Vehicle speed reminder method, device, electronic device and storage medium

Abstract

The present disclosure is about a vehicle speed reminder method, device, electronic device and storage medium, which are applied to a first vehicle. The method may include: obtaining first driving data of the first vehicle and road condition information broadcast by roadside equipment; the first driving data includes first position information and first speed information of the first vehicle; the road condition information includes map information and speed limit information of the road; according to the first position information and the map information of the road, determining the first lane where the first vehicle is located; obtaining second driving data broadcast by multiple second vehicles on the target lane; the second driving data includes second speed information of the second vehicle; according to the second speed information and the speed limit information, determining speed reference information; if the first speed information does not match the speed reference information, performing a vehicle speed reminder. According to the technical solution provided by the present disclosure, information such as road speed limit and speed of surrounding vehicles can be obtained in real time and accurately, and the function of active vehicle speed reminder can be effectively realized.

Description

Technical Field

[0001] The present disclosure relates to the field of automotive electronic technology, and in particular to a vehicle speed reminder method, device, electronic equipment and storage medium. Background Art

[0002] In recent years, the urbanization process has been advancing, and more and more people are choosing cars as their means of transportation. The number of vehicles on the road has gradually increased, and road congestion has become more serious. When driving a vehicle, the driver's lack of concentration or lack of understanding of the road speed limit requirements often leads to unreasonable vehicle speeds, causing traffic congestion and affecting traffic efficiency, and there are also certain safety hazards.

[0003] In the prior art, the reminder of vehicle speed, especially the reminder of slow speed, is mainly provided by honking the horn of the vehicle behind. However, this method is not timely and may also cause a collision between the two vehicles. Summary of the invention

[0004] The present disclosure provides a vehicle speed reminder method, device, electronic device and storage medium, so as to at least solve the problem in the related art of how to proactively remind the driver of unreasonable vehicle speed in a timely manner based on the speed of surrounding vehicles and current road speed limit information during vehicle driving, so as to avoid traffic congestion, road safety hazards and conflicts between drivers. The technical solution of the present disclosure is as follows:

[0005] According to a first aspect of an embodiment of the present disclosure, a vehicle speed reminder method is provided, which is applied to a first vehicle and includes:

[0006] Acquire first driving data of the first vehicle and road condition information broadcast by a roadside device; the first driving data includes first position information and first speed information of the first vehicle; the road condition information includes map information and speed limit information of the road;

[0007] Determining a first lane where the first vehicle is located according to the first position information of the first vehicle and the map information of the road in the road condition information;

[0008] Acquire second driving data broadcast by a plurality of second vehicles on a target lane, wherein the target lane includes the first lane and a second lane around the first lane, the second lane being a lane with a driving indication sign in the same direction as the first lane; the second driving data includes second speed information of the second vehicle;

[0009] determining speed reference information according to the second speed information and the speed limit information of the road in the road condition information corresponding to the first lane;

[0010] If the first speed information does not match the speed reference information, a vehicle speed reminder is performed.

[0011] In a possible implementation manner, determining the speed reference information according to the second speed information and the speed limit information of the road in the road condition information corresponding to the first lane includes:

[0012] Performing statistical processing on the second speed information to obtain speed statistical information;

[0013] The speed reference information is determined according to the speed statistical information and the speed limit information.

[0014] In a possible implementation, determining the first lane where the first vehicle is located according to the first position information of the first vehicle and the map information of the road in the road condition information includes:

[0015] determining a target mapping position of the first position information in the map information of the road;

[0016] Acquire lane association information of a plurality of virtual lanes whose distance from the target mapping position is less than a second preset distance in the map information of the road, each lane association information includes a lane sequence centerline, the lane sequence centerline corresponding to each virtual lane is parallel to the direction of the driving indication sign of each virtual lane and passes through the center of the lane width of each virtual lane, and the lane sequence centerline is composed of a preset number of coordinate points;

[0017] Determine a target distance from the target mapping position to the center line of the lane sequence corresponding to each virtual lane, and a target angle between the target mapping position and two adjacent coordinate points; the two adjacent coordinate points are any two adjacent coordinate points among the preset number of coordinate points;

[0018] The first lane in which the first vehicle is located is determined based on the target distance and the target angle.

[0019] In a possible implementation, the two adjacent coordinate points include a first coordinate point and a second coordinate point, the target angle is an angle between a first line segment and a second line segment and a third line segment, the first line segment is a line segment between the first coordinate point and the second coordinate point, the second line segment is a line segment between the target mapping position and the first coordinate point, and the third line segment is a line segment between the target mapping position and the second coordinate point; determining the first lane where the first vehicle is located based on the target distance and the target angle includes:

[0020] Filter out, from the multiple virtual lanes, a first virtual lane corresponding to which the target distance is less than half of the width of the virtual lane and the target angles are all acute angles;

[0021] The actual lane corresponding to the first virtual lane is used as the first lane.

[0022] In a possible implementation, the two adjacent coordinate points include a first coordinate point and a second coordinate point, the target angle is an angle formed by the target mapping position and a line connecting the first coordinate point and the second coordinate point; and determining the first lane where the first vehicle is located based on the target distance and the target angle includes:

[0023] Filter out from the multiple virtual lanes a second virtual lane corresponding to which the target distance is less than half of the width of the virtual lane and the target angle is an obtuse angle;

[0024] The actual lane corresponding to the second virtual lane is used as the first lane.

[0025] In a possible implementation, the acquiring the second driving data broadcasted by a plurality of second vehicles on the target lane includes:

[0026] Determining, in the map information of the road, a third virtual lane having the same driving direction as the first virtual lane where the target mapping position is located;

[0027] Determine the actual lane corresponding to the third virtual lane as the target lane;

[0028] Acquire second driving data broadcasted by a plurality of second vehicles on the target lane.

[0029] In a possible implementation, the second driving data further includes second position information of the second vehicle, and the acquiring the second driving data broadcasted by the plurality of second vehicles on the target lane includes:

[0030] receiving third driving data broadcasted by a plurality of third vehicles; the third driving data including third position information of the third vehicles;

[0031] Determine distance information between the third location information and the first location information;

[0032] The third vehicles whose distance information is less than the set distance are selected from the plurality of third vehicles as the plurality of second vehicles; and the third driving data corresponding to each of the plurality of second vehicles is used as the second driving data.

[0033] According to a second aspect of an embodiment of the present disclosure, a vehicle speed reminder device is provided, comprising:

[0034] A data acquisition module, used to acquire first driving data of the first vehicle and road condition information broadcast by a roadside device; the first driving data includes first position information and first speed information of the first vehicle; the road condition information includes map information and speed limit information of the road;

[0035] A first lane determination module, configured to determine a first lane where the first vehicle is located according to the first position information of the first vehicle and the map information of the road in the road condition information;

[0036] A second driving data acquisition module is used to acquire second driving data broadcast by a plurality of second vehicles on a target lane, wherein the target lane includes the first lane and a second lane around the first lane, and the second lane is a lane with the same driving indication direction as the first lane; the second driving data includes second speed information of the second vehicle;

[0037] a speed reference information determination module, configured to determine speed reference information according to the second speed information and the speed limit information of the road in the road condition information corresponding to the first lane;

[0038] The vehicle speed reminder module is used to provide a vehicle speed reminder if the first speed information does not match the speed reference information.

[0039] According to a third aspect of an embodiment of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement a method as described in any one of the above-mentioned first aspects.

[0040] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided. When instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute any method described in the first aspect of the embodiment of the present disclosure.

[0041] The technical solution provided by the embodiment of the present disclosure brings at least the following beneficial effects: according to the first position information and the map information of the road, the first lane where the first vehicle is located is determined, the second driving data broadcast by multiple second vehicles on the target lane is obtained, the second driving data includes the second speed information of the second vehicle, the speed reference information is obtained according to the speed limit information of the road corresponding to the first lane and the second speed information, and the first speed information is determined to match the speed reference information. If the first speed information does not match the obtained speed reference information, a speed reminder is issued. By comparing the speed reference information, the driver is reminded in time to prevent the driver from driving the vehicle at an unreasonable speed, causing traffic congestion or causing safety hazards.

[0042] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description are used to explain the principles of the present disclosure, and do not constitute improper limitations on the present disclosure.

[0044] Figure 1 is a schematic diagram showing an application scenario according to an exemplary embodiment;

[0045] Figure 2 is a flow chart of a vehicle speed reminder method according to an exemplary embodiment;

[0046] Figure 3 is a flow chart of a method for determining a first lane according to an exemplary embodiment;

[0047] Figure 4 It is a schematic diagram showing the distance from the target mapping position to the center line of the lane sequence and the angle between the target mapping position and two adjacent coordinate points in the map information of the road according to an exemplary embodiment;

[0048] Figure 5 is another schematic diagram showing the distance from the target mapping position to the center line of the lane sequence and the angle between the target mapping position and two adjacent coordinate points in the map information of the road according to an exemplary embodiment;

[0049] Figure 6 is a flow chart of a method for determining a first lane where a first vehicle is located according to an exemplary embodiment;

[0050] Figure 7 is a flow chart of another method for determining a first lane where a first vehicle is located according to an exemplary embodiment;

[0051] Figure 8 is a flow chart of a method for obtaining second driving data of a plurality of second vehicles on a target lane according to an exemplary embodiment;

[0052] Fig. 9 is a flow chart of a method for obtaining second driving data within a set distance according to an exemplary embodiment;

[0053] Fig.10 is a block diagram of a vehicle speed reminder device according to an exemplary embodiment;

[0054] Fig.11 The figure is a schematic diagram of an electronic device for vehicle speed reminder according to an exemplary embodiment. DETAILED DESCRIPTION

[0055] In order to enable ordinary persons in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings.

[0056] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0057] See also Figure 1 , Figure 1 is a schematic diagram showing an application scenario according to an exemplary embodiment. Figure 1 As shown, the application environment may include a vehicle 101 , a plurality of surrounding second vehicles 102 , and a road side device RSU (Road Side Unit) 103 .

[0058] In an optional embodiment, vehicles on the road receive and transmit information to each other through vehicle wireless communication technology V2X (vehicle to everything) and receive road condition information broadcast by roadside equipment RSU 103. This application scenario can be that the vehicle 101 is driving on the road, and obtains the road condition information broadcast by the roadside equipment RSU 103 through vehicle wireless communication technology, and determines the lane where the vehicle 101 is located in combination with its own location information, and obtains the road speed limit information in the road condition information broadcast by the road condition equipment RSU 103 and the speed information of multiple surrounding second vehicles 102 through vehicle wireless communication technology, so as to determine whether its own speed matches the road speed limit information and the speeds of multiple surrounding second vehicles 102, and receives a speed reminder in time when its own speed does not match the road speed limit information and the speeds of multiple surrounding second vehicles.

[0059] In addition, it should be noted that Figure 1 What is shown is only one application environment of the vehicle speed reminder method provided by the present disclosure.

[0060] It should be noted that the following figure shows a possible sequence of steps, which is not actually limited to this sequence. Some steps can be executed in parallel without relying on each other. The information involved in this disclosure (including but not limited to the first speed information, the first position information, the second speed information, the second position information, the third position information, etc.) and driving data (including but not limited to the first driving data, the second driving data, the third driving data, etc.) are all information and data authorized by the user or fully authorized by all parties.

[0061] See also Figure 2 , Figure 2 FIG. 1 is a flow chart of a vehicle speed reminder method according to an exemplary embodiment. Figure 2 As shown, the reminder method may include:

[0062] S201, obtaining first driving data of a first vehicle and road condition information broadcast by a roadside device; the first driving data includes first position information and first speed information of the first vehicle; the road condition information includes map information and speed limit information of the road.

[0063] In one example, the first vehicle may refer to any vehicle on the road. Roadside equipment RSU (Road Side Unit) is installed around the road, and the roadside equipment and the vehicle are connected for communication and information exchange through vehicle to everything (V2X) wireless communication technology.

[0064] The roadside equipment RSU broadcasts traffic information in real time. The message includes the speed limit information of the road. If there is no minimum speed limit requirement on the road, the minimum speed limit defaults to 0. And the map information of the road. The map information of the road may include the direction of the lane driving indicator, the node (Node), the link (Link) and the lane (Lane) in the road, as well as the coordinate point (Point) of the center line of the lane sequence, the lane width (LaneWidth), etc. Optionally, it can also include the longitude and latitude of the endpoints of the two adjacent lane lines. The speed limit information of the road may include the maximum speed limit information and the minimum speed limit information corresponding to each lane. For example, on a four-lane road, the maximum speed limit of the leftmost lane 1 is 120 and the minimum speed limit is 110, and the maximum speed limit of the middle lane 2 and lane 3 is 90 and the minimum speed limit is 60.

[0065] Among them, the direction of the lane driving indication sign may refer to the indicated travel direction of the lane, specifically, it may include straight, right turn, left turn, etc. The distance from the center line of the lane sequence to the two lane lines of the lane is equal; the center line coordinate point of the lane sequence may refer to the coordinate point located on the center line of the lane sequence. A virtual lane may refer to a lane displayed in the map information of the road. The lane width may refer to the width of the virtual lane, which may be an actual width or a virtual width. A lane line may refer to a line segment constituting a virtual lane, and the endpoints of each of the two adjacent lane lines may include the two endpoints of each lane line of the two adjacent lane lines, that is, the start point and the end point of the line segment.

[0066] The first position information may refer to the position of the first vehicle, specifically, the longitude and latitude of the first vehicle, and the first speed information may refer to the speed of the first vehicle.

[0067] In a possible implementation, the first driving data of the first vehicle can be obtained through the positioning system, and the road condition information broadcast by the roadside equipment can be received in real time through the vehicle wireless communication technology; the first driving data may include the first position information and the first speed information of the first vehicle. The positioning system may be the Global Positioning System (GPS) or the BeiDou Navigation Satellite System (BDS).

[0068] By receiving the road condition information broadcast by roadside equipment in real time, you can understand the road conditions in real time.

[0069] In another possible implementation, the first driving data of the first vehicle can be acquired through vehicle wireless communication technology, and the road condition information broadcast by the roadside equipment can be received through the vehicle wireless communication technology when passing through the intersection, wherein the information passing through the intersection can be captured by a terminal, which can be a terminal with a camera function, specifically, a driving recorder, a vehicle-mounted camera, etc.

[0070] By receiving traffic information broadcast by roadside equipment only at intersections, resource utilization can be enhanced and data can be more accurate and effective.

[0071] S203: Determine a first lane where the first vehicle is located according to the first position information of the first vehicle and the map information of the road in the road condition information.

[0072] In the embodiments of the present application, the first lane may refer to a lane on an actual road, and may be the lane where the first vehicle is located.

[0073] In a possible implementation manner, the first lane where the first vehicle is located may be determined based on the longitude and latitude of the first vehicle and the longitude and latitude of the endpoints of two adjacent lane lines in the road condition information.

[0074] For example, in a lane formed by two adjacent lane lines, a coordinate system is established with the line connecting the endpoints on the same side of the two lane lines as the X-axis and one of the lane lines as the Y-axis. If the longitude and latitude of the first vehicle are (X3, Y3), the rectangle formed by the two lane lines and the lines connecting the endpoints on the same side of the two lane lines is used as the area range. The area range is the longitude and latitude of the two endpoints on the two lane lines (X1, Y1), (X2, Y2). If the longitude and latitude (X3, Y3) of the first vehicle falls within the area range, the first lane where the first vehicle is located can be determined, wherein the longitude and latitude of the two endpoints on the two lane lines are the longitude and longitude of the diagonal endpoints.

[0075] By determining the first lane, speed limit information of the lane may be obtained.

[0076] S205, obtaining second driving data broadcast by multiple second vehicles on the target lane, where the target lane includes the first lane and a second lane around the first lane, and the second lane is a lane with the same driving indication direction as the first lane; the second driving data includes second speed information of the second vehicle.

[0077] In one example, the second vehicle and the first vehicle are connected for communication and information exchange via vehicle-to-everything (V2X) wireless communication technology. The second vehicle may refer to a vehicle in a second lane within a set distance around the first vehicle, wherein the set distance may be set according to user needs, such as 10 meters or 20 meters, which is not limited in the present disclosure.

[0078] In a possible implementation manner, a plurality of second vehicles on the second lane may acquire second driving data through a sensor, wherein the sensor may be a speed sensor.

[0079] In another possible implementation, a plurality of second vehicles on the second lane broadcast the second driving data to the surroundings through vehicle wireless communication technology, and the first vehicle receives the second driving data broadcast by the second vehicles in real time.

[0080] By acquiring the second driving data broadcasted by a plurality of second vehicles on the second lane through the vehicle wireless communication technology, speed reference information can be obtained, and it is determined in turn whether the speed of the first vehicle is within a normal range.

[0081] S207: Determine speed reference information according to the second speed information and the speed limit information of the road in the road condition information corresponding to the first lane.

[0082] In the embodiments of the present specification, the speed reference information may be used to determine whether to issue a vehicle speed reminder, that is, it may refer to the speed information based on which the vehicle speed reminder is issued.

[0083] In a possible implementation, the second speed information may be statistically processed to obtain speed statistical information. The statistical processing may be averaging and deduplication processing. The present disclosure exemplifies a method for averaging, averaging the second speed information to obtain a speed average. Further, the speed statistical information may be used as speed reference information.

[0084] In another possible implementation, the speed limit information of the first lane can be extracted from the road condition information, so that the speed limit information can be used to determine the speed reference information. The speed limit information can include the first speed limit information or the second speed limit information, and the first speed limit information is lower than the second speed limit information. As an example, the first speed limit information can refer to the minimum speed limit information of the lane, and the second speed limit information can refer to the maximum speed limit information of the lane. Furthermore, the first speed limit information or the second speed limit information can be used as the speed reference information.

[0085] In another possible implementation, the second speed information may be statistically processed to obtain speed statistical information. And the speed limit information of the first lane may be extracted from the road condition information. Further, speed reference information may be determined based on the speed statistical information and the speed limit information. The speed limit information includes the first speed limit information and the second speed limit information.

[0086] When the speed statistical information is lower than the first speed limit information, the speed statistical information may be used as speed reference information.

[0087] When the speed statistical information is higher than the second speed limit information, the second speed limit information may be used as speed reference information.

[0088] Specifically, in the case of road congestion, the speed statistical information will be lower than the first speed limit information. In this case, between the speed statistical information and the first speed limit information, the speed statistical information is selected as the preferred comparison information. Further, the speed reference information is determined according to the preferred comparison information.

[0089] Specifically, when the speed statistical information is too fast, it will be too higher than the second speed information. In this case, between the speed statistical information and the second speed limit information, the second speed limit information is selected as the preferred comparison information. Further, the speed reference information is determined according to the preferred comparison information.

[0090] According to the speed reference information, it can be determined whether the speed of the first vehicle is within the normal range. In the case of road congestion, the first vehicle may be below the minimum speed limit. At this time, it is not necessary to issue a speed reminder to the driver to avoid disturbing the driver. In this case, the speed statistical information is combined as the speed reference information to make appropriate reminders to the driver. When the second vehicle is traveling too fast, as long as the first speed information is within the range of the second speed limit information, it is not necessary to use the speed statistical information to make unreasonable reminders to the driver.

[0091] S209: If the first speed information does not match the speed reference information, a vehicle speed reminder is issued.

[0092] In the disclosed embodiment, if the first speed information is lower or higher than a certain range of speed reference information, a vehicle speed reminder is issued, wherein the certain range can be set according to user needs, for example, it can be 60%, 75%, or 80%.

[0093] In the embodiment of the present disclosure, if the first speed information is lower than the first speed limit information in the speed reference information or higher than the second speed limit information in the speed reference information, a vehicle speed reminder is performed.

[0094] In the embodiment of the present disclosure, if the first speed information is lower than the first speed limit information in the speed reference information, and is also lower than a certain range of speed reference information that has been statistically processed, a vehicle speed reminder is performed.

[0095] In the embodiment of the present disclosure, if the first speed information is lower than the second speed limit information in the speed reference information and higher than the first speed limit information in the speed reference information, but lower than the statistically processed speed reference information within a certain range, a vehicle speed reminder is issued.

[0096] As an example, if the first speed information is lower than the speed reference information, a vehicle speed reminder may be provided by displaying a prompt message on the terminal.

[0097] As an example, if the first speed information is lower than the speed reference information, a vehicle speed reminder may be given by voice broadcast.

[0098] By determining that the first speed information does not match the speed reference information, the driver is reminded in time to avoid traffic congestion or safety accidents caused by the driver's inattention.

[0099] like Figure 3 As shown, Figure 3 is a flow chart of a method for determining a first lane according to an exemplary embodiment. In another possible implementation, the above S203 may include the following steps:

[0100] S301, determining a target mapping position of first position information in map information of a road.

[0101] In one example, the target mapped position may be the position of the first vehicle on the map information of the road.

[0102] In a possible implementation manner, a target mapping position of the first vehicle in the map information of the road is determined based on the first position information of the first vehicle in the actual lane.

[0103] S303, acquiring lane association information of multiple virtual lanes whose distances from the target mapping position are less than a second preset distance in the map information of the road, each lane association information including a lane sequence centerline, the lane sequence centerline corresponding to each virtual lane is parallel to the direction of the driving indication sign of each virtual lane and passes through the center of the lane width of each virtual lane, and the lane sequence centerline is composed of a preset number of coordinate points.

[0104] In one example, the second preset distance may refer to a distance from the target mapping position to a plurality of virtual lanes.

[0105] The second preset distance may refer to a distance range that can be acquired by the vehicle wireless communication technology.

[0106] In a possible implementation, traffic information broadcast by roadside equipment is received through vehicle wireless communication technology to obtain lane association information of multiple virtual lanes whose distances from the target mapping position are less than a second preset distance in the road map information.

[0107] S305, determining a target distance from the target mapping position to the center line of the lane sequence corresponding to each virtual lane, and a target angle between the target mapping position and two adjacent coordinate points; the two adjacent coordinate points are any two adjacent coordinate points among a preset number of coordinate points.

[0108] In an example, the preset number may be 10, 50, or 100, which is not limited in the present disclosure.

[0109] In a possible implementation, Figure 4 As shown, Figure 4 The present invention is a schematic diagram showing the distance from the target mapping position to the center line of the lane sequence and the angle between the target mapping position and two adjacent coordinate points in the map information of the road according to an exemplary embodiment.

[0110] Among them, L is the distance from the target mapping position to the center line of the lane sequence, and α and β are the angles between the target mapping position and two adjacent coordinate points.

[0111] In the embodiment of the present disclosure, the distance from the target mapping position Q3 to the coordinate point Q1 is calculated based on the longitude and latitude of the target mapping position and the longitude and latitude of two adjacent coordinate points on the center line of the lane sequence. The distance formula is formula (1), the distance from the target mapping position Q3 to the coordinate point Q2 is formula (2), and the distance from Q1 to Q2 is formula (3):

[0112]

[0113]

[0114]

[0115] Where R is the radius of the earth, for example, R is 6378137, b is the distance from the target mapping position Q3 to the coordinate point Q1, that is, the second line segment, a is the distance from the target mapping position Q3 to the coordinate point Q2, that is, the third line segment, c is the distance from Q1 to Q2, that is, the first line segment, (lat Q1 ,long Q1 ), (lat Q2 ,long Q2 ) is the longitude and latitude of two adjacent coordinate points, namely the first coordinate point and the second coordinate point, (lat Q3 ,long Q3 ) is the latitude and longitude of the target mapping location.

[0116] In the embodiment of the present disclosure, the target angles α and β are determined according to a, b, c and the triangular arc cosine formula, and the calculation formulas are formula (4) and formula (5):

[0117]

[0118]

[0119] In the embodiment of the present disclosure, the target distance L is determined according to a and β, and the target distance calculation formula is formula (6):

[0120] L=a×sinβ (6)

[0121] In another possible implementation, Figure 5 As shown, Figure 5 It is another schematic diagram showing the distance from the target mapping position to the center line of the lane sequence and the angle between two adjacent coordinate points in the map information of the road according to an exemplary embodiment.

[0122] Where L is the distance from the target mapping position to the center line of the lane sequence, and θ is the angle between the target mapping position and two adjacent coordinate points.

[0123] In the embodiment of the present disclosure, the latitude and longitude of the target mapping position and the latitude and longitude of two adjacent coordinate points on the center line of the lane sequence are used to calculate a, b, and c. The specific calculation method is as described above, and the present disclosure will not repeat it here. The target angle θ is determined according to a, b, and c combined with the triangle arc cosine formula. The calculation formula of θ is formula (7):

[0124]

[0125] In the embodiment of the present disclosure, the calculation method of β is as described above, and the present disclosure will not repeat it here. The target distance L is determined according to a and β. The specific calculation method is as described above, and the present disclosure will not repeat it here.

[0126] S307: Determine a first lane where the first vehicle is located based on the target distance and the target angle.

[0127] In a possible implementation, Figure 6 As shown, Figure 6 is a flow chart of a method for determining the first lane where the first vehicle is located according to an exemplary embodiment. The above S307 may include the following steps:

[0128] S601, selecting from multiple virtual lanes a first virtual lane corresponding to a target distance that is less than half of the virtual lane width and a target angle that is an acute angle.

[0129] In one example, the first virtual lane may be a virtual lane where the first vehicle is located in the map information of the road.

[0130] In the embodiment of the present disclosure, a first virtual lane corresponding to a target distance L that is less than half the width of the virtual lane and target angles α and β that are both acute angles is selected from multiple virtual lanes.

[0131] S603: Use the actual lane corresponding to the first virtual lane as the first lane.

[0132] In the disclosed embodiment, the actual lane corresponding to the first virtual lane where the first vehicle is located in the map information of the road is used as the first lane.

[0133] In a possible implementation, Figure 7 As shown, Figure 7 is another flow chart of a method for determining the first lane where the first vehicle is located according to an exemplary embodiment. The above S307 may also include the following steps:

[0134] S701, selecting from multiple virtual lanes a second virtual lane corresponding to a target distance that is less than half of the virtual lane width and a target angle that is an obtuse angle.

[0135] In one example, the second virtual lane may be a virtual lane where the first vehicle is located in the map information of the road.

[0136] In the embodiment of the present disclosure, a second virtual lane corresponding to a target distance L that is less than half the width of the virtual lane and a target angle θ that is an obtuse angle is selected from multiple virtual lanes.

[0137] S703: Use the actual lane corresponding to the second virtual lane as the first lane.

[0138] In the disclosed embodiment, the actual lane corresponding to the second virtual lane where the first vehicle is located in the map information of the road is used as the first lane.

[0139] In a possible implementation, Figure 8 As shown, Figure 8 is a flow chart of a method for obtaining second driving data of multiple second vehicles on a target lane according to an exemplary embodiment. The above S205 may also include:

[0140] S801: Determine, in the map information of the road, a third virtual lane having the same driving direction as that of the first virtual lane where the target mapping position is located.

[0141] In one example, the third virtual lane may refer to a virtual lane on the map information of the road.

[0142] In one possible implementation, the map information of the road includes the driving instruction sign direction of the lane, and according to the driving instruction sign direction, a third virtual lane having the same driving instruction sign direction as the first virtual lane where the target mapping position is located is determined in the map information of the road.

[0143] S803: Determine the actual lane corresponding to the third virtual lane as the target lane.

[0144] In a possible implementation manner, the actual lane corresponding to the third virtual lane in the map information of the road is determined as the target lane.

[0145] S805: Acquire second driving data broadcasted by a plurality of second vehicles on the target lane through the vehicle wireless communication technology.

[0146] In another possible implementation, Fig. 9 As shown, Fig. 9 is a flow chart of a method for obtaining second driving data within a set distance according to an exemplary embodiment. The above step S205 may also include:

[0147] S901, receiving third driving data broadcasted by multiple third vehicles; the third driving data includes third position information of the third vehicle.

[0148] In a possible implementation manner, third driving data broadcasted by a plurality of third vehicles through the vehicle wireless communication technology may be acquired through a sensor, wherein the sensor may be a speed sensor.

[0149] In another possible implementation manner, third driving data broadcasted by a plurality of third vehicles through vehicle wireless communication technology may be acquired through vehicle wireless general technology.

[0150] S903: Determine distance information between the third location information and the first location information.

[0151] In one example, the third location information may refer to the latitude and longitude of the third vehicle.

[0152] In a possible implementation, the distance information between the third location information and the first location information is determined according to the above distance calculation formula based on longitude and latitude. The above distance formula is not described in detail in this disclosure.

[0153] S905, selecting third vehicles whose distance information is less than a set distance from the plurality of third vehicles as the plurality of second vehicles; and using the third driving data corresponding to each of the plurality of second vehicles as the second driving data.

[0154] In one example, the set distance may refer to the distance from the first vehicle to the second vehicle, which may be set according to user needs and may be 10 meters or 20 meters, and the present disclosure is not limited thereto.

[0155] In a possible implementation, the distance information between the third vehicle and the first vehicle is calculated according to the distance formula, and third vehicles whose distance information is less than the set distance are screened out from multiple third vehicles as multiple second vehicles; and the third driving data corresponding to each of the multiple second vehicles is used as the second driving data.

[0156] Fig.10 is a block diagram of a vehicle speed reminder device according to an exemplary embodiment. Fig.10 , the device may include:

[0157] The data acquisition module 1001 is used to acquire first driving data of a first vehicle and road condition information broadcast by a roadside device; the first driving data includes first position information and first speed information of the first vehicle; the road condition information includes map information and speed limit information of the road;

[0158] A first lane determination module 1003 is used to determine a first lane where the first vehicle is located according to the first position information of the first vehicle and the map information of the road in the road condition information;

[0159] The second driving data acquisition module 1005 is used to acquire second driving data broadcast by multiple second vehicles on the target lane, where the target lane includes the first lane and the second lane around the first lane, and the second lane is a lane with the same driving indication direction as the first lane; the second driving data includes second speed information of the second vehicle;

[0160] A speed reference information determination module 1007, configured to determine speed reference information according to the second speed information and the speed limit information of the road in the road condition information corresponding to the first lane;

[0161] The vehicle speed reminder module 1009 is used to remind the vehicle speed if the first speed information does not match the speed reference information.

[0162] In a possible implementation, the first lane determination module 1003 may further include:

[0163] The target mapping position determining unit is used to determine the target mapping position of the first position information in the map information of the road.

[0164] A lane association information acquisition unit is used to acquire lane association information of multiple virtual lanes whose distance from a target mapping position is less than a second preset distance in the map information of the road, each lane association information includes a lane sequence center line, the lane sequence center line corresponding to each virtual lane is parallel to the direction of the driving indication sign of each virtual lane and passes through the center of the lane width of each virtual lane, and the lane sequence center line is composed of a preset number of coordinate points.

[0165] The target distance and target angle determination unit is used to determine the target distance from the target mapping position to the center line of the lane sequence corresponding to each virtual lane, and the target angle between the target mapping position and two adjacent coordinate points; the two adjacent coordinate points are any two adjacent coordinate points among a preset number of coordinate points.

[0166] The first lane determination unit based on the target distance and the target angle is used to determine the first lane where the first vehicle is located based on the target distance and the target angle.

[0167] In a possible implementation, the determining the first lane unit based on the target distance and the target angle may further include:

[0168] A sub-unit is selected from a virtual lane where the target distance is less than half the width of the virtual lane and the target angles are all acute angles, and is used to select from multiple virtual lanes a first virtual lane corresponding to a sub-unit where the target distance is less than half the width of the virtual lane and the target angles are all acute angles.

[0169] The actual lane corresponding to the first virtual lane is used as a first lane subunit, which is used to use the actual lane corresponding to the first virtual lane as the first lane.

[0170] A sub-unit having a target distance less than half the width of the virtual lane and a target angle of an obtuse angle is selected from the virtual lane, and is used to select a second virtual lane corresponding to a sub-unit having a target distance less than half the width of the virtual lane and a target angle of an obtuse angle from multiple virtual lanes.

[0171] The actual lane corresponding to the second virtual lane is used as the first lane subunit, and is used to use the actual lane corresponding to the second virtual lane as the first lane.

[0172] In a possible implementation, the second driving data acquisition module 1005 may further include:

[0173] A third virtual lane subunit is determined in the map information of the road, which is used to obtain second driving data units of multiple second vehicles on the target lane, and is used to determine in the map information of the road a third virtual lane with the same driving indication direction as the first virtual lane where the target mapping position is located.

[0174] The actual lane corresponding to the third virtual lane is determined as the second lane subunit, which is used to determine the actual lane corresponding to the third virtual lane as the target lane.

[0175] The subunit for obtaining the second driving data broadcast by multiple second vehicles on the target lane is used to obtain the second driving data broadcast by multiple second vehicles on the target lane.

[0176] The third driving data receiving subunit is used to receive third driving data broadcasted by a plurality of third vehicles; the third driving data includes third position information of the third vehicle.

[0177] The subunit for determining the distance information between the third position information and the first position information is used to determine the distance information between the third position information and the first position information.

[0178] The third vehicles whose distance information is less than the set distance are selected from the multiple third vehicles as the multiple second vehicle sub-units, and are used to select the third vehicles whose distance information is less than the set distance from the multiple third vehicles as the multiple second vehicles; and use the third driving data corresponding to each of the multiple second vehicles as the second driving data.

[0179] In a possible implementation, the speed reference information determining module 1007 may further include:

[0180] A speed statistical information determination unit is used to perform statistical processing on the second speed information to obtain speed statistical information.

[0181] A speed reference information unit is determined according to the speed statistical information and the speed limit information, and is used to determine the speed reference information according to the speed statistical information and the speed limit information.

[0182] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0183] Fig.11 is a block diagram of an electronic device for vehicle speed reminder according to an exemplary embodiment. The electronic device may be a terminal, and its internal structure diagram may be as shown in FIG. Fig.11 As shown. The electronic device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for reminding the front vehicle to start is implemented. The display screen of the electronic device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the housing of the electronic device, or an external keyboard, touchpad or mouse, etc.

[0184] Those skilled in the art will understand that Fig.11 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present disclosure, and does not constitute a limitation on the electronic device to which the scheme of the present disclosure is applied. The specific electronic device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0185] In an exemplary embodiment, a computer-readable storage medium is also provided, and when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device can execute the preceding vehicle start reminder method in the disclosed embodiment. The computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0186] In an exemplary embodiment, a computer program product including instructions is also provided. When the computer program product is executed on a computer, the computer is enabled to execute the method for reminding the preceding vehicle to start in the embodiment of the present disclosure.

[0187] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0188] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0189] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A vehicle speed reminder method, characterized in that: Applied to a first vehicle, comprising: Acquire first driving data of the first vehicle and road condition information broadcast by a roadside device; the first driving data includes first position information and first speed information of the first vehicle; the road condition information includes map information and speed limit information of the road; Determining a first lane where the first vehicle is located according to the first position information of the first vehicle and the map information of the road in the road condition information; Acquire second driving data broadcast by a plurality of second vehicles on a target lane, wherein the target lane includes the first lane and a second lane around the first lane, the second lane being a lane with a driving indication sign in the same direction as the first lane; the second driving data includes second speed information of the second vehicle; Performing statistical processing on the second speed information to obtain speed statistical information; determining speed reference information according to the speed statistical information and the speed limit information of the road in the road condition information corresponding to the first lane; the speed limit information includes first speed limit information and second speed limit information, the first speed limit information is lower than the second speed limit information, and when the speed statistical information is lower than the first speed limit information, the speed statistical information is used as the speed reference information; If the first speed information does not match the speed reference information, a vehicle speed reminder is performed.

2. The vehicle speed reminder method according to claim 1, characterized in that: The determining, based on the first position information of the first vehicle and the map information of the road in the road condition information, the first lane where the first vehicle is located includes: determining a target mapping position of the first position information in the map information of the road; Acquire lane association information of a plurality of virtual lanes whose distance from the target mapping position is less than a second preset distance in the map information of the road, each lane association information includes a lane sequence centerline, the lane sequence centerline corresponding to each virtual lane is parallel to the direction of the driving indication sign of each virtual lane and passes through the center of the lane width of each virtual lane, and the lane sequence centerline is composed of a preset number of coordinate points; Determine a target distance from the target mapping position to the center line of the lane sequence corresponding to each virtual lane, and a target angle between the target mapping position and two adjacent coordinate points; the two adjacent coordinate points are any two adjacent coordinate points among the preset number of coordinate points; The first lane in which the first vehicle is located is determined based on the target distance and the target angle.

3. The vehicle speed reminder method according to claim 2, characterized in that: The two adjacent coordinate points include a first coordinate point and a second coordinate point, the target angle is the angle between the first line segment and the second line segment and the third line segment, the first line segment is the line segment between the first coordinate point and the second coordinate point, the second line segment is the line segment between the target mapping position and the first coordinate point, and the third line segment is the line segment between the target mapping position and the second coordinate point; The determining, based on the target distance and the target angle, the first lane where the first vehicle is located includes: Filter out, from the multiple virtual lanes, a first virtual lane corresponding to which the target distance is less than half of the width of the virtual lane and the target angles are all acute angles; The actual lane corresponding to the first virtual lane is used as the first lane.

4. The vehicle speed reminder method according to claim 2, characterized in that: The two adjacent coordinate points include a first coordinate point and a second coordinate point, the target angle is an angle formed by the target mapping position and a line connecting the first coordinate point and the second coordinate point respectively; and determining the first lane where the first vehicle is located based on the target distance and the target angle includes: Filter out from the multiple virtual lanes a second virtual lane corresponding to which the target distance is less than half of the width of the virtual lane and the target angle is an obtuse angle; The actual lane corresponding to the second virtual lane is used as the first lane.

5. The vehicle speed reminder method according to claim 2, characterized in that: The obtaining of second driving data broadcast by a plurality of second vehicles on the target lane includes: Determining, in the map information of the road, a third virtual lane having the same driving direction as the first virtual lane where the target mapping position is located; Determine the actual lane corresponding to the third virtual lane as the target lane; Acquire second driving data broadcasted by a plurality of second vehicles on the target lane.

6. The vehicle speed reminder method according to claim 1, characterized in that: The second driving data also includes second position information of the second vehicle, and the acquiring the second driving data broadcast by a plurality of second vehicles on the target lane includes: receiving third driving data broadcasted by a plurality of third vehicles; the third driving data including third position information of the third vehicles; Determine distance information between the third location information and the first location information; The third vehicles whose distance information is less than the set distance are selected from the plurality of third vehicles as the plurality of second vehicles; and the third driving data corresponding to each of the plurality of second vehicles is used as the second driving data.

7. A vehicle speed reminder device, characterized in that: include: A data acquisition module, used to acquire first driving data of a first vehicle and road condition information broadcast by a roadside device; The first driving data includes first position information and first speed information of the first vehicle; the road condition information includes map information and speed limit information of the road; A first lane determination module, configured to determine a first lane where the first vehicle is located according to the first position information of the first vehicle and the map information of the road in the road condition information; A second driving data acquisition module is used to acquire second driving data broadcast by a plurality of second vehicles on a target lane, wherein the target lane includes the first lane and a second lane around the first lane, and the second lane is a lane with the same driving indication direction as the first lane; the second driving data includes second speed information of the second vehicle; a speed reference information determination module, configured to perform statistical processing on the second speed information to obtain speed statistical information; determine speed reference information according to the speed statistical information and the speed limit information of the road in the road condition information corresponding to the first lane; the speed limit information includes first speed limit information and second speed limit information, the first speed limit information is lower than the second speed limit information, and when the speed statistical information is lower than the first speed limit information, the speed statistical information is used as the speed reference information; The vehicle speed reminder module is used to provide a vehicle speed reminder if the first speed information does not match the speed reference information.

8. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; Wherein, the processor is configured to execute the instructions to implement the vehicle speed reminder method as described in 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 a processor of an electronic device, the electronic device is enabled to execute the vehicle speed reminder method as claimed in any one of claims 1 to 6.

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