Vehicle control method, device, vehicle, and computer-readable storage medium

Abstract

The application discloses a kind of vehicle control method, equipment, vehicle and computer readable storage medium, its method includes: when ramp mark is detected by vehicle, determine whether the vehicle is turned on navigation system;If the vehicle is not turned on navigation system, obtain the lane line information corresponding to the vehicle;Based on the lane line information, determine whether the vehicle is driven to ramp direction;If it is determined that the vehicle is driven to ramp direction, obtain the ramp speed limit information corresponding to the ramp mark, and output the ramp speed limit information.This application accurately determines whether the vehicle is driven to ramp direction by lane line information, and outputs the ramp speed limit information when the vehicle is driven to ramp direction, greatly reduces the situation that ramp speed limit information is misdisplayed or missed when the vehicle that does not turn on navigation system enters ramp, accurately outputs the ramp speed limit information to improve the safety of the vehicle entering ramp.

Description

Technical Field

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

[0002] Currently, intelligent traffic sign recognition systems are used in many cars with driver assistance features, displaying road speed limit information to drivers based on the recognized traffic signs. However, when the vehicle's navigation system is not activated and the vehicle is on a highway with an upcoming ramp, traditional intelligent traffic sign recognition methods cannot accurately determine whether the vehicle will enter the ramp. This can cause the vehicle to fail to output the ramp's speed limit information upon entering, for example, it might still output the speed limit information of the main road before entering the ramp. This leads to problems with the intelligent traffic sign recognition system outputting or omitting road speed limit information, making it difficult to guarantee driving safety. Summary of the Invention

[0003] The main objective of this application is to provide a vehicle control method, device, vehicle, and computer-readable storage medium, which aims to solve the problem that existing vehicles without navigation systems cannot accurately output ramp speed limit information when entering ramps.

[0004] To achieve the above objectives, this application provides a vehicle control method, the vehicle control method comprising:

[0005] When the vehicle detects a ramp sign, determine whether the vehicle has activated its navigation system;

[0006] If the vehicle's navigation system is not activated, then obtain the lane line information corresponding to the vehicle;

[0007] Based on the lane information, determine whether the vehicle is traveling towards the ramp.

[0008] If it is determined that the vehicle is traveling in the direction of the ramp, the ramp speed limit information corresponding to the ramp sign is obtained and the ramp speed limit information is output.

[0009] In one possible implementation, the step of determining whether the vehicle is traveling towards the ramp based on the lane line information includes:

[0010] Obtain the first lane line information in front of the vehicle on the left side from the lane line information;

[0011] Based on the first lane information, it is determined whether the vehicle is traveling towards the ramp.

[0012] In one possible implementation, the step of determining whether the vehicle is traveling towards the ramp based on the first lane line information includes:

[0013] Determine whether the first lane line on the left side of the vehicle in the first lane line information is a forked lane line;

[0014] If the first lane line on the left side of the vehicle is a forked lane line, then the vehicle is determined to be traveling in the direction of the ramp.

[0015] In one possible implementation, after the step of obtaining the first lane line information in front of the vehicle on the left, the method further includes:

[0016] If, based on the first lane information, it is determined that the vehicle is not traveling towards the ramp, then the second lane information in front of the vehicle on the right side is obtained from the lane information.

[0017] Based on the second lane information, it is determined whether the vehicle is traveling towards the ramp.

[0018] In one possible implementation, the step of determining whether the vehicle is traveling towards the ramp based on the second lane line information includes:

[0019] Determine whether the first lane line to the right of the vehicle in the second lane line information is a forked lane line;

[0020] If the first lane line on the right side of the vehicle is not a forked lane line, then based on the second lane line information, it is determined whether the vehicle is traveling towards the ramp.

[0021] In one possible implementation, the step of determining whether the vehicle is traveling towards the ramp based on the second lane line information includes:

[0022] In the second lane line information, the number of lane lines corresponding to the right lane line of the vehicle is obtained;

[0023] If the number of lane lines is 1, then the vehicle is determined to be traveling in the direction of the ramp.

[0024] In one possible implementation, before the step of determining whether the vehicle has activated its navigation system when it detects a ramp sign, the method further includes:

[0025] When the vehicle detects a traffic sign, it is determined whether there is preset information corresponding to the ramp sign in the traffic sign. If the preset information exists, it is determined that the ramp sign has been detected.

[0026] In one possible implementation, before the step of determining whether preset information corresponding to the ramp sign exists in the traffic sign when the vehicle detects the traffic sign, the method further includes:

[0027] Based on the vehicle's first camera terminal, an image corresponding to the environment in which the vehicle is located is acquired, and image recognition is performed on the image to obtain a recognition result. If the traffic sign is present in the recognition result, it is determined that a traffic sign has been detected; or...

[0028] The electronic tag information is obtained from the vehicle's card reader, and when the traffic sign is present in the tag information, it is determined that a traffic sign has been detected, wherein the electronic tag is set on the road corresponding to the vehicle.

[0029] In one possible implementation, the step of obtaining the lane line information corresponding to the vehicle includes:

[0030] Based on the vehicle's second camera terminal, acquire the lane line image corresponding to the vehicle;

[0031] An image recognition operation is performed on the lane line image to obtain the image recognition result, and the lane line information is determined based on the image recognition result.

[0032] In one possible implementation, after the step of determining whether the vehicle has activated its navigation system, the method further includes:

[0033] If the vehicle has its navigation system activated, then determine whether the vehicle is heading towards the ramp based on the navigation system.

[0034] If it is determined that the vehicle is traveling in the direction of the ramp, the ramp speed limit information corresponding to the ramp sign is obtained and the ramp speed limit information is output.

[0035] In one possible implementation, the step of outputting the ramp speed limit information includes:

[0036] The vehicle's instrument panel displays the speed limit information for the ramp.

[0037] This application also proposes a vehicle, the vehicle comprising:

[0038] The first determining module is used to determine whether the vehicle has turned on its navigation system when the vehicle detects a ramp sign.

[0039] The acquisition module is used to acquire lane line information corresponding to the vehicle if the navigation system is not turned on.

[0040] The second determining module is used to determine whether the vehicle is traveling towards the ramp based on the lane line information;

[0041] The output module is used to obtain the ramp speed limit information corresponding to the ramp sign and output the ramp speed limit information if it is determined that the vehicle is traveling in the direction of the ramp.

[0042] This application also proposes a vehicle control device, which includes a memory, a processor, and a vehicle control program stored in the memory and executable on the processor. When the vehicle control program is executed by the processor, it implements the steps of the vehicle control method described above.

[0043] This application also proposes a computer-readable storage medium storing a vehicle control program, which, when executed by a processor, implements the steps of the vehicle control method described above.

[0044] This invention determines whether a vehicle's navigation system is activated when it detects a ramp sign. If the navigation system is not activated, the invention acquires the lane information corresponding to the vehicle and then determines whether the vehicle is moving towards the ramp based on the lane information. If the vehicle is determined to be moving towards the ramp, the invention acquires and outputs the ramp speed limit information corresponding to the ramp sign. This allows for accurate determination of whether a vehicle is moving towards the ramp using lane information even when the navigation system is not activated, and outputs the ramp speed limit information when the vehicle is moving towards the ramp. This significantly reduces the occurrence of incorrect or missing ramp speed limit information when a vehicle without a navigation system enters a ramp, and improves the safety of vehicles entering ramps by accurately outputting ramp speed limit information. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the structure of the vehicle control device in the hardware operating environment involved in the embodiments of this application;

[0046] Figure 2 This is a flowchart illustrating the first embodiment of the vehicle control method of this application;

[0047] Figure 3 This is a schematic diagram of the ramps in this application;

[0048] Figure 4 This is a schematic diagram of the functional modules of an embodiment of the vehicle of this application.

[0049] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0050] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0051] like Figure 1 As shown, Figure 1 This is a schematic diagram of the structure of the vehicle control device in the hardware operating environment involved in the embodiments of this application.

[0052] The vehicle control device in this application embodiment can be a vehicle. For example... Figure 1 As shown, the vehicle control device may include: a processor 1001, such as a CPU; a network interface 1004; a user interface 1003; a memory 1005; and a communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0053] Optionally, the vehicle control equipment may also include cameras, RF (Radio Frequency) circuits, sensors, audio circuits, WiFi modules, etc. Sensors such as light sensors, motion sensors, and other sensors will not be elaborated upon here.

[0054] Those skilled in the art will understand that Figure 1 The terminal structure shown does not constitute a limitation on the vehicle control device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0055] like Figure 1 As shown, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a vehicle control program.

[0056] exist Figure 1 In the vehicle control device shown, the network interface 1004 is mainly used to connect to the backend server and communicate with the backend server; the user interface 1003 is mainly used to connect to the client (user terminal) and communicate with the client; and the processor 1001 can be used to call the vehicle control program stored in the memory 1005.

[0057] The vehicle control device includes: a memory 1005, a processor 1001, and a vehicle control program stored in the memory 1005 and executable on the processor 1001. When the processor 1001 calls the vehicle control program stored in the memory 1005, it executes the steps of the vehicle control method in the following embodiments.

[0058] This application also provides a vehicle control method, referring to... Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the vehicle control method of this application.

[0059] The vehicle control method includes the following steps:

[0060] Step S101: When the vehicle detects the ramp sign, determine whether the vehicle has turned on the navigation system.

[0061] Ramp signs indicate to vehicles that there is a section of auxiliary road on the main road (highway, elevated road, bridge and tunnel, etc.) that provides access to and from the adjacent auxiliary road. A navigation system is a collection of basic functions, including: "location", "destination selection", "route calculation" and "route guidance".

[0062] While driving, the vehicle can use cameras or sensors to acquire environmental information about its surroundings and determine whether ramp signs are present, thus confirming whether the vehicle has detected ramp signs. For example, ... Figure 3 On the highway shown, ramp signs, such as ramp speed limit signs (a type of ramp marker), can be placed on the right side of the main road, before the ramp entrance, with a certain distance between the sign and the entrance. When a vehicle is traveling on the main road, it can use a camera to capture real-time images of the surrounding environment, thus obtaining image information on the right side of the vehicle. By performing image recognition on the right side of the vehicle, it can be determined that a ramp speed limit sign exists on the right side of the vehicle, thus confirming that the vehicle has detected the ramp marker. Alternatively, the ramp speed limit sign can be placed in the area corresponding to the fork between the ramp entrance and the main road, such as the median strip outside the fork. When a vehicle is traveling on the main road, it can use a camera to capture real-time images of the surrounding environment, thus obtaining image information in front of the vehicle. By performing image recognition on the front of the vehicle, it can be determined that a ramp speed limit sign exists in front of the vehicle, thus confirming that the vehicle has detected the ramp marker.

[0063] After the vehicle detects the ramp sign, it determines whether the vehicle's navigation system is activated to determine whether the ramp speed limit information will be accurately output when the vehicle enters the ramp. For example, if the vehicle's navigation system is activated, the navigation system can determine whether the vehicle needs to input the ramp, and thus accurately output the ramp speed limit information when the vehicle enters the ramp.

[0064] Step S102: If the vehicle has not turned on the navigation system, then obtain the lane line information corresponding to the vehicle.

[0065] When the vehicle detects a ramp sign, if the navigation system is not activated, the first lane information of the vehicle's left front is obtained. Specifically, the image of the front of the vehicle (including the left and right front) can be obtained through the vehicle's camera, etc., and then image recognition is performed on the obtained image of the front of the vehicle to obtain the lane information corresponding to the vehicle. The lane information may include the first lane information of the vehicle's left front and / or the second lane information of the vehicle's right front.

[0066] The information regarding the first lane line at the left front of the vehicle may include the lane line shape of the first lane line at the left front of the vehicle. In one possible implementation, the first lane line information may also be the lane line type of the first lane line at the left front of the vehicle. The lane line type includes a forked lane line or a non-forked lane line. That is, when there is a ramp on the main road, the lane line type is a forked lane line; when there is no ramp on the main road, the lane line type is a non-forked lane line. The first lane line information may also be the lane line shape of the first lane line at the left front of the vehicle. The second lane line information may include the lane line shape or the lane line type of the first lane line at the right front of the vehicle. In one possible implementation, the second lane line information may also include the number of lane lines on the right side of the vehicle.

[0067] Step S103: Based on the lane line information, determine whether the vehicle is traveling towards the ramp.

[0068] When lane line information is obtained, the vehicle determines whether it is traveling towards the ramp, i.e., whether it needs to enter the ramp. Specifically, this can be determined through the first lane line information. For example, if the first lane line information includes the shape of the first lane line in front of the vehicle's left, then the shape of the first lane line in front of the vehicle's left is used to determine whether the vehicle needs to enter the ramp. Specifically, it identifies whether there is a fork in the shape of the first lane line in front of the vehicle's left. If a fork exists, it is determined that the vehicle is traveling towards the ramp. If the first lane line information includes the lane line type of the first lane line in front of the vehicle's left, it determines whether the lane line type of the first lane line in front of the vehicle's left is a forked lane. If it is a forked lane, it is determined that the vehicle is traveling towards the ramp. If the first lane line does not have a fork (i.e., it is not a forked lane), then the vehicle determines whether it is traveling towards the ramp through the second lane line information. Furthermore, based on the information of the first lane line on the left side of the vehicle, the number of lane lines on the right side of the vehicle can be determined. The number of lane lines on the right side of the vehicle can then be used to determine whether the vehicle is traveling towards the ramp. For example, if the number of lane lines on the right side of the vehicle is 1, then it is determined that the vehicle is traveling towards the ramp. Thus, lane line information can be used to accurately determine whether a vehicle is traveling towards the ramp, thereby determining whether the vehicle is about to enter the ramp and making an accurate prediction of whether the vehicle needs to enter the ramp.

[0069] Step S104: If it is determined that the vehicle is traveling in the direction of the ramp, then obtain the ramp speed limit information corresponding to the ramp sign and output the ramp speed limit information.

[0070] Once it is determined that the vehicle is traveling towards the ramp, the ramp speed limit information corresponding to the ramp sign is obtained and output. Specifically, the vehicle can obtain the ramp speed limit information when detecting ramp signs using cameras, sensors, etc. Generally, ramp signs will indicate the ramp speed limit value to remind the vehicle to adjust its speed. The ramp speed limit information is then obtained from the ramp sign itself. If the ramp sign does not indicate the ramp speed limit value, the ramp speed limit information is set to the standard ramp speed limit value (40 km / h). After obtaining the ramp speed limit information, it is output, for example, by displaying the ramp speed limit information on the vehicle's instrument panel or by using a voice assistant to output a voice prompt, to remind the user to drive according to the corresponding ramp speed limit. By determining that the vehicle is traveling towards the ramp, obtaining the ramp speed limit information corresponding to the ramp sign, and outputting the ramp speed limit information, accurate prompts for ramp speed limit information are achieved, greatly improving vehicle driving safety.

[0071] Further, in one embodiment, step S104 includes:

[0072] Step a: The speed limit information of the ramp is displayed on the vehicle's instrument panel.

[0073] When outputting the speed limit information of the ramp, the speed limit information can be directly displayed on the vehicle's instrument panel, so that the user (driver) can check the speed limit information of the ramp they are about to enter in time, and adjust the vehicle speed in time according to the speed limit information, thereby improving the safety of driving on the ramp.

[0074] However, this design is not limited to this. In other embodiments, after outputting the ramp speed limit information, it can also be determined whether the current speed of the vehicle is greater than the ramp speed limit corresponding to the ramp speed limit information; if the current speed is greater than the ramp speed limit, then an overspeed warning message is output.

[0075] After outputting the ramp speed limit information, the vehicle obtains its current speed and determines whether the current speed is greater than the ramp speed limit corresponding to the ramp speed limit information. If it is greater than the ramp speed limit, an overspeed warning message or a deceleration warning message is output. This overspeed warning message / deceleration warning message can be a voice prompt. In order to reduce the driving risk of the vehicle, the overspeed warning message / deceleration warning message reminds the driver that it is necessary to reduce the speed when entering the ramp. For example, if the current speed of the vehicle is 60km / h and the ramp speed limit is 40km / h, the overspeed warning message is realized, which improves the safety of the vehicle when entering the ramp.

[0076] When a vehicle detects a ramp sign, it determines whether the vehicle's navigation system is activated. If the navigation system is not activated, the vehicle's lane information is obtained. Based on the lane information, it is then determined whether the vehicle is moving towards the ramp. If the vehicle is moving towards the ramp, the ramp speed limit information corresponding to the ramp sign is obtained and output. This allows for accurate determination of whether a vehicle is moving towards the ramp using lane information even when the navigation system is not activated, and outputs the ramp speed limit information when the vehicle is moving towards the ramp. This significantly reduces the occurrence of incorrect or missing ramp speed limit information when vehicles without a navigation system enter ramps, and improves the safety of vehicles entering ramps by accurately outputting ramp speed limit information.

[0077] Based on the first embodiment, a second embodiment of the vehicle control method of this application is proposed, wherein step S103 includes:

[0078] Step S201: Obtain the first lane line information in front of the vehicle on the left from the lane line information;

[0079] Step S202: Based on the first lane line information, determine whether the vehicle is traveling towards the ramp.

[0080] Upon obtaining the lane information corresponding to the vehicle, the vehicle first obtains the information of the first lane line in front of the vehicle on the left. This information may include the shape of the first lane line in front of the vehicle on the left. In one possible implementation, the information may also be the lane line type of the first lane line in front of the vehicle on the left. The lane line type may include a bifurcated lane line or a non-bifurcated lane line. That is, when there is a ramp on the main road, the lane line type is a bifurcated lane line, and when there is no ramp on the main road, the lane line type is a non-bifurcated lane line.

[0081] After obtaining the first lane information, the vehicle determines whether it is heading towards the ramp, i.e., whether it needs to enter the ramp. For example, if the first lane information includes the shape of the first lane in front of the vehicle's left, the shape of that lane determines whether the vehicle needs to enter the ramp. Specifically, it identifies whether there is a fork in the shape of the first lane in front of the vehicle's left; if a fork exists, it determines that the vehicle is heading towards the ramp. If the first lane information includes the type of the first lane in front of the vehicle's left, it determines whether that lane type is a forked lane; if it is, it determines that the vehicle is heading towards the ramp. Thus, the first lane information can accurately determine whether the vehicle is heading towards the ramp, thereby accurately predicting whether the vehicle needs to enter the ramp.

[0082] By acquiring the first lane information in front of the vehicle on the left side of the lane information, and then determining whether the vehicle is traveling towards the ramp based on the first lane information, it is possible to accurately determine whether the vehicle is traveling towards the ramp and output the ramp speed limit information when the vehicle is traveling towards the ramp. This greatly reduces the occurrence of incorrect or missing ramp speed limit information when vehicles without navigation systems enter the ramp, and further improves the safety of vehicles entering the ramp.

[0083] Based on the second embodiment, a third embodiment of the vehicle control method of this application is proposed, wherein step S202 includes:

[0084] Step S301: Determine whether the first lane line on the left side of the vehicle in the first lane line information is a forked lane line;

[0085] Step S302: If the first lane line is a forked lane line, then determine that the vehicle is traveling in the direction of the ramp.

[0086] When the first lane information is obtained, the vehicle obtains the first lane line on the left side of the vehicle from the first lane information and determines whether the first lane line on the left side of the vehicle is a forked lane line. Specifically, if the first lane information includes the lane line shape of the first lane line in front of the vehicle on the left, the vehicle determines whether it needs to enter the ramp based on the lane line shape of the first lane line in front of the vehicle on the left. For example, it identifies whether there is a forked line in the lane line shape of the first lane line in front of the vehicle on the left. If there is a forked line in the lane line shape of the first lane line, the first lane line on the left side of the vehicle is determined to be a forked lane line. If the first lane information includes the lane line type of the first lane line in front of the vehicle on the left, the vehicle determines whether the lane line type of the first lane line in front of the vehicle on the left is a forked lane line. If the lane line type of the first lane line in front of the vehicle on the left is a forked lane line, the first lane line on the left side of the vehicle is determined to be a forked lane line.

[0087] If the first lane line on the left of the vehicle is determined to be a fork lane line, and the vehicle is traveling towards the ramp, refer to... Figure 3 If a vehicle is currently traveling on the right-hand main road and the first lane line on the left of the vehicle is a fork lane line, it can be determined that the vehicle is traveling towards the ramp, that is, the vehicle intends to enter the ramp.

[0088] By determining whether the first lane line on the left side of the vehicle in the first lane line information is a forked lane line, and then if the first lane line on the left side of the vehicle is a forked lane line, it is determined that the vehicle is traveling towards the ramp. The system can accurately determine whether the vehicle is traveling towards the ramp by using the first lane line on the left side of the vehicle in the first lane line information, and output the ramp speed limit information when the vehicle is traveling towards the ramp. This greatly reduces the occurrence of incorrect or missing ramp speed limit information when vehicles without navigation systems enter the ramp, and further improves the safety of vehicles entering the ramp.

[0089] Based on the second embodiment, a fourth embodiment of the vehicle control method of this application is proposed. After step S201, the vehicle control method further includes:

[0090] Step S401: If it is determined based on the first lane information that the vehicle is not traveling towards the ramp, then the second lane information in front of the vehicle on the left is obtained from the lane information.

[0091] Step S402: Based on the second lane line information, determine whether the vehicle is traveling towards the ramp.

[0092] When it is determined from the first lane information that the vehicle is not traveling towards the ramp, the second lane information to the right front of the vehicle is obtained from the lane information. The second lane information may include the lane shape or lane type of the first lane to the right front of the vehicle. In one possible implementation, the second lane information may also include the number of lanes to the right of the vehicle. The lane type includes bifurcated lanes and non-bifurcated lanes.

[0093] When the second lane information is obtained, the vehicle determines whether to travel towards the ramp based on the second lane information. Specifically, the number of lane lines in front of the vehicle on the right or the number of lane lines on the right side of the vehicle in the second lane information determines whether the vehicle is traveling towards the ramp.

[0094] Further, in one embodiment, step S301 includes:

[0095] Step b: Determine whether the first lane line on the right side of the vehicle in the second lane line information is a forked lane line;

[0096] Step c: If the first lane line on the right side of the vehicle is not a forked lane line, then based on the second lane line information, determine whether the vehicle is traveling towards the ramp.

[0097] When the second lane information is obtained, the vehicle obtains the first lane line on the right side of the vehicle from the second lane information and determines whether the first lane line on the right side of the vehicle is a forked lane line. For example, if the second lane information includes the lane line shape of the second lane line in front of the vehicle on the right, then the shape of the second lane line in front of the vehicle on the right is used to identify whether there is a forked line in the lane line shape of the first lane line in front of the vehicle on the right. If there is a forked line, then the first lane line on the right side of the vehicle is determined to be a forked lane line. If the second lane information includes the lane line type of the first lane line in front of the vehicle on the right, then the lane line type of the first lane line in front of the vehicle on the right is determined to be a forked lane line. If it is a forked lane line, then the first lane line on the right side of the vehicle is determined to be a forked lane line.

[0098] Reference Figure 3 When a vehicle is traveling on the main road, if it is determined that the first lane line on the right side of the vehicle is a fork lane line, it can be determined that the vehicle is currently traveling on the left side of the main road. At this time, it can be determined that the vehicle is not traveling towards the ramp, that is, the vehicle does not have the intention to enter the ramp.

[0099] If the first lane line on the right side of the vehicle is not a forked lane line, refer to Figure 3When a vehicle is traveling on the main road, it can be determined that the vehicle is currently in a lane other than the leftmost lane on the right side of the main road or the rightmost lane on the left side of the main road. Based on the second lane information, it is then determined whether the vehicle is moving towards the ramp. Specifically, the number of lane lines to the right of the vehicle in the second lane information can be used to determine whether the vehicle is moving towards the ramp. This allows for accurate determination of whether a vehicle is moving towards the ramp using the second lane information, further improving the safety of vehicles entering the ramp.

[0100] Further, in one embodiment, step c includes:

[0101] Step d: Obtain the number of lane lines corresponding to the right lane line of the vehicle in the second lane line information;

[0102] Step e: If the number of lane lines is 1, then it is determined that the vehicle is traveling in the direction of the ramp.

[0103] If the first lane line on the right side of the vehicle is not a forked lane line, then the number of lane lines corresponding to the right lane line of the vehicle is obtained from the second lane line information. If the number of lane lines is 1, then it is determined that the vehicle is traveling towards the ramp. Figure 3 When a vehicle is traveling on the main road, if it is determined that the vehicle is currently in a lane other than the leftmost lane of the right-hand main road or the rightmost lane of the left-hand main road, then when the number of lane lines on the right-hand lane is 1, it can be determined that the vehicle is in the rightmost lane of the right-hand main road, and therefore it can be determined that the vehicle is traveling towards the ramp, meaning that the vehicle intends to enter the ramp. Thus, the number of lane lines on the right-hand lane can be used to accurately determine whether a vehicle is traveling towards the ramp, further improving the safety of vehicles entering the ramp.

[0104] It's easy to understand that, generally, the main road before entering the ramp is a two-lane road. Therefore, when the number of lane lines on the right side is greater than one, it can be determined that the vehicle is located... Figure 3 Drive on the left side of the main road.

[0105] If, based on the first lane information, it is determined that the vehicle is not traveling towards the ramp, then the second lane information in front of the vehicle on the right is obtained from the lane information. Then, based on the second lane information, it is determined whether the vehicle is traveling towards the ramp. The second lane information can accurately determine whether the vehicle is traveling towards the ramp, and when the vehicle is traveling towards the ramp, the ramp speed limit information is output. This greatly reduces the occurrence of incorrect or missing ramp speed limit information when vehicles without navigation systems enter the ramp, further improving the safety of vehicles entering the ramp.

[0106] Based on the first embodiment, a fifth embodiment of the vehicle control method of this application is proposed. Before step S101, the vehicle control method further includes:

[0107] Step S501: When the vehicle detects a traffic sign, determine whether there is preset information corresponding to the ramp sign in the traffic sign. If the preset information exists, then it is determined that the ramp sign has been detected.

[0108] When a vehicle detects a traffic sign, it determines whether the sign contains preset information corresponding to a ramp sign. This preset information refers to the speed limit information on ramp-type traffic signs; for example, the preset information could be the characters "Ramp" or "ramp". During the vehicle's journey, its camera captures traffic signs on the road. The system then extracts information from these signs. Ramp signs typically display the characters "Ramp" or "ramp". The system checks whether the preset information is present in the traffic sign's information. If it is, for example, if the vehicle extracts the characters "Ramp" or "ramp" from the traffic sign, then a ramp sign has been detected.

[0109] Specifically, in one embodiment, prior to step S401, the vehicle control method further includes:

[0110] Step e: Based on the vehicle's first camera terminal, acquire an image corresponding to the environment in which the vehicle is located, and perform image recognition on the image to obtain a recognition result. If the traffic sign is present in the recognition result, then it is determined that the traffic sign has been detected.

[0111] Step f: Obtain the tag information of the electronic tag based on the card reader of the vehicle, and determine that the traffic sign has been detected when the tag information contains the traffic sign, wherein the electronic tag is set on the road corresponding to the vehicle.

[0112] The first camera terminal is a device with image acquisition capabilities located on the vehicle (e.g., at the front of the vehicle), such as an OCR (optical character recognition) camera or a driving recorder. While the vehicle is in motion, the first camera terminal can acquire images of the surrounding environment in real time. Then, by performing image recognition on the images, a recognition result is obtained. If a traffic sign is present in the recognition result, it is determined that a traffic sign has been detected. For example, if the image contains traffic characters, it is determined that a traffic sign has been detected. 。

[0113] The card reader is installed on the chassis or tires of the vehicle, and the electronic tag can be set on the road where the car travels, such as a certain distance before the entrance of a ramp. Several electronic tags are set up. When the vehicle's card reader reads the electronic tag during the vehicle's journey, it obtains the electronic tag information. If the electronic tag information contains a traffic sign, it is determined that a traffic sign has been detected.

[0114] When the vehicle detects a traffic sign, it determines whether there is preset information corresponding to the ramp sign in the traffic sign. If the preset information exists, it is determined that the ramp sign has been detected. The ramp sign can be accurately obtained based on the traffic sign, which facilitates subsequent determination of whether the vehicle is traveling in the direction of the ramp, and further improves the safety of the vehicle entering the ramp.

[0115] Based on the first embodiment, a sixth embodiment of the vehicle control method of this application is proposed, wherein step S101 includes:

[0116] Step S601: Based on the vehicle's second camera terminal, acquire the lane line image corresponding to the vehicle;

[0117] Step S602: Perform image recognition operation on the lane line image to obtain image recognition results, and determine the lane line information based on the image recognition results.

[0118] The second camera terminal is installed on the vehicle. For example, the second camera terminal can be a device with image acquisition function installed on the front or side of the vehicle, such as a camera or a driving recorder.

[0119] During driving, if the vehicle detects a ramp sign and the navigation system is not activated, the vehicle will obtain real-time lane line images of the road where the vehicle is located through the second camera terminal. These lane line images may include lane line images of the left front and right front of the vehicle.

[0120] Next, an image recognition operation is performed on the lane line image to obtain the image recognition result. Specifically, an existing image recognition algorithm can be used to perform the image recognition operation on the lane line image, and then the lane line information is determined based on the image recognition result.

[0121] By using a second camera terminal based on the vehicle, the lane line image corresponding to the vehicle is acquired; then, image recognition is performed on the lane line image to obtain the image recognition result, and the lane line information is determined based on the image recognition result. This allows for accurate determination of the lane line information corresponding to the vehicle based on the lane line image, so as to accurately determine whether the vehicle is traveling towards the ramp. This greatly reduces the occurrence of incorrect or missing display of ramp speed limit information when vehicles without navigation systems enter ramps, and further improves the safety of vehicles entering ramps.

[0122] Based on the first embodiment, a seventh embodiment of the vehicle control method of this application is proposed. After step S101, the vehicle control method further includes:

[0123] Step S701: If the vehicle has activated its navigation system, determine whether the vehicle is heading towards the ramp based on the navigation system.

[0124] Step S702: If it is determined that the vehicle is traveling in the direction of the ramp, the ramp speed limit information corresponding to the ramp sign is obtained and the ramp speed limit information is output.

[0125] When a vehicle detects a ramp sign, its navigation system is already activated. The system can be used to determine whether the vehicle is heading towards the ramp. Specifically, the navigation route in the navigation system determines whether the vehicle is heading towards the ramp. If the navigation route includes the ramp, then the vehicle is heading towards the ramp.

[0126] Once it is determined that the vehicle is traveling towards the ramp, the ramp speed limit information corresponding to the ramp sign is obtained and output. Specifically, the vehicle can obtain the ramp speed limit information when detecting ramp signs using cameras, sensors, etc. Generally, ramp signs will indicate the ramp speed limit value to remind the vehicle to adjust its speed. The ramp speed limit information is then obtained from the ramp sign itself. If the ramp sign does not indicate the ramp speed limit value, the ramp speed limit information is set to the standard ramp speed limit value (40 km / h). After obtaining the ramp speed limit information, it is output, for example, by displaying the ramp speed limit information on the vehicle's instrument panel or by using a voice assistant to output a voice prompt, to remind the user to drive according to the corresponding ramp speed limit. By determining that the vehicle is traveling towards the ramp, obtaining the ramp speed limit information corresponding to the ramp sign, and outputting the ramp speed limit information, accurate prompts for ramp speed limit information are achieved, greatly improving vehicle driving safety.

[0127] The navigation system determines whether the vehicle is traveling towards the ramp. If it is determined that the vehicle is traveling towards the ramp, the system obtains the ramp speed limit information corresponding to the ramp sign and outputs the ramp speed limit information. By combining navigation with the determination of whether the vehicle is traveling towards the ramp, the accuracy of determining whether the vehicle is traveling towards the ramp is improved, and the safety of the vehicle entering the ramp is further enhanced.

[0128] This application also provides a vehicle, as shown in the reference. Figure 4 The vehicle includes:

[0129] The first determining module 10 is used to determine whether the vehicle has turned on its navigation system when the vehicle detects a ramp sign.

[0130] The acquisition module 20 is used to acquire lane line information corresponding to the vehicle if the navigation system is not turned on.

[0131] The second determining module 30 is used to determine whether the vehicle is traveling towards the ramp based on the lane line information;

[0132] The output module 40 is used to obtain the ramp speed limit information corresponding to the ramp sign and output the ramp speed limit information if it is determined that the vehicle is traveling in the direction of the ramp.

[0133] The methods executed by the above-mentioned program units can be referred to in the various embodiments of the vehicle control method of this application, and will not be repeated here.

[0134] This application also provides a computer-readable storage medium.

[0135] The present application has a vehicle control program stored on a computer-readable storage medium, which, when executed by a processor, implements the steps of the vehicle control method described above.

[0136] The method implemented when the vehicle control program running on the processor is executed can be referred to in various embodiments of the vehicle control method of this application, and will not be repeated here.

[0137] Furthermore, this application also proposes a computer program product that includes a vehicle control program, which, when executed by a processor, implements the steps of the vehicle control method described above.

[0138] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0139] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0140] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0141] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A vehicle control method, characterized in that, The vehicle control method includes the following steps: When the vehicle detects a ramp sign, determine whether the vehicle has activated its navigation system; If the vehicle's navigation system is not activated, then obtain the lane line information corresponding to the vehicle; Based on the lane information, determine whether the vehicle is traveling towards the ramp. If it is determined that the vehicle is traveling in the direction of the ramp, then the ramp speed limit information corresponding to the ramp sign is obtained and the ramp speed limit information is output. The step of determining whether the vehicle is traveling towards the ramp based on the lane line information includes: Obtain the first lane line information in front of the vehicle on the left side from the lane line information; Based on the first lane information, determine whether the vehicle is traveling towards the ramp. The step of determining whether the vehicle is traveling towards the ramp based on the first lane line information includes: Determine whether the first lane line on the left side of the vehicle in the first lane line information is a forked lane line; If the first lane line on the left side of the vehicle is a forked lane line, then the vehicle is determined to be traveling in the direction of the ramp.

2. The vehicle control method as described in claim 1, characterized in that, After the step of obtaining the first lane line information in front of the vehicle on the left side, the method further includes: If, based on the first lane information, it is determined that the vehicle is not traveling towards the ramp, then the second lane information in front of the vehicle on the right side is obtained from the lane information. Based on the second lane information, it is determined whether the vehicle is traveling towards the ramp.

3. The vehicle control method as described in claim 2, characterized in that, The step of determining whether the vehicle is traveling towards the ramp based on the second lane information includes: Determine whether the first lane line to the right of the vehicle in the second lane line information is a forked lane line; If the first lane line on the right side of the vehicle is not a forked lane line, then based on the second lane line information, it is determined whether the vehicle is traveling towards the ramp.

4. The vehicle control method as described in claim 3, characterized in that, The step of determining whether the vehicle is traveling towards the ramp based on the second lane information includes: In the second lane line information, the number of lane lines corresponding to the right lane line of the vehicle is obtained; If the number of lane lines is 1, then the vehicle is determined to be traveling in the direction of the ramp.

5. The vehicle control method as described in claim 1, characterized in that, Before the step of determining whether the vehicle has activated its navigation system when it detects a ramp sign, the method further includes: When the vehicle detects a traffic sign, it is determined whether there is preset information corresponding to the ramp sign in the traffic sign. If the preset information exists, it is determined that the ramp sign has been detected.

6. The vehicle control method as described in claim 5, characterized in that, Before the step of determining whether preset information corresponding to the ramp sign exists in the traffic sign when the vehicle detects the traffic sign, the method further includes: Based on the vehicle's first camera terminal, an image corresponding to the environment in which the vehicle is located is acquired, and image recognition is performed on the image to obtain a recognition result. If the traffic sign is present in the recognition result, it is determined that a traffic sign has been detected; or... The electronic tag information is obtained from the vehicle's card reader, and when the traffic sign is present in the tag information, it is determined that a traffic sign has been detected, wherein the electronic tag is set on the road corresponding to the vehicle.

7. The vehicle control method as described in claim 1, characterized in that, The step of obtaining the lane line information corresponding to the vehicle includes: Based on the vehicle's second camera terminal, acquire the lane line image corresponding to the vehicle; An image recognition operation is performed on the lane line image to obtain the image recognition result, and the lane line information is determined based on the image recognition result.

8. The vehicle control method as described in claim 1, characterized in that, After determining whether the vehicle's navigation system is turned on, the method further includes: If the vehicle has its navigation system activated, then determine whether the vehicle is heading towards the ramp based on the navigation system. If it is determined that the vehicle is traveling in the direction of the ramp, the ramp speed limit information corresponding to the ramp sign is obtained and the ramp speed limit information is output.

9. The vehicle control method according to any one of claims 1 to 8, characterized in that, The steps for outputting ramp speed limit information include: The vehicle's instrument panel displays the speed limit information for the ramp.

10. A vehicle, characterized in that, The vehicles include: The first determining module is used to determine whether the vehicle has turned on its navigation system when the vehicle detects a ramp sign. The acquisition module is used to acquire lane line information corresponding to the vehicle if the navigation system is not turned on. The second determining module is used to determine whether the vehicle is traveling towards the ramp based on the lane line information; The output module is used to obtain the ramp speed limit information corresponding to the ramp sign and output the ramp speed limit information if it is determined that the vehicle is traveling in the direction of the ramp. Determining whether the vehicle is traveling towards the ramp based on the lane information includes: Obtain the first lane line information in front of the vehicle on the left side from the lane line information; Based on the first lane information, determine whether the vehicle is traveling towards the ramp. The step of determining whether the vehicle is traveling towards the ramp based on the first lane line information includes: Determine whether the first lane line on the left side of the vehicle in the first lane line information is a forked lane line; If the first lane line on the left side of the vehicle is a forked lane line, then the vehicle is determined to be traveling in the direction of the ramp.

11. A vehicle control device, characterized in that, The vehicle control device includes a memory, a processor, and a vehicle control program stored in the memory and executable on the processor. When the vehicle control program is executed by the processor, it implements the steps of the vehicle control method as described in any one of claims 1-9.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a vehicle control program, which, when executed by a processor, implements the steps of the vehicle control method as described in any one of claims 1-9.

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