Method and device for reminding intersection vehicle of line pressure

Abstract

The application relates to a method and device for reminding a vehicle of line pressure at an intersection, wherein the method comprises the following steps: detecting whether the vehicle drives to a target intersection provided with an ultra-wideband (UWB) label end; when it is detected that the vehicle drives to the target intersection, identifying the intersection identifier of the target intersection to extract lane information of the target intersection, wherein the lane information comprises identification information of the UWB label end; based on the identification information, determining the offset distance of the vehicle perpendicular to the lane line by using the UWB label end, and generating a line pressure reminder of the vehicle according to the lane information. Thus, the problems that in the prior art, the image processing technology relying on visual means cannot handle the situation when the line of sight of the road surface is affected, a large amount of identification and operation is required during vehicle driving, the storage, operation and chip performance of the vehicle hardware are required to be high, the software operation amount is increased, the algorithm hardware cost is increased and the like can be solved.

Description

Technical Field

[0001] This application relates to the field of automotive technology, and in particular to a method and device for alerting vehicles crossing the lane line at intersections. Background Technology

[0002] Currently, when vehicles approach intersections, drivers need to pay attention to the correct direction of the lane and avoid crossing solid lines. Since the position of solid lines at intersections is sometimes unclear, it may lead to violations or traffic accidents. Therefore, how to remind vehicles at intersections to avoid crossing the lines has become a problem that needs to be considered.

[0003] In related technologies, cameras can be used to capture video images, identify lane lines, combine information from the vehicle's built-in motion sensors, and calculate and analyze the vehicle's posture in the lane. Deep learning and prediction algorithms can then be used to determine whether a lane crossing has occurred or is about to occur.

[0004] However, image processing technologies that rely on vision cannot handle situations where road visibility is affected. During vehicle operation, a large amount of recognition and computation places high demands on the storage, computing, and chip performance of onboard hardware, increasing the amount of software computation and raising the cost of computing hardware, which urgently needs improvement. Summary of the Invention

[0005] This application provides a method and device for reminding vehicles to cross the road line at intersections, in order to solve the problems in related technologies where image processing technology relying on vision means cannot handle situations where road visibility is affected. During vehicle operation, a large amount of recognition and calculation places high demands on the storage, computing, and chip performance of on-board hardware, increasing the amount of software computation and raising the cost of computing hardware.

[0006] The first aspect of this application provides a method for alerting vehicles crossing lane lines at intersections, comprising the following steps: detecting whether a vehicle has traveled to a target intersection equipped with an ultra-wideband (UWB) tag; when the vehicle has traveled to the target intersection, identifying the intersection signage to extract lane information of the target intersection, wherein the lane information includes the signage information of the UWB tag; and based on the signage information, determining the vehicle's offset distance perpendicular to the lane line using the UWB tag, and generating a lane-crossing alert for the vehicle based on the lane information.

[0007] Optionally, in one embodiment of this application, the lane information includes at least one of the following: number of lanes, lane direction, and intersection lane map, as well as the identification information of the UWB tag.

[0008] Optionally, in one embodiment of this application, generating the vehicle's lane crossing warning based on the lane information includes: displaying the intersection lane map to the user and drawing the initial position of the vehicle model when the vehicle enters the solid line of the target intersection; updating the actual posture of the vehicle model in motion after the vehicle enters the solid line to display the current position of the vehicle within the solid line range; and generating vibration, voice, and / or optical warnings when the current position approaches a preset range of the solid line.

[0009] Optionally, in one embodiment of this application, before the vehicle enters the solid line of the target intersection, the method further includes: initializing the intersection lane map and the vehicle model posture based on the actual driving information of the vehicle.

[0010] Optionally, in one embodiment of this application, the UWB tag end includes a first set of UWB tags arranged at the leftmost and rightmost points of the same-direction lane at the starting position of the solid line at the intersection, and a second set of UWB tags arranged at a preset distance in the direction from the solid line to the dashed line.

[0011] A second aspect of this application provides an intersection vehicle lane crossing warning device, comprising: a detection module for detecting whether a vehicle has traveled to a target intersection equipped with an ultra-wideband (UWB) tag; an extraction module for identifying the intersection signage of the target intersection when the vehicle is detected to have traveled to the target intersection, thereby extracting lane information of the target intersection, wherein the lane information includes the signage information of the UWB tag; and a warning module for determining the vehicle's offset distance perpendicular to the lane line based on the signage information and using the UWB tag, and generating a lane crossing warning for the vehicle based on the lane information.

[0012] Optionally, in one embodiment of this application, the lane information includes at least one of the following: number of lanes, lane direction, and intersection lane map, as well as the identification information of the UWB tag.

[0013] Optionally, in one embodiment of this application, the reminder module includes: a display unit, configured to display the intersection lane map to the user and draw the initial position of the vehicle model when the vehicle enters the solid line of the target intersection; an update unit, configured to update the actual posture of the vehicle model in motion after the vehicle enters the solid line, so as to display the current position of the vehicle within the solid line range; and a generation unit, configured to generate vibration, voice and / or optical reminders when the current position approaches the preset range of the implementation.

[0014] Optionally, in one embodiment of this application, it further includes: a control module, configured to initialize the intersection lane map and the vehicle model posture based on the actual driving information of the vehicle before the vehicle enters the solid line of the target intersection.

[0015] Optionally, in one embodiment of this application, the UWB tag end includes a first set of UWB tags arranged at the leftmost and rightmost points of the same-direction lane at the starting position of the solid line at the intersection, and a second set of UWB tags arranged at a preset distance in the direction from the solid line to the dashed line.

[0016] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the intersection vehicle crossing-the-line warning method as described in the above embodiments.

[0017] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for alerting vehicles crossing the road line at intersections.

[0018] This application embodiment can identify intersection signs at target intersections equipped with UWB tags, obtain lane information, and generate vehicle lane crossing warnings based on the lane information. It ensures accurate lane and solid line positioning at intersections without relying on visual perception, improving applicability to multi-vehicle intersections, unaffected by environmental conditions, and enhancing the reliability and accuracy of warnings. This meets user needs and improves the user experience. Simultaneously, it utilizes UWB tags to determine the vehicle's offset distance perpendicular to the lane line, reducing software computation and lowering hardware costs. Therefore, it solves the problems in related technologies where image processing techniques relying on visual means cannot handle situations where road visibility is affected. Furthermore, it addresses the issues of high demands on onboard hardware storage, processing power, and chip performance due to the large amount of recognition and computation during vehicle operation, increasing software computation and hardware costs.

[0019] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0020] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0021] Figure 1 This is a flowchart illustrating a method for alerting vehicles crossing the lane lines at an intersection, according to an embodiment of this application.

[0022] Figure 2This is a schematic diagram illustrating the principle of a recognizable QR code for a method of alerting vehicles crossing the lane line at an intersection according to an embodiment of this application;

[0023] Figure 3 This is a schematic diagram of the tag end and base station end of a method for alerting vehicles crossing the lane line at an intersection according to an embodiment of this application;

[0024] Figure 4 This is a flowchart of a method for alerting vehicles crossing the lane lines at an intersection according to an embodiment of this application;

[0025] Figure 5 This is a schematic diagram illustrating the principle of drawing a solid line area map for a method of alerting vehicles crossing the road line at an intersection according to an embodiment of this application;

[0026] Figure 6 This is a schematic diagram illustrating the principle of a method for alerting vehicles crossing the lane line at an intersection according to an embodiment of this application;

[0027] Figure 7 This is a schematic diagram of a method for alerting vehicles crossing the lane line at an intersection according to an embodiment of this application;

[0028] Figure 8 This is a structural schematic diagram of a vehicle provided according to an embodiment of this application. Detailed Implementation

[0029] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0030] The following describes a method and apparatus for providing vehicle lane crossing warning at intersections, based on embodiments of the present application, with reference to the accompanying drawings. Addressing the issues raised in the background section regarding image processing technologies relying on visual means, which are unable to handle situations where road visibility is obstructed, and the significant amount of recognition and computation involved in vehicle operation placing high demands on the storage, computation, and chip performance of onboard hardware, increasing software computation and hardware costs, this application provides a method for providing vehicle lane crossing warning at intersections. This method identifies the intersection signage of the target intersection equipped with a UWB tag, obtains lane information, and generates a lane crossing warning based on the lane information. It ensures that the location of the intersection lanes and solid lines is not dependent on visual means, improving applicability to multi-lane intersections, is unaffected by environmental conditions, enhances the reliability and accuracy of the warning, meets user needs, and improves the user experience. Simultaneously, it utilizes the UWB tag to determine the vehicle's offset distance perpendicular to the lane line, reducing software computation and lowering hardware costs. This solves the problems in related technologies, such as the inability of image processing technology that relies on vision to handle situations where road visibility is affected, and the high demands placed on the storage, computing, and chip performance of onboard hardware during vehicle operation due to the large amount of recognition and computation, which increases the amount of software computation and the cost of computing hardware.

[0031] Specifically, Figure 1 This is a flowchart illustrating a method for alerting vehicles crossing the lane lines at an intersection, as provided in an embodiment of this application.

[0032] like Figure 1 As shown, the method for alerting vehicles that have crossed the lane lines at this intersection includes the following steps:

[0033] In step S101, it is detected whether the vehicle has driven to the target intersection where an ultra-wideband (UWB) tag terminal is installed.

[0034] It is understood that UWB (Ultra Wide Band) in the embodiments of this application is a wireless carrier communication technology that achieves positioning processing through communication and interaction between multiple base stations in the UWB positioning system and the tag used for positioning.

[0035] For example, in this embodiment of the application, a UWB base station can be equipped on the vehicle. Two UWB base stations are placed at a certain distance on the longitudinal centerline at the front and rear of the vehicle, respectively. The UWB tag sends data frames repeatedly and continuously with UWB pulses. The transmitted UWB pulse signals are received by the vehicle's base station. When a UWB pulse signal is received, it is detected that the current vehicle has traveled to the target intersection where the UWB tag is installed. As another example, in this embodiment of the application, when no UWB pulse signal is received, it is detected that the current vehicle has not traveled to the target intersection where the UWB tag is installed.

[0036] This application embodiment can detect whether a vehicle has driven to a target intersection equipped with a UWB tag, providing a basis for subsequent identification of target intersection information, thereby reducing the impact of solid lines and ensuring positioning accuracy.

[0037] In step S102, when the target intersection is detected, the intersection sign of the target intersection is identified to extract the lane information of the target intersection, wherein the lane information includes the sign information of the UWB tag.

[0038] It is understood that the embodiments of this application can identify the intersection signs of the target intersection, such as by installing a front-facing camera on the vehicle. The intersection signs in the embodiments of this application are equipped with identifiable QR codes, which include, but are not limited to, information such as the total lane width, intersection UWB tag ID, distance between two sets of tags, and length of solid line at the intersection.

[0039] In actual implementation, this application embodiment can detect when a vehicle is approaching a target intersection by using a front-facing camera installed on the vehicle to identify the intersection signage, capture the image information of the "lane direction warning sign," identify and parse the QR code of the "lane direction warning sign," thereby extracting the lane information of the target intersection, obtaining the total lane width, intersection UWB tag ID, distance between the two sets of tags, length of the solid line at the intersection, and identification information at the UWB tag end, etc., thus ensuring that the positioning of the intersection lanes and solid lines is independent of vision, unaffected by line of sight, meeting user needs and improving user experience.

[0040] Optionally, in one embodiment of this application, the lane information includes at least one of the following: number of lanes, lane direction, and intersection lane map, as well as the identification information of the UWB tag.

[0041] It is understood that the number of lanes in this application embodiment can be the number of lanes divided by solid lines on the motor vehicle road. The lane direction includes, but is not limited to, straight lanes, right-turn lanes, and left-turn lanes. The identification information of the UWB tag has the function of providing accurate, safe, and real-time positioning, including but not limited to the intersection UWB tag ID.

[0042] In some cases, embodiments of this application can ensure the location of intersection lanes and solid lines without relying on vision by using the number of lanes divided by solid lines on the motor vehicle road, including but not limited to lane directions such as straight lanes, right-turn lanes and left-turn lanes, and lane information such as intersection UWB label ID from at least one UWB label terminal in the intersection lane map. This ensures that the vehicle's line of sight is not affected when driving on the road and has strong applicability.

[0043] In step S103, based on the identification information, the offset distance of the vehicle perpendicular to the lane line is determined using the UWB tag, and a lane crossing warning is generated based on the lane information.

[0044] It is understood that the offset distance in this application embodiment can be recorded when the two sets of tags of the vehicle are connected. This application embodiment can provide reminders of the vehicle crossing the line, such as through voice reminders from the voice interaction module equipped in the vehicle, vibration reminders from the steering wheel vibration module, and / or optical reminders from cursor flashing.

[0045] For example, embodiments of this application can, based on the identification information at the UMB tag, record the offset distance perpendicular to the lane line at two different time points when the vehicle passes through the lines connecting two sets of tags. By calculation, the deviation angle between the vehicle's forward and backward direction and the solid line direction can be obtained, and a voice reminder can be generated based on the lane information to remind the driver to avoid touching the line. As another example, embodiments of this application can determine the vehicle's offset distance perpendicular to the lane line and generate a steering wheel vibration reminder based on the lane information to remind the driver to avoid touching the line. As yet another example, embodiments of this application can determine the vehicle's offset distance perpendicular to the lane line and generate an optical reminder with a flashing cursor on the display screen based on the lane information to remind the driver to avoid touching the line.

[0046] The embodiments of this application can determine the offset distance of a vehicle perpendicular to the lane line and generate a lane crossing warning based on lane information, thereby preventing the vehicle from touching the solid line, improving user experience, being unaffected by the environment, and improving the reliability and accuracy of the warning.

[0047] Optionally, in one embodiment of this application, generating a lane crossing warning based on lane information includes: displaying an intersection lane map to the user and drawing the initial position of the vehicle model when the vehicle enters the solid line of the target intersection; updating the actual posture of the vehicle model in motion after the vehicle enters the solid line to display the current position of the vehicle within the solid line range; and generating vibration, voice, and / or optical warnings when the current position approaches a preset range.

[0048] In actual implementation, this embodiment can collect distance data of the "solid line start point label group" in real time at the front and rear UWB base stations when the vehicle enters the solid line of the target intersection, calculate the real-time attitude of the vehicle, and draw it into the lane map. The vehicle is equipped with an electronic display device and supporting software to display the intersection lane map to the user and draw the initial position of the vehicle model. This embodiment can also update the attitude of the vehicle model in motion in real time after the vehicle enters the solid line, and display the current position information of the vehicle within the solid line range in an image. This embodiment can also generate vibration, voice and / or optical reminders to the driver to avoid touching the line when the vehicle boundary is close to the solid line within a certain threshold, and stop drawing the map and turn off the reminder function when the vehicle travels past the cut-off line of the target intersection, thereby reducing the amount of software computation, reducing the hardware cost of computing power, and improving the intelligence and practicality of the vehicle.

[0049] Optionally, in one embodiment of this application, before the vehicle enters the solid line of the target intersection, the method further includes: initializing the intersection lane map and the vehicle model posture based on the actual driving information of the vehicle.

[0050] In some embodiments, the actual driving information of the vehicle can be collected and calculated before the vehicle enters the solid line of the target intersection, and the intersection lane map and vehicle model posture can be initialized. This provides a basis for effectively displaying the intersection lane map and updating the vehicle model's posture in motion in real time, thereby reducing the hardware cost requirements for computing power and improving the user experience.

[0051] Optionally, in one embodiment of this application, the UWB tag end includes a first set of UWB tags arranged at the leftmost and rightmost points of the same-direction lane at the beginning of the solid line at the intersection, and a second set of UWB tags arranged at a preset distance from the solid line to the dashed line.

[0052] As one possible implementation method, this application embodiment can install UWB tags at intersections. At the starting position of the solid line at the intersection, the first set of UWB tags is placed at the leftmost and rightmost points of the lanes in the same direction, respectively. The second set of UWB tags is placed at a certain distance from the solid line to the dashed line, requiring a total of 4 tags. The lines connecting the two tags in the two sets of tags are kept parallel, thereby ensuring that the location of the lanes and solid lines at the intersection is not dependent on vision when visibility is affected by road surface water, snow, moonlight, streetlights, or reflections from oncoming vehicle headlights, resulting in high real-time performance.

[0053] It should be noted that the preset distance can be set by those skilled in the art according to the actual situation, and no specific restrictions are imposed here.

[0054] Specifically, in combination Figures 2 to 6 As shown, the working principle of the intersection vehicle crossing the line reminder method of this application embodiment is explained in detail with a specific embodiment.

[0055] like Figure 2 As shown in the embodiment of this application, the lane direction advance warning sign at the intersection can be equipped with a recognizable QR code. The sign contains the number of lanes and lane direction information. The QR code includes, but is not limited to, the total lane width, the intersection UWB tag ID, the distance between the two sets of tags, and the length of the solid line at the intersection.

[0056] like Figure 3As shown, in this embodiment of the application, UWB tags can be installed at intersections. The vehicle is equipped with two UWB base stations, which are placed at a certain distance on the longitudinal centerline at the front and rear of the vehicle, respectively. At the starting position of the solid line at the intersection, UWB tags are placed at the leftmost and rightmost points of the same lane as the first set of tags. Then, a second set of UWB tags is placed at a certain distance from the solid line to the dashed line, for a total of 4 tags. The lines connecting the two tags in the two sets of tags are kept parallel.

[0057] Next, as Figure 4 As shown, embodiments of this application may include the following steps:

[0058] Step S401: Install UWB tags at designated locations at the intersection. In this embodiment, UWB tags can be placed at the leftmost and rightmost points of the same-direction lanes at the beginning of the solid line at the intersection, forming the first set of tags. A second set of UWB tags is then placed at a certain distance from the solid line towards the dashed line, requiring a total of 4 tags. The lines connecting the two tags in the two sets of tags should remain parallel.

[0059] Step S402: Add a QR code to the lane direction advance warning sign at the intersection or other conspicuous location. The QR code contains relevant length or distance information about the intersection. In this embodiment, the lane direction advance warning sign at the intersection may be equipped with a recognizable QR code. The sign contains information such as the number of lanes and lane direction. The QR code includes, but is not limited to, information such as the total lane width, the intersection UWB tag ID, the distance between two sets of tags, and the length of the solid line at the intersection.

[0060] Step S403: The vehicle identifies the lane direction warning sign at the intersection, obtains the number of lanes and lane direction, and obtains the intersection lane map drawing information and UWB tag terminal ID information through QR code recognition. The vehicle in this embodiment is equipped with a front-facing camera to capture the image information of the "lane direction warning sign" and to recognize and parse the QR code on the sign.

[0061] Step S404: Before entering the solid line of the intersection, the lane map and vehicle model attitude of the solid line at the intersection are initialized through driving information collection and calculation. This embodiment of the application can collect and calculate driving information before the vehicle enters the solid line of the intersection, initialize the lane map and vehicle model attitude of the solid line at the intersection, and record the offset distance perpendicular to the lane line at two time points when the vehicle passes through the two sets of label lines respectively. The deviation angle between the vehicle's longitudinal direction and the solid line direction is then calculated.

[0062] Step S405: When the vehicle enters the solid line, the intersection lane map is displayed on the in-vehicle screen, and the initial position of the vehicle model is drawn; after the vehicle enters the solid line, the vehicle model's attitude during movement is updated in real time, and the vehicle's position information within the solid line range is displayed in an image. In this embodiment, the two UWB base stations at the front and rear of the vehicle respectively collect distance data of the "solid line start point label group" in real time, calculate the vehicle's real-time attitude, and draw it into the lane map. The vehicle is equipped with an electronic display device and supporting software for display.

[0063] Step S406: When the vehicle boundary is close to the solid line within a certain threshold, the driver is reminded to avoid touching the line by vibration or voice prompts. In this embodiment, the vehicle is equipped with a voice interaction module and a steering wheel vibration module, which can remind the driver to avoid touching the line by vibration or voice prompts when the vehicle boundary is close to the solid line within a certain threshold.

[0064] Step S407: After the vehicle has passed the intersection cutoff line, end map drawing and turn off this function. This embodiment of the application can end lane map drawing and turn off the intersection vehicle crossing warning function after detecting that a vehicle has passed the intersection cutoff line.

[0065] like Figure 5 As shown, the principle of drawing the solid line area map in this embodiment is as follows: by recognizing the image and QR code of the lane direction warning sign, the UWB tag group spacing, total lane width, number of lanes, lane direction, and total solid line length data are obtained; the lateral lane offset length D, combined with the fact that when the sum of the distances of two tags in a certain tag group is detected at the vehicle-mounted base station, it is equal to the total lane width, the distance between the base station and the tag end at the current moment is recorded as the tag group distance L, and the angle between the vehicle's longitudinal direction and the lane direction when the vehicle passes the tag connection line for the second time is calculated and recorded as the vehicle's longitudinal direction and lane direction angle A = arctan D / L; this angle calculation result, plus the number of lanes, lane direction, and total solid line length data, can be used to draw the solid line area map; and according to the installation position of the vehicle-mounted UWB base station on the vehicle, the vehicle's top view outline model is drawn.

[0066] Furthermore, such as Figure 6 As shown, the principle of real-time vehicle attitude calculation in the solid line area in this embodiment is as follows: by monitoring the real-time distance between the vehicle-mounted UWB base station and the tag at the starting point of the solid line, a pair of mirror points can be obtained, and the forward point in the vehicle's forward direction is used as the vehicle's current position; at the same time, by using the positioning results of the two UWB base stations on the vehicle's longitudinal centerline, combined with their installation positions on the vehicle, a top-down outline model of the vehicle is drawn to show the real-time position of the vehicle outline relative to the solid line.

[0067] The method for providing lane-crossing alerts at intersections according to the embodiments of this application can identify intersection signs at target intersections equipped with UWB tags, obtain lane information, and generate lane-crossing alerts based on the lane information. This ensures accurate lane and solid line positioning at intersections without relying on visual perception, improving applicability to multi-lane intersections, unaffected by environmental conditions, enhancing the reliability and accuracy of alerts, meeting user needs, and improving the user experience. Simultaneously, the UWB tag is used to determine the vehicle's offset distance perpendicular to the lane line, reducing software computation and lowering hardware costs. Therefore, this solves the problem in related technologies where image processing techniques relying on visual means cannot handle situations where road visibility is affected. Furthermore, the large amount of recognition and computation during vehicle operation places high demands on the storage, computation, and chip performance of onboard hardware, increasing software computation and hardware costs.

[0068] Next, referring to the accompanying drawings, a device for reminding vehicles to cross the lane line at an intersection according to an embodiment of this application is described.

[0069] Figure 7 This is a schematic diagram of the structure of the intersection vehicle crossing the line reminder device according to an embodiment of this application.

[0070] like Figure 7 As shown, the vehicle crossing warning device 10 at the intersection includes: a detection module 100, an extraction module 200, and a warning module 300.

[0071] Specifically, the detection module 100 is used to detect whether a vehicle has driven to a target intersection equipped with an ultra-wideband (UWB) tag.

[0072] The extraction module 200 is used to identify the intersection sign of the target intersection when it detects that the vehicle has arrived at the target intersection, so as to extract the lane information of the target intersection, wherein the lane information includes the identification information of the UWB tag.

[0073] The reminder module 300 is used to determine the vehicle's offset distance from the lane line using the UWB tag based on the identification information, and to generate a lane crossing reminder based on the lane information.

[0074] Optionally, in one embodiment of this application, the lane information includes at least one of the following: number of lanes, lane direction, and intersection lane map, as well as the identification information of the UWB tag.

[0075] Optionally, in one embodiment of this application, the reminder module 300 includes: a display unit, an update unit, and a generation unit.

[0076] The display unit is used to show the user the intersection lane map and draw the initial position of the vehicle model when the vehicle enters the solid line of the target intersection.

[0077] The update unit is used to update the actual posture of the vehicle model in motion after the vehicle enters the solid line, so as to show the current position of the vehicle within the solid line area.

[0078] The generation unit generates vibration, voice, and / or optical alerts when the current position approaches a preset range.

[0079] Optionally, in one embodiment of this application, a control module is also included.

[0080] The control module is used to initialize the lane map and vehicle model posture at the intersection based on the vehicle's actual driving information before the vehicle enters the solid line of the target intersection.

[0081] Optionally, in one embodiment of this application, the UWB tag end includes a first set of UWB tags arranged at the leftmost and rightmost points of the same-direction lane at the beginning of the solid line at the intersection, and a second set of UWB tags arranged at a preset distance from the solid line to the dashed line.

[0082] It should be noted that the explanation of the aforementioned method embodiment for reminding vehicles to cross the intersection line also applies to the device for reminding vehicles to cross the intersection line in this embodiment, and will not be repeated here.

[0083] The intersection vehicle lane crossing warning device proposed in this application can identify the intersection signage of the target intersection equipped with a UWB tag, obtain lane information, and generate a lane crossing warning based on the lane information. This ensures that the device locates the intersection lanes and solid lines independently of visual perception, improving applicability to multi-lane intersections, unaffected by environmental conditions, and enhancing the reliability and accuracy of the warning. This meets user needs and improves the user experience. Simultaneously, the UWB tag determines the vehicle's offset distance perpendicular to the lane line, reducing software computation and lowering hardware costs. Therefore, this solves the problem in related technologies where image processing technology relying on visual means cannot handle situations where road visibility is affected. Furthermore, the large amount of recognition and computation during vehicle operation places high demands on the storage, computing, and chip performance of onboard hardware, increasing software computation and hardware costs.

[0084] Figure 8 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0085] The memory 801, the processor 802, and the computer program stored on the memory 801 and capable of running on the processor 802.

[0086] When the processor 802 executes the program, it implements the method for reminding vehicles to cross the line at intersections provided in the above embodiments.

[0087] Furthermore, the vehicle also includes:

[0088] Communication interface 803 is used for communication between memory 801 and processor 802.

[0089] The memory 801 is used to store computer programs that can run on the processor 802.

[0090] The memory 801 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0091] If the memory 801, processor 802, and communication interface 803 are implemented independently, then the communication interface 803, memory 801, and processor 802 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be divided into address buses, data buses, control buses, etc. For ease of representation, Figure 8 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0092] Optionally, in a specific implementation, if the memory 801, processor 802, and communication interface 803 are integrated on a single chip, then the memory 801, processor 802, and communication interface 803 can communicate with each other through an internal interface.

[0093] The processor 802 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0094] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for reminding vehicles to cross the road line at intersections.

[0095] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0096] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0097] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0098] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0099] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0100] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0101] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0102] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for alerting vehicles crossing the road line at an intersection, characterized in that, Includes the following steps: Detect whether the vehicle has driven to the target intersection where an ultra-wideband (UWB) tag is installed; Upon detecting approach to the target intersection, the intersection signage is identified to extract lane information. This lane information includes the identification information from the UWB tag. The intersection signage is equipped with a identifiable QR code, which contains the total lane width, the intersection UWB tag ID, the distance between the two sets of tags, and the length of the solid line at the intersection. Based on the identification information, the offset distance of the vehicle perpendicular to the lane line is determined using the UWB tag, and a lane crossing warning for the vehicle is generated based on the lane information. The lane information includes at least one of the following: number of lanes, lane direction, and intersection lane map, as well as the identification information of the UWB tag. The step of generating a lane crossing warning for the vehicle based on the lane information includes: displaying the lane map of the intersection to the user and drawing the initial position of the vehicle model when the vehicle enters the solid line of the target intersection; updating the actual posture of the vehicle model in motion after the vehicle enters the solid line to display the current position of the vehicle within the solid line range; and generating vibration, voice, and / or optical warnings when the current position approaches a preset range of the solid line. Before the vehicle enters the solid line of the target intersection, the method further includes: initializing the intersection lane map and the vehicle model posture based on the actual driving information of the vehicle; The UWB tag terminal includes a first set of UWB tags arranged at the starting position of the solid line at the intersection, at the leftmost and rightmost points of the same direction lane, and a second set of UWB tags arranged at a preset distance from the solid line to the dashed line.

2. A device for alerting vehicles crossing the road line at an intersection, characterized in that, include: The detection module is used to detect whether a vehicle has driven to the target intersection where an ultra-wideband (UWB) tag has been installed; The extraction module is used to identify the intersection signage of the target intersection when it detects that the vehicle has arrived at the target intersection, so as to extract the lane information of the target intersection. The lane information includes the identification information of the UWB tag, wherein the intersection signage is equipped with a recognizable QR code, and the QR code contains the total lane width, the intersection UWB tag ID, the distance between the two sets of tags, and the length of the solid line at the intersection; and The reminder module is used to determine the offset distance of the vehicle perpendicular to the lane line based on the identification information using the UWB tag, and to generate a lane crossing reminder for the vehicle based on the lane information. The lane information includes at least one of the following: number of lanes, lane direction, and intersection lane map, as well as the identification information of the UWB tag. The alert module includes: a display unit, used to display the lane map of the intersection to the user and draw the initial position of the vehicle model when the vehicle enters the solid line of the target intersection; an update unit, used to update the actual posture of the vehicle model in motion after the vehicle enters the solid line, so as to display the current position of the vehicle within the solid line range; and a generation unit, used to generate vibration, voice and / or optical alerts when the current position is close to a preset range of the solid line. Before the vehicle enters the solid line of the target intersection, the system further includes a control module for initializing the intersection lane map and the vehicle model posture based on the actual driving information of the vehicle. The UWB tag terminal includes a first set of UWB tags arranged at the starting position of the solid line at the intersection, at the leftmost and rightmost points of the same direction lane, and a second set of UWB tags arranged at a preset distance from the solid line to the dashed line.

3. A vehicle, characterized in that, include: The system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the method for alerting vehicles crossing the lane line at an intersection as described in claim 1.

4. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the method for alerting vehicles crossing the lane line at an intersection as described in claim 1.

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