduce the workload of the driver in identifying road speed limit signs, and standardize the legal driving of the driver to avoid speeding.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular, to a lane speed limit reminder method and device. Background Art

[0002] The speed control during vehicle driving mainly relies on the driver to actively operate after recognizing the road speed limit sign. When the driver is inattentive, fatigued, or misidentifies or fails to identify the road speed limit sign with the human eye, it is extremely easy to exceed the speed, and even traffic safety accidents may occur.

[0003] Currently, for the automatic speed limit recognition of roads, only the highest speed limit value in multiple lanes is taken, and it cannot accurately identify the speed limit of the current lane. Therefore, the currently automatically recognized speed limit value has little reference value for the driver to drive the vehicle, and cannot effectively reduce the workload of the driver in recognizing the road speed limit sign and reduce the phenomenon of speeding. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, a first aspect of the present invention proposes a lane speed limit reminder method, and the method includes:

[0005] Obtain the lateral displacement of the vehicle within a preset time period before the current moment;

[0006] According to the lane line image in front of the collected vehicle, determine the difference in the number of lane lines on the left and right sides of the vehicle at the current moment and the number of lane lines on the left and right sides of the vehicle at the previous moment;

[0007] Obtain the steering lever signal within the preset time period;

[0008] According to the lateral displacement, the difference in the number of lane lines, and the steering lever signal, determine whether the vehicle has changed lanes;

[0009] If so, determine the current lane of the vehicle;

[0010] Obtain the speed limit value matching the current lane from the pre-collected lane speed limit information, and generate a speed limit reminder information based on the speed limit value.

[0011] Optionally, the determining the difference in the number of lane lines on the left and right sides of the vehicle at the current moment and the number of lane lines on the left and right sides of the vehicle at the previous moment includes:

[0012] Obtain the first lane line image in front of the vehicle collected at the current moment and the second lane line image in front of the vehicle collected at the previous moment;

[0013] Identify the number of lane lines on the left and right sides of the vehicle in the first lane line image and the second lane line image respectively according to the pre-marked edge lane lines on both sides of the road.

[0014] Determine the difference between the number of lane lines on the left and right sides of the vehicle at the current moment and the number of lane lines on the left and right sides of the vehicle at the previous moment according to the number of lane lines.

[0015] Optionally, the determining whether the vehicle has changed lanes according to the lateral displacement, the difference in the number of lane lines, and the steering lever signal includes:

[0016] Determine the first possibility of the vehicle changing lanes according to the magnitude relationship between the lateral displacement and a preset displacement threshold;

[0017] Determine the second possibility of the vehicle changing lanes according to the difference in the number of lane lines;

[0018] Determine the third possibility of the vehicle changing lanes according to the content of the steering lever signal;

[0019] Based on a preset weight, perform weighted fusion on the first possibility, the second possibility, and the third possibility to obtain the target possibility of the vehicle changing lanes;

[0020] If the target possibility is greater than a preset possibility threshold, determine that the vehicle has changed lanes.

[0021] Optionally, the determining the first possibility of the vehicle changing lanes according to the magnitude relationship between the lateral displacement and a preset displacement threshold includes:

[0022] If the lateral displacement is greater than or equal to the preset displacement threshold, the first possibility of the vehicle changing lanes is 100%;

[0023] If the lateral displacement is less than the displacement threshold, determine the first possibility of the vehicle changing lanes according to the magnitude of the difference between the lateral displacement and the displacement threshold.

[0024] Optionally, the determining the second possibility of the vehicle changing lanes according to the difference in the number of lane lines includes:

[0025] If the difference in the number of lane lines is greater than or equal to one lane line, the second possibility of the vehicle changing lanes is 100%;

[0026] If there is no difference in the number of lane lines, the second possibility of the vehicle changing lanes is 0%.

[0027] Optionally, determining a third possibility that the vehicle changes lanes according to the content of the steering lever signal includes:

[0028] If the content of the steering lever signal is a left turn or a right turn, the third possibility that the vehicle changes lanes is 100%;

[0029] If the content of the steering lever signal is not turned on, the third possibility that the vehicle changes lanes is 0%.

[0030] Optionally, determining the current lane of the vehicle includes:

[0031] Determining the current lane of the vehicle according to the number of lane lines on the left and right sides of the vehicle at the current moment.

[0032] Optionally, obtaining a speed limit value matching the current lane from the pre-collected lane speed limit information includes:

[0033] Obtaining the speed limit information corresponding to each lane in the speed limit sign image of the current road collected most recently;

[0034] Determining a speed limit value matching the current lane according to the speed limit information.

[0035] Optionally, after generating the speed limit reminder information based on the speed limit value, it further includes:

[0036] When a new speed limit sign image is collected, determining the speed limit value corresponding to the current lane from the new speed limit sign image to obtain a new speed limit value;

[0037] Generating a new speed limit reminder information based on the new speed limit value.

[0038] A second aspect of the present invention proposes a lane speed limit reminder device, the device includes:

[0039] A lateral displacement acquisition module, configured to acquire the lateral displacement of the vehicle within a preset time period before the current moment;

[0040] A difference determination module, configured to determine the difference between the number of lane lines on the left and right sides of the vehicle at the current moment and the number of lane lines on the left and right sides of the vehicle at the previous moment according to the collected lane line image in front of the vehicle;

[0041] A signal acquisition module, configured to acquire the steering lever signal within the preset time period;

[0042] A lane change determination module, configured to determine whether the vehicle has changed lanes according to the lateral displacement, the difference in the number of lane lines, and the steering lever signal;

[0043] A current lane determination module, configured to determine the current lane of the vehicle if so;

[0044] A speed limit reminder module, configured to obtain a speed limit value matching the current lane from pre-collected lane speed limit information, and generate a speed limit reminder message based on the speed limit value.

[0045] Optionally, the difference determination module is specifically configured to:

[0046] Obtain a first lane line image in front of the vehicle collected at the current moment, and a second lane line image in front of the vehicle collected at the previous moment;

[0047] According to the edge lane lines marked on both sides of the road in advance, respectively identify the number of lane lines on the left and right sides of the vehicle in the first lane line image and the second lane line image;

[0048] According to the number of lane lines, determine the difference between the number of lane lines on the left and right sides of the vehicle at the current moment and the number of lane lines on the left and right sides of the vehicle at the previous moment.

[0049] Optionally, the lane change determination module is specifically configured to:

[0050] Determine a first possibility of the vehicle changing lanes according to the magnitude relationship between the lateral displacement and a preset displacement threshold;

[0051] Determine a second possibility of the vehicle changing lanes according to the difference in the number of lane lines;

[0052] Determine a third possibility of the vehicle changing lanes according to the content of the steering lever signal;

[0053] Based on a preset weight, perform weighted fusion on the first possibility, the second possibility, and the third possibility to obtain a target possibility of the vehicle changing lanes;

[0054] If the target possibility is greater than a preset possibility threshold, determine that the vehicle has changed lanes.

[0055] Optionally, the lane change determination module is further configured to:

[0056] If the lateral displacement is greater than or equal to the preset displacement threshold, the first possibility of the vehicle changing lanes is 100%;

[0057] If the lateral displacement is less than the displacement threshold, determine the first possibility of the vehicle changing lanes according to the difference between the lateral displacement and the displacement threshold.

[0058] Optionally, the lane change determination module is further configured to:

[0059] If the difference in the number of the lane lines is greater than or equal to one lane line, the second possibility of the vehicle changing lanes is 100%;

[0060] If there is no difference in the number of the lane lines, the second possibility of the vehicle changing lanes is 0%.

[0061] Optionally, the lane change determination module is further configured to:

[0062] If the content of the steering lever signal is turning left or turning right, the third possibility of the vehicle changing lanes is 100%;

[0063] If the content of the steering lever signal is not turned on, the third possibility of the vehicle changing lanes is 0%.

[0064] Optionally, the current lane determination module is specifically configured to:

[0065] Determine the current lane of the vehicle according to the number of lane lines on the left and right sides of the vehicle at the current moment.

[0066] Optionally, the speed limit reminder module is specifically configured to:

[0067] Obtain the speed limit information corresponding to each lane in the speed limit sign image of the current road collected most recently;

[0068] Determine the speed limit value matching the current lane according to the speed limit information.

[0069] Optionally, the device further includes:

[0070] A new speed limit value determination module, configured to determine the speed limit value corresponding to the current lane from the new speed limit sign image to obtain a new speed limit value when a new speed limit sign image is collected;

[0071] A new information generation module, configured to generate a new speed limit reminder information based on the new speed limit value.

[0072] A third aspect of the present invention provides an electronic device, where the electronic device includes a processor and a memory, and at least one instruction, at least one program, a code set or an instruction set is stored in the memory, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the lane speed limit reminder method as described in the first aspect.

[0073] A fourth aspect of the present invention provides a computer-readable storage medium storing at least one instruction, at least one segment of program, a code set or an instruction set, which is loaded and executed by a processor to implement the lane speed limit reminder method as described in the first aspect.

[0074] The embodiments of the present invention have the following beneficial effects:

[0075] The lane speed limit reminder method provided by the embodiments of the present invention obtains the lateral displacement of the vehicle within a preset time period before the current moment; determines the difference in the number of lane lines on the left and right sides of the vehicle at the current moment and the number of lane lines on the left and right sides of the vehicle at the previous moment according to the collected lane line images in front of the vehicle; obtains the turn signal lever signal within the preset time period; determines whether the vehicle has changed lanes according to the lateral displacement, the difference in the number of lane lines, and the turn signal lever signal; if so, determines the current lane of the vehicle; obtains the speed limit value matching the current lane from the pre-collected lane speed limit information, and generates a speed limit reminder information based on the speed limit value. This solution determines the current lane of the vehicle, obtains the speed limit value matching the current lane from the lane speed limit information, and generates a speed limit reminder information, so as to perform corresponding traffic speed limit reminders for the driver when driving in different lanes, reduce the workload of the driver to identify road speed limit signs, and standardize the legal driving of the driver to avoid speeding.

[0076] The additional aspects and advantages of the present invention will be partially given in the following description, partially become apparent from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] In order to more clearly illustrate the technical solutions of the present invention, the drawings required for use in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0078] Figure 1 It is a flowchart of the steps of the first lane speed limit reminder method provided by the embodiments of the present invention;

[0079] Figure 2 It is a schematic diagram of lane lines and speed limit signs provided by the embodiments of the present invention;

[0080] Figure 3 It is a flowchart of the steps of the second lane speed limit reminder method provided by the embodiments of the present invention;

[0081] Figure 4A structural block diagram of a lane speed limit reminder device provided by an embodiment of the present invention. Detailed implementation manners

[0082] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0083] This specification provides method operation steps as described in the embodiments or flowcharts, but based on routine or non-creative labor, it may include more or fewer operation steps. When actually executed in a system or server product, it can be executed in the order of the methods shown in the embodiments or the drawings, or in parallel (for example, in an environment of parallel processors or multi-threaded processing).

[0084] Figure 1 A step flowchart of the first lane speed limit reminder method provided by an embodiment of the present invention. The method may include the following steps:

[0085] Step 101: Obtain the lateral displacement of the vehicle within a preset time period before the current moment.

[0086] The execution subject of the present invention is the main domain controller (Advanced driver main control module, ADMC) of the vehicle, and the main domain controller is an in-vehicle chip module for carrying intelligent driving algorithms.

[0087] Lateral refers to the direction perpendicular to the forward direction of the vehicle. Lateral displacement refers to the displacement amount of the vehicle in the lateral direction. When the vehicle changes lanes, there will be a lateral displacement. However, not every lateral displacement means the vehicle is changing lanes. Only when the lateral displacement of the vehicle within a short time reaches the distance that enables the vehicle to straddle the lane line can it be determined that the vehicle has changed lanes.

[0088] Therefore, by obtaining the lateral displacement of the vehicle within a preset time period before the current moment, it is determined whether the vehicle has changed lanes. The preset time period can be preset according to factors such as the width between lane lines and the speed of the vehicle.

[0089] The lateral displacement of the vehicle can be determined according to the current attitude of the vehicle and the vehicle displacement. Taking the forward direction of the vehicle as the x-axis, the lateral displacement is the component of the vehicle displacement in the y-axis direction.

[0090] Step 102: Determine the difference in the number of lane lines on the left and right sides of the vehicle at the current moment and the number of lane lines on the left and right sides of the vehicle at the previous moment based on the collected lane line images in front of the vehicle.

[0091] During the driving process of the vehicle, the front camera of the vehicle continuously collects the lane line images in front of the vehicle and transmits the lane line images to the main domain controller. The main domain controller determines the number of lane lines on the left and right sides of the vehicle based on the received lane line images, and compares the number of lane lines on the left and right sides in the current image with the number of lane lines on the left and right sides of the vehicle in the image received at the previous moment.

[0092] For example, through image recognition, the main domain controller obtains that the number of lane lines on the left side of the vehicle at the current moment is 2, the number of lane lines on the right side of the vehicle is 1, the number of lane lines on the left side of the vehicle at the previous moment is 1, and the number of lane lines on the right side of the vehicle is 2. Then the difference in the number of lane lines between the current moment and the previous moment is: the number of lane lines on the left side decreases by 1, and the number of lane lines on the right side increases by 1.

[0093] Step 103: Obtain the steering lever signal within the preset time period.

[0094] The steering lever is the turn signal switch, and its position is generally under the steering wheel. As long as the driver gently clicks the steering lever, the turn signal will flash three times and then automatically turn off. The driver can use it when changing lanes to warn the following vehicle.

[0095] When the driver toggles the steering lever, a steering lever signal is generated, and the main domain controller can obtain this steering lever signal. The main domain controller can determine whether the vehicle has changed lanes based on whether the steering lever signal is obtained.

[0096] Step 104: Determine whether the vehicle has changed lanes based on the lateral displacement, the difference in the number of lane lines, and the steering lever signal.

[0097] The lateral displacement of the vehicle, the difference in the number of lane lines, and the steering lever signal are all one of the determination conditions for determining whether the vehicle has changed lanes. Compared with using only one or two of these determination conditions to determine whether the vehicle has changed lanes, combining these three determination conditions for determination can improve the accuracy of lane change determination to better guide driving safety.

[0098] Step 105: If so, determine the current lane of the vehicle.

[0099] If it is determined through the comprehensive judgment of the above three conditions that the vehicle has changed lanes, the current lane where the vehicle is located can be determined. The methods for determining the lane where the vehicle is located can include image recognition method, obstacle sound detection method, infrared ray method, lidar method, etc., and the embodiments of the present invention do not make specific limitations on this.

[0100] In a possible implementation manner, determining the current lane of the vehicle includes:

[0101] Determining the current lane of the vehicle according to the number of lane lines on the left and right sides of the vehicle at the current moment.

[0102] Since the lane line image in front of the vehicle has been collected in step 102 and the number of lane lines on the left and right sides of the vehicle at the current moment is known, the lane where the vehicle is currently located can be determined according to the number of lane lines on the left and right sides.

[0103] For example, if the number of lane lines on the left side of the vehicle at the current moment is 2 and the number of lane lines on the right side of the vehicle is 1, it can be determined that the number of lanes on the current road is 4, and the current lane of the vehicle is the second lane from right to left.

[0104] Step 106: Obtain the speed limit value matching the current lane from the pre-collected lane speed limit information, and generate a speed limit reminder message based on the speed limit value.

[0105] During the driving process of the vehicle, the camera continuously takes pictures of the road conditions and transmits the captured road images to the main domain controller, and the main domain controller identifies and analyzes the road images. When the speed limit image of the lane is recognized, the main domain controller performs semantic segmentation on the speed limit information in the speed limit image to obtain the lane speed limit information corresponding to each lane.

[0106] When it is detected through this embodiment that the vehicle changes lanes, the main domain controller determines the current lane of the vehicle, obtains the latest lane speed limit information of the current road, matches the current lane with the latest lane speed limit information, and obtains the speed limit value corresponding to the current lane.

[0107] The main domain controller generates a speed limit reminder message according to the speed limit value. The speed limit reminder message can be in the form of voice broadcast reminder, or in the form of image or text display. The content of the speed limit reminder message can be: the current speed of the vehicle is ***, and the speed limit value is ***. In this way, when the driver obtains the speed limit reminder message, the driver controls the driving speed of the vehicle according to the speed limit reminder message, avoiding speeding and improving driving safety.

[0108] Moreover, the vehicle can automatically generate a speed limit reminder message, avoiding the driver's distraction caused by manually identifying the road speed limit sign and affecting driving safety.

[0109] In summary, the lane speed limit reminder method provided by the embodiment of the present invention obtains the lateral displacement of the vehicle within a preset time period before the current moment; determines the difference in the number of lane lines on the left and right sides of the vehicle at the current moment and the number of lane lines on the left and right sides of the vehicle at the previous moment according to the collected lane line images in front of the vehicle; obtains the steering lever signal within the preset time period; determines whether the vehicle has changed lanes according to the lateral displacement, the difference in the number of lane lines, and the steering lever signal; if so, determines the current lane of the vehicle; obtains the speed limit value matching the current lane from the pre-collected lane speed limit information, and generates a speed limit reminder information based on the speed limit value. This solution determines the current lane of the vehicle, obtains the speed limit value matching the current lane from the lane speed limit information, and generates a speed limit reminder information, so as to perform corresponding traffic speed limit reminders when the driver is driving in different lanes, reducing the workload of the driver to identify road speed limit signs, standardizing the driver's legal driving to avoid speeding.

[0110] In a possible implementation manner, step 102 includes the following steps 1021-step 1023:

[0111] Step 1021, obtain the first lane line image in front of the vehicle collected at the current moment and the second lane line image in front of the vehicle collected at the previous moment;

[0112] Step 1022, respectively identify the number of lane lines on the left and right sides of the vehicle in the first lane line image and the second lane line image according to the pre-marked edge lane lines on both sides of the road;

[0113] Step 1023, determine the difference in the number of lane lines on the left and right sides of the vehicle at the current moment and the number of lane lines on the left and right sides of the vehicle at the previous moment according to the number of lane lines.

[0114] In steps 1021-step 1023, the main domain controller determines the number of lane lines on the left and right sides of the vehicle according to the received lane line images. Specifically, the number of lane lines on the left and right sides of the vehicle can be determined based on the pre-marked edge lane lines. For example, on the left side of the vehicle, the number of lane lines between the left edge lane line and the vehicle is 1, and on the right side of the vehicle, the number of lane lines between the right edge lane line and the vehicle is 2, then the number of lane lines on the left side of the vehicle is 1, and the number of lane lines on the right side of the vehicle is 2.

[0115] Compare the number of lane lines on the left and right sides in the first lane line image obtained at the current moment with the number of lane lines on the left and right sides in the second lane line image obtained at the previous moment to obtain the difference in the number of lane lines.

[0116] For example, the main domain controller obtains through image recognition that the number of lane lines on the left side of the vehicle in the first lane line image is 2, and the number of lane lines on the right side of the vehicle is 1. In the second lane line image, the number of lane lines on the left side of the vehicle is 1, and the number of lane lines on the right side of the vehicle is 2. Then the difference between the first lane line image and the second lane line image is that the number of left lane lines decreases by 1, and the number of right lane lines increases by 1.

[0117] Figure 2 It is a schematic diagram of lane lines and speed limit signs provided by an embodiment of the present invention.

[0118] Refer to Figure 2 , the lateral displacement of the vehicle can be determined according to the current attitude of the vehicle and the vehicle displacement. Taking the vehicle forward direction as the x-axis, the lateral displacement is the component of the vehicle displacement in the y-axis direction.

[0119] In addition, according to the left and right edge lane lines, the current lane where the vehicle is located is determined. In Figure 2 , on the left side of the vehicle, the number of lane lines between the left edge lane line and the vehicle is 1. On the right side of the vehicle, the number of lane lines between the right edge lane line and the vehicle is 3. Then the number of lane lines on the left side of the vehicle is 1, and the number of lane lines on the right side of the vehicle is 3. That is, the current lane where the vehicle is located is Lane 2.

[0120] As Figure 2 shown, each lane is matched with a corresponding speed limit value. The speed limit values for Lane 1 and Lane 2 are 120, and the speed limit values for Lane 3 and Lane 4 are 100. The current lane is Lane 2, and the matched speed limit value is 120.

[0121] In a possible implementation manner, as Figure 3 shown, step 104 includes the following steps 1041-step 1045:

[0122] Step 1041: Determine the first possibility of the vehicle changing lanes according to the magnitude relationship between the lateral displacement and a preset displacement threshold.

[0123] After obtaining the lateral displacement of the vehicle within a preset time period before the current moment, compare the lateral displacement with the displacement threshold. According to the magnitude relationship between the lateral displacement and the displacement threshold, determine the possibility of the vehicle changing lanes.

[0124] The displacement threshold is set based on factors such as the magnitude of the preset time period, the width of the lane line, and the speed of the vehicle. The displacement threshold can be set to the width of one lane line, for example, 3 meters. The preset time period can be set to the time required to change lanes by the distance of one lane line at a slower vehicle speed, for example, 5 seconds.

[0125] When the lateral displacement of the vehicle within a preset time period is greater than or equal to the displacement threshold, the possibility of lane change is relatively high. If the lateral displacement is less than the displacement threshold, the possibility of lane change is relatively low.

[0126] Step 1042: Determine the second possibility of the vehicle changing lanes according to the difference in the number of the lane lines.

[0127] Regarding the difference between the first lane line image at the current moment and the second lane line image at the previous moment, when the number of left lane lines increases, the number of right lane lines will definitely decrease, and the increase value of the number of lane lines on one side is the same as the decrease value of the number of lane lines on the other side. To compare the difference in the number of lane lines, only the difference in the number on one side needs to be compared.

[0128] The greater the difference in the number of lane lines, the greater the possibility of the vehicle changing lanes.

[0129] Step 1043: Determine the third possibility of the vehicle changing lanes according to the content of the steering lever signal.

[0130] When the driver changes lanes, the steering lever is generally triggered. Therefore, the possibility of the vehicle changing lanes can be determined according to the content of the steering lever signal.

[0131] Step 1044: Based on the preset weights, perform weighted fusion on the first possibility, the second possibility, and the third possibility to obtain the target possibility of the vehicle changing lanes.

[0132] There may be deviations in the calculation of the vehicle's lateral displacement, and there may be situations where the lane line images are blocked by road obstacles or the vehicle itself, resulting in errors in the judgment of the difference in lane lines; the steering lever is manually triggered by the driver and may be mis-triggered. Therefore, when the content of the steering lever signal is steering, it does not necessarily mean that the vehicle has changed lanes.

[0133] Therefore, none of the factors of lateral displacement, lane line difference, and steering lever signal can completely and accurately determine the lane change situation of the vehicle. However, when these three factors are combined, a relatively accurate judgment result will be obtained.

[0134] The accuracy of the vehicle's lane change can be judged based on these three factors, and the weights corresponding to these three factors can be preset. Perform weighted fusion on the judgment results of these three factors to obtain a relatively accurate judgment result.

[0135] Assume that the weight of the first possibility is w1, the weight of the second possibility is w2, and the weight of the third possibility is w3, and w1 + w2 + w3 = 1. Then the target possibility of the vehicle changing lanes = the first possibility * w1 + the second possibility * w2 + the third possibility * w3.

[0136] Step 1045: If the target possibility is greater than a preset possibility threshold, it is determined that the vehicle has changed lanes.

[0137] Determine whether the vehicle has changed lanes according to the magnitude relationship between the finally obtained target possibility and the preset possibility threshold.

[0138] When the target possibility is greater than or equal to the possibility threshold, it is determined that the vehicle has changed lanes. When the target possibility is less than the possibility threshold, it is determined that the vehicle has not changed lanes.

[0139] In steps 1041 - 1045, the three factors are comprehensively weighted and fused, improving the accuracy of the lane change determination result.

[0140] In a possible implementation, step 1041 includes the following steps 10411 - 10422:

[0141] Step 10411: If the lateral displacement is greater than or equal to a preset displacement threshold, the first possibility of the vehicle changing lanes is 100%;

[0142] Step 10412: If the lateral displacement is less than the displacement threshold, determine the first possibility of the vehicle changing lanes according to the magnitude of the difference between the lateral displacement and the displacement threshold.

[0143] In steps 10411 - 10422, if the lateral displacement is greater than or equal to the displacement threshold, it means that the lateral displacement of the vehicle is greater than or equal to the width of one lane line, and the possibility of the vehicle changing lanes is determined to be 100%. If the lateral displacement is less than the displacement threshold, it does not fully indicate that the vehicle has not changed lanes, but only the possibility of changing lanes is relatively low. The first possibility can be determined according to the magnitude of the difference between the lateral displacement and the displacement threshold.

[0144] For example, if the difference is within 20% of the displacement threshold, the first possibility is 80%; if the difference is within 40% of the displacement threshold, the first possibility is 60%; if the difference is within 60% of the displacement threshold, the first possibility is 40%; if the difference is within 80% of the displacement threshold, the first possibility is 20%; if the difference is within 80% of the displacement threshold, the first possibility is 0%.

[0145] In a possible implementation, step 1042 includes steps 10421 - 10422:

[0146] Step 10421: If the difference in the number of lane lines is greater than or equal to one lane line, the second possibility of the vehicle changing lanes is 100%;

[0147] Step 10422: If the number of lane lines shows no difference, the second possibility of the vehicle changing lanes is 0%.

[0148] In Steps 10421 - 10422, if the difference in the number of lane lines is greater than or equal to one lane line, it indicates that the lane where the vehicle is located has likely changed, and it can be considered that the second possibility of the vehicle changing lanes is 100%. If the number of lane lines shows no difference, it indicates that the vehicle has likely not changed lanes, and the second possibility of the vehicle changing lanes is 0%.

[0149] In a possible implementation, Step 1043 includes Steps 10431 - 10432:

[0150] Step 10431: If the content of the steering lever signal is a left turn or a right turn, the third possibility of the vehicle changing lanes is 100%.

[0151] Step 10432: If the content of the steering lever signal is not activated, the third possibility of the vehicle changing lanes is 0%.

[0152] In Steps 10431 - 10432, the main domain controller obtains the steering lever signal and analyzes the content of the steering lever signal. If the content of the steering lever signal is a left turn or a right turn, it indicates that the driver has triggered the steering lever, indicating that the possibility of the vehicle changing lanes is very high, and it can be considered that the third possibility of the vehicle changing lanes is 100%. If the content of the steering lever signal is not activated, it indicates that the driver has not triggered the steering lever, indicating that the possibility of the vehicle changing lanes is very low, and it can be considered that the third possibility of the vehicle changing lanes is 0%.

[0153] In a possible implementation, Step 106 includes the following Steps 1061 - 1062:

[0154] Step 1061: Obtain the speed limit information corresponding to each lane in the speed limit sign image of the current road collected most recently.

[0155] Step 1062: Determine the speed limit value matching the current lane according to the speed limit information.

[0156] In Steps 1061 - 1062, during the vehicle's driving process, the camera continuously captures the road conditions and transmits the captured road images to the main domain controller, and the main domain controller identifies and analyzes the road images. When the speed limit image of the lane is recognized, the main domain controller performs semantic segmentation on the speed limit information in the speed limit image to obtain the lane speed limit information corresponding to each lane.

[0157] When it is detected through this embodiment that the vehicle changes lanes, the main domain controller determines the current lane of the vehicle, obtains the latest lane speed limit information of the current road, matches the current lane with the latest lane speed limit information, and obtains the speed limit value corresponding to the current lane.

[0158] In a possible implementation manner, after step 106, steps 107-108 are further included:

[0159] Step 107, when a new speed limit sign image is collected, determine the speed limit value corresponding to the current lane from the new speed limit sign image to obtain a new speed limit value;

[0160] Step 108, generate a new speed limit reminder message based on the new speed limit value.

[0161] During the driving of the vehicle, when a new speed limit sign image is collected, extract the speed limit values corresponding to each lane in the new speed limit sign image to obtain the new speed limit value corresponding to the current lane, and regenerate the speed limit reminder message based on the new speed limit value, so that the driver can obtain the latest speed limit information and avoid traffic safety problems and illegal driving problems caused by the driver driving at the old speed limit value.

[0162] Figure 4 It is a structural block diagram of a lane speed limit reminder device provided by an embodiment of the present invention. The device 200 includes:

[0163] A lateral displacement acquisition module 201, configured to acquire the lateral displacement of the vehicle within a preset time period before the current moment;

[0164] A difference determination module 202, configured to determine the difference between the number of lane lines on the left and right sides of the vehicle at the current moment and the number of lane lines on the left and right sides of the vehicle at the previous moment according to the collected lane line image in front of the vehicle;

[0165] A signal acquisition module 203, configured to acquire the steering lever signal within the preset time period;

[0166] A lane change determination module 204, configured to determine whether the vehicle has changed lanes according to the lateral displacement, the difference in the number of lane lines, and the steering lever signal;

[0167] A current lane determination module 205, configured to determine the current lane of the vehicle if so;

[0168] A speed limit reminder module 206, configured to obtain the speed limit value matching the current lane from the pre-collected lane speed limit information, and generate a speed limit reminder message based on the speed limit value.

[0169] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0170] In another embodiment provided by the present invention, there is also provided a device, which includes a processor and a memory. At least one instruction, at least one program, a code set, or an instruction set is stored in the memory. The at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the lane speed limit reminder method described in the embodiments of the present invention.

[0171] In another embodiment provided by the present invention, there is also provided a computer-readable storage medium. At least one instruction, at least one program, a code set, or an instruction set is stored in the storage medium. The at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the lane speed limit reminder method described in the embodiments of the present invention.

[0172] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present invention are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, a computer, a server, or a data center to another website, a computer, a server, or a data center in a wired manner (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or a wireless manner (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more integrated available media. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid-state drive (SSD)).

[0173] It should be noted that in this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising said element.

[0174] Each embodiment in this specification is described in a related manner. For the same or similar parts among the embodiments, reference can be made to each other, and the differences between each embodiment and other embodiments are emphasized. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and reference can be made to the relevant part of the method embodiment for the relevant content.

[0175] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.

Claims

1. A method for reminding of lane speed limit, characterized in that, The method includes: Obtaining the lateral displacement of the vehicle within a preset time period before the current moment; Determining the difference in the number of lane lines on the left and right sides of the vehicle at the current moment and the number of lane lines on the left and right sides of the vehicle at the previous moment according to the collected lane line images in front of the vehicle; Obtaining the steering lever signal within the preset time period; Determining whether the vehicle has changed lanes according to the lateral displacement, the difference in the number of lane lines, and the steering lever signal; If so, determining the current lane of the vehicle; Obtaining the speed limit value matching the current lane from the pre-collected lane speed limit information and generating a speed limit reminder message based on the speed limit value; The determining whether the vehicle has changed lanes according to the lateral displacement, the difference in the number of lane lines, and the steering lever signal includes: Determining the first possibility of the vehicle changing lanes according to the magnitude relationship between the lateral displacement and a preset displacement threshold; Determining the second possibility of the vehicle changing lanes according to the difference in the number of lane lines; Determining the third possibility of the vehicle changing lanes according to the content of the steering lever signal; Based on preset weights, performing weighted fusion on the first possibility, the second possibility, and the third possibility to obtain the target possibility of the vehicle changing lanes; If the target possibility is greater than a preset possibility threshold, determining that the vehicle has changed lanes.

2. The method according to claim 1, characterized in that, The determining the difference in the number of lane lines on the left and right sides of the vehicle at the current moment and the number of lane lines on the left and right sides of the vehicle at the previous moment includes: Obtaining the first lane line image in front of the vehicle collected at the current moment and the second lane line image in front of the vehicle collected at the previous moment; Identifying the number of lane lines on the left and right sides of the vehicle in the first lane line image and the second lane line image respectively according to the edge lane lines marked on both sides of the road in advance; Determining the difference in the number of lane lines on the left and right sides of the vehicle at the current moment and the number of lane lines on the left and right sides of the vehicle at the previous moment according to the number of lane lines.

3. The method according to claim 2, characterized in that, The determining the first possibility of the vehicle changing lanes according to the magnitude relationship between the lateral displacement and a preset displacement threshold includes: If the lateral displacement is greater than or equal to the preset displacement threshold, the first possibility of the vehicle changing lanes is 100%; If the lateral displacement is less than the displacement threshold, determining the first possibility of the vehicle changing lanes according to the difference between the lateral displacement and the displacement threshold.

4. The method according to claim 2, characterized in that, The determining the second possibility of the vehicle changing lanes according to the difference in the number of lane lines includes: If the difference in the number of lane lines is greater than or equal to one lane line, the second possibility of the vehicle changing lanes is 100%; If there is no difference in the number of lane lines, the second possibility of the vehicle changing lanes is 0%.

5. The method according to claim 2, characterized in that, The determining the third possibility of the vehicle changing lanes according to the content of the steering lever signal includes: If the content of the steering lever signal is a left turn or a right turn, the third possibility of the vehicle changing lanes is 100%; If the content of the steering lever signal is not turned on, the third possibility of the vehicle changing lanes is 0%.

6. The method according to claim 1, characterized in that, The determining the current lane of the vehicle includes: Determining the current lane of the vehicle according to the number of lane lines on the left and right sides of the vehicle at the current moment.

7. The method according to claim 1, characterized in that, The obtaining the speed limit value matching the current lane from the pre-collected lane speed limit information includes: Obtaining the speed limit information corresponding to each lane in the speed limit sign image of the current road collected most recently; Determining the speed limit value matching the current lane according to the speed limit information.

8. The method according to claim 1, characterized in that, After generating the speed limit reminder information based on the speed limit value, it further includes: When a new speed limit sign image is collected, determining the speed limit value corresponding to the current lane from the new speed limit sign image to obtain a new speed limit value; Generating a new speed limit reminder information based on the new speed limit value.

9. A lane speed limit reminder device, characterized in that, The device includes: A lateral displacement acquisition module, configured to acquire the lateral displacement of the vehicle within a preset time period before the current moment; A difference determination module, configured to determine the difference between the number of lane lines on the left and right sides of the vehicle at the current moment and the number of lane lines on the left and right sides of the vehicle at the previous moment according to the collected lane line image in front of the vehicle; A signal acquisition module, configured to acquire the steering lever signal within the preset time period; A lane change determination module, configured to determine whether the vehicle has changed lanes according to the lateral displacement, the difference in the number of lane lines, and the steering lever signal; A current lane determination module, configured to, if so, determine the current lane of the vehicle; A speed limit reminder module, configured to obtain the speed limit value matching the current lane from the pre-collected lane speed limit information and generate a speed limit reminder information based on the speed limit value; The lane change determination module is specifically configured to: Determine the first possibility of the vehicle changing lanes according to the magnitude relationship between the lateral displacement and a preset displacement threshold; Determine the second possibility of the vehicle changing lanes according to the difference in the number of lane lines; Determine the third possibility of the vehicle changing lanes according to the content of the steering lever signal; Based on a preset weight, perform weighted fusion on the first possibility, the second possibility, and the third possibility to obtain the target possibility of the vehicle changing lanes; If the target possibility is greater than a preset possibility threshold, determine that the vehicle has changed lanes.

10. An electronic device, characterized in that, The electronic device includes a processor and a memory, and at least one instruction, at least one program, a code set or an instruction set is stored in the memory, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the lane speed limit reminder method according to any one of claims 1-8.

11. A computer-readable storage medium, characterized in that, At least one instruction, at least one program, a code set or an instruction set is stored in the storage medium, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement the lane speed limit reminder method according to any one of claims 1-8.

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