Road speed reduction belt warning method and device, electronic equipment and storage medium

Abstract

The present disclosure relates to a road speed bump warning method, device, electronic equipment and storage medium. The method can include: obtaining position information of a target vehicle and road information associated with the target vehicle; the road information includes first speed bump information and map information; determining first lane identification information of a lane where the target vehicle is located according to the position information and the map information; in the case that there is second speed bump information in the first speed bump information, performing a speed bump reminding operation; wherein the second speed bump information is the speed bump information which is the same as the first lane identification information and located in front of the target vehicle. According to the technical scheme provided by the present disclosure, by determining the lane identification and the position information, the speed bump information is screened, the data amount of the speed bump information is reduced, and the accuracy of the speed bump information reminding is improved.

Description

Technical Field

[0001] This disclosure relates to the fields of intelligent connected vehicles and smart transportation technology, and in particular to a method, device, electronic device and storage medium for warning of road speed bumps. Background Technology

[0002] In recent years, with the rapid development of automotive intelligence and smart transportation technologies, more and more cars are being used in daily life. During driving, vehicles experiencing severe jolts when going over speed bumps at high speeds, or when decelerating to sudden braking, can increase the likelihood of traffic accidents.

[0003] In related technologies, roadside equipment and vehicle-mounted equipment based on vehicle-to-everything (V2X) wireless communication technology control the vehicle's speed as it passes over the speed bump based on the vehicle's speed and the distance to the speed bump, thereby reducing traffic accidents. However, this method processes an excessive amount of data related to speed bumps, leading to inefficiency and inaccurate calculations. Summary of the Invention

[0004] This disclosure provides a method, device, electronic device, and storage medium for warning of speed bumps, to at least solve the problem in related technologies of how to reduce the amount of data related to speed bump information and improve the accuracy of speed bump warnings. The technical solution of this disclosure is as follows:

[0005] According to a first aspect of the present disclosure, a method for warning of speed bumps on roads is provided, comprising:

[0006] In one possible implementation, the location information of the target vehicle and the road information associated with the target vehicle are obtained; the road information includes information about a first speed bump and map information.

[0007] Based on the location information and the map information, determine the first lane marking information of the lane where the target vehicle is located;

[0008] If a second speed bump is present in the first speed bump information, a speed bump warning operation is performed; wherein, the second speed bump information is the same as the first lane marking information and is located in front of the target vehicle.

[0009] According to a second aspect of the present disclosure, a road speed bump warning device is provided, comprising:

[0010] The information acquisition module is used to acquire the location information of the target vehicle and the road information associated with the target vehicle; the road information includes information about the first speed bump and map information.

[0011] The first lane identification module is used to determine the first lane identification information of the lane where the target vehicle is located based on the location information and the map information.

[0012] The reminder operation module is used to perform a speed bump reminder operation when a second speed bump is present in the first speed bump information; wherein the second speed bump information is the same as the first lane marking information and is located in front of the target vehicle.

[0013] According to a third aspect of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the method as described in any one of the first aspects above.

[0014] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided such that, when instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform any of the methods described in the first aspect of the present disclosure.

[0015] The technical solutions provided by the embodiments of this disclosure have at least the following beneficial effects:

[0016] Based on the location information and the map information, the first lane marking information of the lane where the target vehicle is located is determined. If a second speed bump information exists within the first speed bump information, a speed bump warning operation is performed. The second speed bump information is the same as the first lane marking information and is located in front of the target vehicle. By determining the lane marking and location information, the speed bump information is filtered, reducing the amount of data and thus improving the accuracy of the speed bump warning.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure, and are not intended to unduly limit this disclosure.

[0019] Figure 1 This is a schematic diagram illustrating an application environment according to an exemplary embodiment.

[0020] Figure 2 This is a flowchart illustrating a method for reminding drivers of speed bumps on roads, according to an exemplary embodiment.

[0021] Figure 3This is a schematic diagram illustrating the location information of a target vehicle and the road information associated with the target vehicle according to an exemplary embodiment.

[0022] Figure 4 This is a flowchart illustrating, according to an exemplary embodiment, a method for determining first lane identification information of the lane where a target vehicle is located.

[0023] Figure 5 This is a schematic diagram illustrating a method for determining a first distance based on location information and a sequence of center coordinates, according to an exemplary embodiment.

[0024] Figure 6 This is a schematic diagram illustrating, according to an exemplary embodiment, a method for determining a first distance based on a straight line formed by position information and a virtual centerline.

[0025] Figure 7 This is a flowchart illustrating, according to an exemplary embodiment, a method for determining a first distance from location information to the virtual centerline of each virtual lane.

[0026] Figure 8 This is a schematic diagram illustrating a target vehicle based on its latitude and longitude coordinates and the coordinates of two target centers, according to an exemplary embodiment.

[0027] Figure 9 This is a flowchart illustrating a method for determining information about a second speed bump, according to an exemplary embodiment.

[0028] Figure 10 This is a flowchart illustrating, according to an exemplary embodiment, a method for determining the orientation information of multiple speed bumps in first speed bump information.

[0029] Figure 11 This is a schematic diagram illustrating the determination of the orientation information of multiple speed bumps according to an exemplary embodiment.

[0030] Figure 12 This is a flowchart illustrating a speed bump warning operation according to an exemplary embodiment.

[0031] Figure 13 This is a flowchart illustrating an exemplary embodiment of obtaining road information associated with a target vehicle.

[0032] Figure 14 This is a block diagram illustrating a road speed bump warning device according to an exemplary embodiment.

[0033] Figure 15 This is a schematic diagram of an electronic device for warning of speed bumps on roads, according to an exemplary embodiment. Detailed Implementation

[0034] To enable those skilled in the art to better understand the technical solutions of this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings.

[0035] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0036] Please see Figure 1 , Figure 1 This is a schematic diagram illustrating an application environment according to an exemplary embodiment, such as... Figure 1 As shown, the application environment may include a roadside unit (RSU) 01, an onboard unit (OBU) 02, and a terminal 03.

[0037] In an optional embodiment, the roadside unit 01 and the vehicle-mounted unit 02 receive and transmit information to each other via vehicle-to-everything (V2X) wireless communication technology.

[0038] In an optional embodiment, terminal 03 can be combined with vehicle-mounted unit 02 to provide alerts about speed bumps, thereby reducing the occurrence of traffic accidents and risks. Specifically, terminal 03 may be, but is not limited to, electronic devices such as in-vehicle displays, smartphones, tablets, smart speakers, digital assistants, augmented reality (AR) / virtual reality (VR) devices, and smart wearable devices. Optionally, the operating system running on the electronic device may include, but is not limited to, Android, iOS, Linux, and Windows.

[0039] In addition, it should be noted that, Figure 1 The example shown is merely one application scenario of the road speed bump warning method provided in this disclosure.

[0040] In the embodiments described in this specification, the roadside unit 01 and the vehicle-mounted unit 02 receive and transmit information to each other through vehicle wireless communication technology. The vehicle-mounted unit 02 and the terminal 03 can be directly or indirectly connected through wired or wireless communication methods, which is not limited in this application.

[0041] It should be noted that the following diagram shows one possible sequence of steps, and it is not strictly required to follow this order. Some steps can be performed in parallel without interdependence. The location information of the target vehicle (including but not limited to the latitude and longitude of the target vehicle, the heading angle of the target vehicle, etc.), the information of the first speed bump (including but not limited to the latitude and longitude of the speed bump, the width of the speed bump, the material of the speed bump, the lane markings corresponding to the speed bump, etc.), and the map information (including but not limited to the center coordinate sequence, lane markings, lane width, etc.) involved in this disclosure are all information and data authorized by the user or fully authorized by all parties.

[0042] Figure 2 This is a flowchart illustrating a method for reminding drivers of speed bumps, according to an exemplary embodiment. Figure 2 As shown, it may include the following steps.

[0043] In step S201, the location information of the target vehicle and the road information associated with the target vehicle are obtained; the road information includes the first speed bump information and map information.

[0044] In the embodiments of this application, location information can characterize the position of the target vehicle. Location information may include: the latitude and longitude of the target vehicle, the heading angle of the target vehicle, etc., which are not limited in this application.

[0045] Road information can be characterized as road information within a defined range of the target vehicle's location information. Road information may include information about the first speed bump and map information. The first speed bump information may refer to the attribute information of the speed bump, including its latitude and longitude, width, material, and corresponding lane markings, etc., which are not limited in this application. Map information may refer to the attribute information of the road lanes, including center coordinate sequence, lane markings, lane width, etc., which are not limited in this application.

[0046] The set range refers to a pre-defined range, which can be 500 meters, 1000 meters, etc., and this application does not limit this. The lane marking corresponding to the speed bump can refer to the lane marking corresponding to the lane that the speed bump crosses. There can be one or more lane markings corresponding to the speed bump. The lane marking can be lane i (i can be 1, 2, 3, 4...N) or lane A, lane B, lane C..., and this application does not limit this, as long as it can effectively represent the lane marking.

[0047] For example, if a speed bump spans one lane, the lane marking for that lane is either Lane 1 or Lane A, and the lane marking for the speed bump itself is also Lane 1 or Lane A. If a speed bump spans three lanes, the lane markings for those three lanes are either Lane 1, Lane 2, Lane 3 or Lane A, Lane B, Lane C, and the lane marking for the speed bump itself is also Lane 1, Lane 2, Lane 3 or Lane A, Lane B, Lane C.

[0048] In this embodiment of the application, the location information of the target vehicle and the road information associated with the target vehicle can be obtained. As an example, such as... Figure 3 As shown, Figure 3 This is a schematic diagram illustrating the location information of a target vehicle and the road information associated with the target vehicle according to an exemplary embodiment. The location information of the target vehicle can be obtained first, followed by the road information within a defined range of the target vehicle's location. For example, the latitude and longitude of the target vehicle and its heading angle can be obtained first, followed by information about the first speed bump within 500 meters of the target vehicle's location and map information, such as the latitude and longitude of the speed bump, the lane markings corresponding to the speed bump, the center coordinate sequence, and the lane width.

[0049] In step S203, the first lane marking information of the lane where the target vehicle is located is determined based on the location information and map information.

[0050] In this embodiment, the first lane marking information of the lane where the target vehicle is located can be determined based on location information and map information. As an example, the location information can be used to search for map information that is close to that location. Based on this map information, the first lane marking information of the lane where the target vehicle is located can be determined.

[0051] For example, based on the latitude and longitude of the target vehicle in the location information, the system finds the closest center coordinate sequence to the target vehicle in the map information, and determines the lane marking information corresponding to the center coordinate sequence. This lane marking information is then used as the first lane marking information for the lane where the target vehicle is located.

[0052] As another example, location information can be mapped onto a map composed of map information, placing the location information and map information on the same map. The location information is then compared with the map information to obtain a comparison result. Based on this comparison result, the first lane marking information of the target vehicle's lane can be determined.

[0053] For example, the latitude and longitude of the target vehicle in the location information are mapped onto a map composed of map information. The latitude and longitude of the target vehicle are then compared with the center coordinate sequence in the map information to obtain the closest center coordinate sequence. This determines the lane marking information corresponding to the center coordinate sequence. The lane marking information corresponding to this center coordinate sequence is then used as the first lane marking information of the lane where the target vehicle is located.

[0054] In step S205, if the first speed bump information contains second speed bump information, a speed bump warning operation is performed; wherein, the second speed bump information is the same as the first lane marking information and is located in front of the target vehicle.

[0055] In this embodiment, the second speed bump information can represent the speed bump information used for speed bump warning. The second speed bump information is the same as the first lane marking information and is located in front of the target vehicle. The second speed bump information may include: the location information of the speed bump, the distance between the speed bump and the target vehicle, the lane marking corresponding to the speed bump, etc., which are not limited in this application.

[0056] In this embodiment, if the first speed bump information contains second speed bump information, a speed bump warning operation can be performed. As an example, the first speed bump information can first be filtered based on the aforementioned first lane marking information to obtain speed bump information that matches the first lane marking information. Then, based on the speed bump's location information, the speed bump information matching the first lane marking information can be further filtered to obtain speed bump information located in front of the target vehicle, thereby performing a speed bump warning operation.

[0057] As another example, we can first filter the speed bump information from the first speed bump information based on its location to identify speed bumps in front of the target vehicle. Then, based on the aforementioned first lane marking information, we can filter the speed bump information in the first speed bump information that is in front of the target vehicle to obtain speed bump information that matches the first lane marking information, thereby enabling speed bump warning operations.

[0058] Based on location and map information, the lane marking information of the target vehicle's lane is determined. If a second speed bump is present in the first speed bump information list, a speed bump warning is issued. The second speed bump is the one that matches the lane marking information and is located in front of the target vehicle. By first determining the lane marking and location information, the speed bump information is filtered, reducing the amount of data and thus improving the accuracy of the speed bump warning.

[0059] Figure 4This is a flowchart illustrating, according to an exemplary embodiment, a method for determining first lane marking information of the lane where a target vehicle is located. In one possible implementation, such as... Figure 4 As shown, step S203 above may include the following steps:

[0060] In step S401, multiple virtual lanes are determined in the map information, each virtual lane including a center coordinate sequence; the center coordinate sequence of each virtual lane constitutes the virtual centerline of each virtual lane; the virtual centerline is equidistant from the lane dividing line of the virtual lane.

[0061] In this embodiment, a virtual lane can be characterized as a lane used to regulate the driving route of a target vehicle. Each virtual lane includes a center coordinate sequence; the center coordinate sequence of each virtual lane constitutes the virtual centerline of each virtual lane; the virtual centerline is equidistant from the lane boundary line of the virtual lane.

[0062] In this embodiment, multiple virtual lanes in the map information can be determined. As an example, the correspondence between the center coordinate sequence, lane identifier, and lane width in the map information is found. Based on this correspondence, multiple virtual lanes in the map information are determined.

[0063] As another example, a virtual centerline can be constructed using the sequence of center coordinates in the map information. Since the distance from the virtual centerline to the lane dividing line of the virtual lane is the same, multiple virtual lanes in the map information can be determined.

[0064] In step S403, the first distance from the location information to the virtual centerline of each virtual lane is determined.

[0065] In the embodiments of this application, the first distance can be used to characterize the distance from the target vehicle to the virtual center line of each virtual lane. For example, the first distance can be 0.1 meters, 0.2 meters, etc.

[0066] In this embodiment, a first distance from the location information to the virtual centerline of each virtual lane can be determined. As an example, the first distance from the location information v to the virtual centerline of each virtual lane can be determined based on the location information v and the center coordinate sequence p1, p2 of each virtual lane. Figure 5 As shown, Figure 5 This is a schematic diagram illustrating a method for determining a first distance based on location information and a sequence of center coordinates, according to an exemplary embodiment.

[0067] As another example, the virtual centerline of each virtual lane can form a straight line M, and the distance from the position information v to the straight line M can be calculated, using this distance as the first distance. Figure 6 As shown, Figure 6This is a schematic diagram illustrating, according to an exemplary embodiment, a method for determining a first distance based on a straight line formed by position information and a virtual centerline.

[0068] In step S405, the first lane identification information of the target vehicle is determined based on the first distance.

[0069] In this embodiment, the lane marking information of the target vehicle can be determined based on a first distance. As an example, the first distance is compared with the widths of each lane in the map information to obtain a comparison result. Based on the comparison result, the lane marking information of the target vehicle is determined. For instance, by comparing the first distance with the widths of each lane in the map information, if the comparison result shows that the first distance is less than half the lane width, the lane marking information corresponding to that lane width is obtained according to the mapping relationship between lane widths and lane marking information in the map information. This lane marking information is then used as the first lane marking information of the target vehicle.

[0070] Figure 7 This is a flowchart illustrating, according to an exemplary embodiment, a method for determining a first distance from location information to the virtual centerline of each virtual lane. In one possible implementation, such as... Figure 7 As shown, step S403 above may include the following steps:

[0071] In step S701, two target center coordinates are extracted from the center coordinate sequence of each virtual lane.

[0072] In this embodiment of the application, the target center coordinates can be represented as the adjacent center coordinates in the center coordinate sequence of each virtual lane.

[0073] In this embodiment, two target center coordinates can be extracted from the center coordinate sequence of each virtual lane. As an example, the center coordinate sequence of each virtual lane can be traversed to extract two adjacent center coordinates that are close to the latitude and longitude of the target vehicle in the location information as the target center coordinates.

[0074] As another example, two adjacent center coordinates can be extracted from the center coordinate sequence of each virtual lane. The distances between the two adjacent center coordinates and the latitude and longitude of the target vehicle in the location information are calculated, and the two closer center coordinates are taken as the target center coordinates.

[0075] In step S703, the angle information of the target included angle is determined. The target included angle is an interior angle of the triangle formed by the latitude and longitude coordinates of the target vehicle and the coordinates of the two target centers. The interior angle is the interior angle with the coordinates of the target center as the vertex.

[0076] In this embodiment, the target angle can be represented as any interior angle of a triangle. The target angle is an interior angle of the triangle formed by the latitude and longitude coordinates of the target vehicle and the coordinates of the two target centers. For example, the angle information can be represented as the degree of the target angle, such as 30°, 60°, etc. The interior angle is the interior angle with the target center coordinates as its vertex.

[0077] In the embodiments of this application, the angular information of the target included angle can be determined, such as... Figure 8 As shown, Figure 8 This is a schematic diagram illustrating an embodiment based on the latitude and longitude coordinates of a target vehicle and the coordinates of two target centers. The three sides a, b, and c of the triangle formed by the two target center coordinates p1(lat1, lng1), p2(lat2, lng2) and the latitude and longitude coordinates v(latv, lngv) of the target vehicle are calculated. The angle information β of the target angle is calculated based on the three sides a, b, and c of the triangle formed by these three coordinates. The formula for calculating the distance d based on any two coordinates is formula (1):

[0078]

[0079] Where d is the distance between any two coordinates. R is the Earth's radius, which can be taken as 6378137 in this application. Coordinate m(x1,y1) is the first coordinate, where x1 is the latitude of coordinate m and y1 is the longitude of coordinate m. Coordinate n(x2,y2) is the second coordinate, where x2 is the latitude of coordinate n and y2 is the longitude of coordinate n.

[0080] The three sides a, b, and c mentioned above can be calculated using formula (1), for example:

[0081] a = d(p1, p2) is calculated by substituting the target center coordinates p1(lat1, lng1) and the target vehicle's latitude and longitude coordinates p2(lat2, lng2) into formula (1). Specifically, the target center coordinates p1(lat1, lng1) correspond to m(x1, y1) in formula (1), i.e., lat1 corresponds to x1 and lng1 corresponds to y1. The target vehicle's latitude and longitude coordinates p2(lat2, lng2) correspond to n(x2, y2) in formula (1), i.e., lat2 corresponds to x2 and lng2 corresponds to y2. Based on the above, lat1, lng1, lat2, and lng2 are substituted into formula (1) to calculate a.

[0082] b = d(p1,v) is calculated by substituting the target center coordinates p1(lat1,lng1) and the latitude and longitude coordinates v(latv,lngv) of the target vehicle into formula (1). For the specific calculation method, please refer to the calculation method of a above, which will not be repeated here.

[0083] c = d(p2,v) is calculated by substituting the target center coordinates p2(lat2,lng2) and the latitude and longitude coordinates v(latv,lngv) of the target vehicle into formula (1). For the specific calculation method, please refer to the calculation method of a above, which will not be repeated here.

[0084] The formula for calculating the angle information β of the target angle is formula (2):

[0085]

[0086] In step S705, the first distance from the location information to the virtual centerline of each virtual lane is determined based on the angle information and the edge associated with the target angle; the edge associated with the target angle is the line segment between the target center coordinates and the latitude and longitude coordinates of the target vehicle.

[0087] In the embodiments of this application, the side associated with the target angle can be characterized as the two sides forming the target angle, and the side associated with the target angle can be a line segment between the target center coordinates and the latitude and longitude coordinates of the target vehicle.

[0088] In this embodiment, the first distance from the location information to the virtual centerline of each virtual lane can be determined based on the angle information and the edge associated with the target angle. As an example, such as... Figure 8 As shown, Figure 8 This is a schematic diagram illustrating the latitude and longitude coordinates of the target vehicle and the coordinates of the centers of two targets according to an exemplary embodiment. The first distance L1 is calculated based on the angle information β and the side b associated with the included angle β of the targets. The formula for calculating the first distance L1 is formula (3):

[0089] L1=b*sinβ (3)

[0090] Figure 9 This is a flowchart illustrating a method for determining information about a second speed bump, according to an exemplary embodiment. In one possible implementation, such as... Figure 9 As shown, the following steps may be included:

[0091] In step S901, based on the location information, the orientation information of each speed bump and its respective second lane marking information in the first speed bump information are determined.

[0092] In this embodiment, the orientation information can represent the positional relationship between the speed bump and the target vehicle; for example, the orientation information can be "in front," "behind," etc. The second lane marking information can represent the lane marking corresponding to the speed bump; for example, the second lane marking information can be 1, 2, etc., and this application does not limit this.

[0093] In this embodiment, the orientation information of each speed bump in the first speed bump information and its respective second lane marking information can be determined based on the location information. As an example, the orientation information can be determined by calculating the latitude and longitude coordinates of each speed bump in the first speed bump information using the location information; the lane marking where the location information is located can be obtained by mapping the location information onto map information. This lane marking is then used as the second lane marking information. The method for obtaining the lane marking is the same as the method for obtaining the first lane marking information in step S203 above, and will not be repeated here.

[0094] In step S903, if there is second lane marking information that is the same as the first lane marking information and the orientation information is in front of the target vehicle, it is determined that the first speed bump information contains second speed bump information.

[0095] In this embodiment, if a second lane marking is identical to the first lane marking and its location is in front of the target vehicle, it can be determined that the first speed bump information contains second speed bump information. As an example, the first speed bump information can first be filtered based on the first lane marking information to obtain speed bump information identical to the first lane marking information. Then, based on the speed bump's location information, the speed bump information identical to the first lane marking information can be further filtered to obtain speed bump information located in front of the target vehicle, thereby determining that the first speed bump information contains second speed bump information.

[0096] As another example, we can first filter the speed bump information from the first speed bump information based on its location to identify speed bumps in front of the target vehicle. Then, based on the aforementioned first lane marking information, we can filter the speed bump information in front of the target vehicle to obtain speed bump information that is identical to the first lane marking information, thus confirming that the first speed bump information contains second speed bump information.

[0097] Figure 10 This is a flowchart illustrating, according to an exemplary embodiment, a method for determining the orientation information of multiple speed bumps in first speed bump information. In one possible implementation, such as... Figure 10 As shown, step S903 above may include the following steps:

[0098] In step S1001, the location information of each speed bump is determined based on the latitude and longitude coordinates of each speed bump and the latitude and longitude coordinates of the target vehicle.

[0099] In this embodiment, the location information of multiple speed bumps can be determined based on their respective latitude and longitude coordinates and the latitude and longitude coordinates of the target vehicle. As an example, such as... Figure 11 As shown, Figure 11 This is a schematic diagram illustrating the determination of the azimuth information of multiple speed bumps according to an exemplary embodiment. The azimuth angle φ is calculated based on the latitude and longitude coordinates o(lat3, lng3) of each speed bump, the latitude and longitude coordinates v(latv, lngv) of the target vehicle, and the heading angle of the target vehicle. The azimuth angle φ is used to determine the azimuth information of each speed bump. For example, if the azimuth angle φ is between 0-90° or 270°-360°, the azimuth information of the speed bump is determined to be forward. The formula for calculating the azimuth angle φ is formula (4):

[0100]

[0101] Wherein, coordinates s(x3,y3), x3 is the latitude of the target vehicle, and y3 is the longitude of the target vehicle. Coordinates t(x4,y4), x4 is the latitude of each speed bump, and y4 is the longitude of each speed bump. θ is the heading angle of the target vehicle.

[0102] For example, the latitude and longitude coordinates o(lat3, lng3) of one of the speed bumps, the latitude and longitude coordinates v(latv, lngv) of the target vehicle, and the heading angle of the target vehicle are substituted into the above formula (4). After calculation, the azimuth angle φ is found to be 45°, and the orientation information of the speed bump is determined to be ahead.

[0103] Figure 12 This is a flowchart illustrating a speed bump warning operation according to an exemplary embodiment. In one possible implementation, such as... Figure 12 As shown, step S205 above may include the following steps:

[0104] In step S1201, a second distance between the second speed bump information and the position information is determined based on the position information and the second speed bump information.

[0105] In the embodiments of this application, the second distance can be characterized as the distance between the speed bump and the target vehicle. For example, the second distance can be 0.2 meters, 0.5 meters, etc.

[0106] In this embodiment, a second distance between the second speed bump information and the location information can be determined based on the location information and the second speed bump information. As an example, the second distance L2 is calculated based on the latitude and longitude coordinates o(lat3, lng3) of the speed bump and the latitude and longitude coordinates v(latv, lngv) of the target vehicle. For example, the latitude and longitude coordinates o(lat3, lng3) of the speed bump and the latitude and longitude coordinates v(latv, lngv) of the target vehicle are substituted into the above formula (1). After calculation, the second distance L2 is obtained. The specific calculation method is the same as the calculation method in a above, and will not be repeated here.

[0107] In step S1203, a speed bump reminder message is generated based on the second distance and the second speed bump information.

[0108] In the embodiments of this application, the speed bump warning information can characterize the association information between the speed bump and the target vehicle. The speed bump warning information may include: distance information between the speed bump and the target vehicle, location information of the speed bump, etc., and this application does not limit it.

[0109] In this embodiment, speed bump warning information can be generated based on the second distance and the second speed bump information. As an example, the mapping relationship between the speed bump and the second distance in the second speed bump information can be determined based on the second distance and the second speed bump information. This mapping relationship is then added to the second speed bump information to generate the speed bump warning information.

[0110] In step S1205, a speed bump reminder operation is performed based on the speed bump reminder information.

[0111] In this embodiment, speed bump reminders can be performed based on speed bump warning information. As an example, speed bump reminders can be performed by displaying the information on a terminal.

[0112] As another example, speed bump reminders can be broadcast via voice to remind users of speed bumps.

[0113] Figure 13 This is a flowchart illustrating an exemplary embodiment for obtaining road information associated with a target vehicle. In one possible implementation, such as... Figure 13 As shown, step S201 above may include the following steps:

[0114] In step S1301, when the target vehicle enters the preset range of the target road testing equipment, it receives road information broadcast by the target road testing equipment based on vehicle wireless communication technology.

[0115] In the embodiments of this application, the preset range can be used to characterize the coverage range of the target road test equipment. The preset range can be 500 meters, 1000 meters, etc., and this application does not limit it.

[0116] In this embodiment, road information broadcast by the target road testing device based on vehicular wireless communication technology can be received when the target vehicle enters a preset range of the target road testing device. As an example, road information broadcast by the target road testing device based on vehicular wireless communication technology can be received when the target vehicle enters the coverage area of ​​the target road testing device. For instance, road information broadcast by the target road testing device based on vehicular wireless communication technology can be received when the target vehicle enters within 500 meters of the target road testing device's coverage area.

[0117] The target road testing equipment can be based on vehicle-to-everything (V2X) wireless communication technology, broadcasting road information via a direct communication interface (PC5). The road information can be pre-set information such as the first speed bump and map information through a human-machine interface.

[0118] Figure 14 This is a block diagram illustrating a road speed bump warning device according to an exemplary embodiment. (Refer to...) Figure 14 The device may include:

[0119] The information acquisition module 1401 is used to acquire the location information of the target vehicle and the road information associated with the target vehicle; the road information includes the first speed bump information and map information.

[0120] The first lane marking information acquisition module 1403 is used to determine the first lane marking information of the lane where the target vehicle is located based on the location information and map information.

[0121] The reminder operation module 1405 is used to perform a speed bump reminder operation when a second speed bump is present in the first speed bump information; wherein, the second speed bump information is the same as the first lane marking information and is located in front of the target vehicle.

[0122] Based on location and map information, the lane marking information of the target vehicle's lane is determined. If a second speed bump is present in the first speed bump information list, a speed bump warning is issued. The second speed bump is the one that matches the lane marking information and is located in front of the target vehicle. By first determining the lane marking and location information, the speed bump information is filtered, reducing the amount of data and thus improving the accuracy of the speed bump warning.

[0123] In one possible implementation, the aforementioned first lane marking information acquisition module 1403 may include:

[0124] The virtual lane acquisition unit is used to determine multiple virtual lanes in the map information. Each virtual lane includes a center coordinate sequence. The center coordinate sequence of each virtual lane constitutes the virtual centerline of each virtual lane. The distance from the virtual centerline to the lane dividing line of the virtual lane is the same.

[0125] The first distance acquisition unit is used to determine the first distance from the location information to the virtual centerline of each virtual lane;

[0126] The first lane marking acquisition unit is used to determine the first lane marking information of the target vehicle based on the first distance.

[0127] In one possible implementation, the location information includes the latitude and longitude coordinates of the target vehicle, and the aforementioned first distance acquisition unit may include:

[0128] The target center coordinate acquisition sub-unit is used to extract two target center coordinates from the center coordinate sequence of each virtual lane;

[0129] The angle information acquisition subunit is used to determine the angle information of the target included angle. The target included angle is an interior angle of the triangle formed by the latitude and longitude coordinates of the target vehicle and the coordinates of the two target centers; the interior angle is the interior angle with the coordinates of the target center as the vertex.

[0130] The first distance acquisition sub-unit is used to determine the first distance from the position information to the virtual centerline of each virtual lane based on the angle information and the edge associated with the target angle; the edge associated with the target angle is the line segment between the target center coordinates and the latitude and longitude coordinates of the target vehicle.

[0131] In one possible implementation, the above-described apparatus may include:

[0132] The second lane marking information acquisition unit is used to determine the orientation information of each speed bump and its second lane marking information in the first speed bump information based on the location information.

[0133] The second speed bump information acquisition unit is used to determine that the second speed bump information exists in the first speed bump information when there is second lane marking information that is the same as the first lane marking information and the orientation information is in front of the target vehicle.

[0134] In one possible implementation, the first speed bump information includes the latitude and longitude coordinates of each of the multiple speed bumps; the location information includes the latitude and longitude coordinates of the target vehicle; and the aforementioned second speed bump information acquisition unit may include:

[0135] The orientation information acquisition subunit is used to determine the orientation information of each speed bump based on its own latitude and longitude coordinates and the target vehicle's latitude and longitude coordinates.

[0136] In one possible implementation, the above-mentioned reminder operation module 1405 may include:

[0137] The second distance acquisition unit is used to determine the second distance between the second speed bump information and the position information based on the position information and the second speed bump information;

[0138] The reminder information generation unit is used to generate speed bump reminder information based on the second distance and the second speed bump information;

[0139] The reminder operation unit is used to perform speed bump reminder operations based on speed bump reminder information.

[0140] In one possible implementation, the information acquisition module 1401 described above may include:

[0141] The road information acquisition unit is used to receive road information broadcast by the target road testing equipment based on vehicle wireless communication technology when the target vehicle enters the preset range of the target road testing equipment.

[0142] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0143] Figure 15 This is a schematic diagram of an electronic device for road speed bump warning according to an exemplary embodiment. The electronic device may be a vehicle-mounted unit, and its internal structure diagram may be as follows: Figure 15 As shown, the electronic device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a method for warning of speed bumps. The display screen can be a liquid crystal display (LCD) or an e-ink display. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the device's casing, or an external keyboard, touchpad, or mouse.

[0144] Those skilled in the art will understand that Figure 15 The structure shown is merely a block diagram of a portion of the structure related to the present disclosure and does not constitute a limitation on the electronic device to which the present disclosure is applied. A specific electronic device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0145] In an exemplary embodiment, an electronic device is also provided, including: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the road speed bump warning method as described in the embodiments of this disclosure.

[0146] In an exemplary embodiment, a computer-readable storage medium is also provided, which, when executed by a processor of an electronic device, enables the electronic device to perform the road speed bump warning method of this disclosure. The computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, or optical data storage device, etc.

[0147] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0148] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0149] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A road speed hump reminding method characterized by, The method comprises: obtaining position information of a target vehicle and road information associated with the target vehicle; the road information comprises first speed bump information and map information; determining a plurality of virtual lanes in the map information, each virtual lane comprising a sequence of center coordinates; the sequence of center coordinates of each virtual lane constitutes a virtual center line of each virtual lane; the distance from the virtual center line to the lane boundary of the virtual lane is the same; determining a first distance from the position information to the virtual center line of each virtual lane; based on the first distance, determining first lane identification information of a lane where the target vehicle is located; if there is second speed bump information in the first speed bump information, performing a speed bump reminding operation; wherein the second speed bump information is the speed bump information that is the same as the first lane identification information and is located in front of the target vehicle.

2. The method of claim 1, wherein, The position information comprises the latitude and longitude coordinates of the target vehicle; the determination of the first distance from the position information to the virtual center line of each virtual lane comprises: extracting two target center coordinates from the sequence of center coordinates of each virtual lane; determining the angle information of a target included angle; the target included angle is an internal angle of a triangle formed by the latitude and longitude coordinates of the target vehicle and the two target center coordinates; the internal angle is an internal angle with the target center coordinates as a vertex; determining the first distance from the position information to the virtual center line of each virtual lane according to the angle information and the side associated with the target included angle; the side associated with the target included angle is the line segment between the target center coordinates and the latitude and longitude coordinates of the target vehicle.

3. The method of claim 1, wherein, The method further comprises a determination process of the second speed bump information, comprising: determining the respective orientation information and the respective second lane identification information of a plurality of speed bumps in the first speed bump information according to the position information; if the second lane identification information is the same as the first lane identification information and the orientation information is in front of the target vehicle, it is determined that the second speed bump information exists in the first speed bump information.

4. The method of claim 3, wherein, The first speed bump information comprises the respective latitude and longitude coordinates of the plurality of speed bumps; the position information comprises the latitude and longitude coordinates of the target vehicle; determining the respective orientation information of the plurality of speed bumps in the first speed bump information comprises: determining the respective orientation information of the plurality of speed bumps according to the respective latitude and longitude coordinates of the plurality of speed bumps and the latitude and longitude coordinates of the target vehicle.

5. The method according to any one of claims 1 to 4, characterized in that, The performing of the speed bump reminding operation comprises: determining a second distance between the second speed bump information and the position information according to the position information and the second speed bump information; generating speed bump reminding information according to the second distance and the second speed bump information; performing a speed bump reminding operation based on the speed bump reminding information.

6. The method of claim 1, wherein, The obtaining of the road information associated with the target vehicle comprises: receiving the road information broadcast by a target road testing device based on a vehicle wireless communication technology when the target vehicle enters a preset range of the target road testing device.

7. A road speed hump warning device, characterized by, The method comprises: An information obtaining module is configured to obtain position information of a target vehicle and road information associated with the target vehicle, wherein the road information comprises first speed reduction belt information and map information. A first lane identification information module is configured to determine a plurality of virtual lanes in the map information, each virtual lane comprising a sequence of central coordinates, the sequence of central coordinates of each virtual lane constituting a virtual centerline of each virtual lane, the virtual centerline being at a same distance from a lane boundary of the virtual lane, determine a first distance of the position information to the virtual centerline of each virtual lane, and determine first lane identification information of a first lane in which the target vehicle is located based on the first distance. A reminding operation module is configured to perform a speed reduction belt reminding operation if second speed reduction belt information exists in the first speed reduction belt information, wherein the second speed reduction belt information is speed reduction belt information that is the same as the first lane identification information and is located in front of the target vehicle.

8. An electronic device, comprising: Comprise: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the method of any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, When the instructions in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device is enabled to perform the method of any one of claims 1 to 6.

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