A pre-warning method, device and electronic equipment

Abstract

The application discloses a prewarning method and device and electronic equipment. The method comprises the following steps: acquiring a vehicle tracking result of a current frame on a road, and acquiring a target vehicle located on a side lane of the road according to the vehicle tracking result of the current frame; determining whether a driving intention of the target vehicle is to drive off the side lane according to vehicle tracking results of continuous multiple frames of the target vehicle; and when the driving intention of the target vehicle is to drive off the side lane, prewarning and reminding a driving vehicle on the road according to a current position of the target vehicle. The technical scheme can predict a target vehicle with an intention to drive into an adjacent lane in advance, prewarning and reminding a driving vehicle close to the target vehicle, so that the driving vehicle can know that the target vehicle may change lanes at the next moment in advance without depending on a turn signal state of the target vehicle, and has enough time to adjust a driving strategy, thereby improving driving safety of the vehicle.

Description

Technical Field

[0001] This application relates to the field of intelligent transportation technology, and in particular to an early warning method, device and electronic device. Background Technology

[0002] With the rapid development of modern society and economy and the popularization of urbanization, the number of automobiles, as an important means of transportation, has increased explosively. While the increase in the number of automobiles brings convenience to people, it has also caused a series of traffic problems.

[0003] Taking illegally parked cars on the roadside as an example, illegally parked cars may suddenly start moving or change lanes without using their turn signals, or suddenly reverse. When an autonomous vehicle or a driver passes an illegally parked car, the illegally parked car may not be visible for long enough for the following vehicle to avoid it, which may cause a rear-end collision or other traffic accident. Summary of the Invention

[0004] In view of the above-mentioned problems existing in the prior art, this application provides an early warning method, device and electronic device to accurately detect roadside vehicles that may suddenly move and to provide timely warnings to approaching vehicles, so that approaching vehicles have enough time to make decisions.

[0005] The embodiments of this application adopt the following technical solutions:

[0006] In a first aspect, embodiments of this application provide an early warning method, the method comprising:

[0007] Obtain the vehicle tracking results of the current frame on the road, and obtain the target vehicle located in the side lane of the road based on the vehicle tracking results of the current frame;

[0008] Based on the vehicle tracking results of multiple consecutive frames of the target vehicle, determine whether the driving intention of the target vehicle is to leave the side lane;

[0009] When the target vehicle intends to leave the side lane, a warning is issued to other vehicles on the road based on the target vehicle's current location.

[0010] Optionally, before determining whether the target vehicle's driving intention is to leave the side lane based on vehicle tracking results of multiple consecutive frames, the method further includes:

[0011] Determine whether the target vehicle meets the driving intention prediction conditions based on the vehicle tracking results of the current frame of the target vehicle;

[0012] When the target vehicle meets the driving intention prediction conditions, the driving intention of the target vehicle is determined to be to leave the side lane based on the vehicle tracking results of the target vehicle for multiple consecutive frames.

[0013] Optionally, determining whether the target vehicle meets the driving intention prediction conditions based on the vehicle tracking result of the current frame of the target vehicle includes:

[0014] Based on the vehicle tracking results of the target vehicle in the current frame, determine whether the current frame driving state of the target vehicle is a preset state, wherein the preset state includes at least a low speed state and a stationary state.

[0015] When the current frame driving state of the target vehicle is a preset state, it is determined that the target vehicle meets the driving intention prediction condition.

[0016] Otherwise, it is determined that the target vehicle does not meet the driving intention prediction conditions.

[0017] Optionally, determining whether the driving intention of the target vehicle is to leave the side lane based on the vehicle tracking results of multiple consecutive frames of the target vehicle includes:

[0018] Based on the vehicle tracking results of the target vehicle over multiple consecutive frames, the trend of the heading angle change and the average speed of the target vehicle over multiple consecutive frames are obtained.

[0019] Based on the trend of the target vehicle's heading angle change and the average speed over multiple consecutive frames, determine whether the target vehicle's driving intention is to leave the side lane.

[0020] Optionally, determining whether the target vehicle's driving intention is to leave the side lane based on the trend of the target vehicle's heading angle change and the average speed over multiple frames includes:

[0021] If the trend of the heading angle change is a deviation from the driving direction of the side lane, and the average speed of multiple consecutive frames is less than a preset speed threshold, then it is determined that the driving intention of the target vehicle is to leave the side lane.

[0022] Otherwise, it is determined that the target vehicle's driving intention is not to leave the side lane.

[0023] Optionally, when the target vehicle's driving intention is to leave the side lane, providing a warning to vehicles on the road based on the target vehicle's current position includes:

[0024] The warning location and warning lane are determined based on the current location of the target vehicle. The warning lane includes the side lane and the adjacent lane adjacent to the side lane.

[0025] The warning is issued to vehicles traveling in the warning lane based on the warning location.

[0026] Optionally, determining the warning location and warning lane based on the current location of the target vehicle includes:

[0027] Determine if there are any other target vehicles whose intention is to leave the said side lane;

[0028] When there are other target vehicles whose driving intention is to leave the side lane, obtain the relative distance between the target vehicles;

[0029] The warning location is determined based on the relative distance between the target vehicles and the driving direction of the side lane.

[0030] Optionally, the step of providing a warning to vehicles traveling in the warning lane based on the warning location includes:

[0031] The vehicles traveling in the warning lane are obtained based on the vehicle tracking results of the current frame;

[0032] Whether the vehicle meets the warning conditions is determined based on the change in distance between the vehicle and the warning location and the speed of the vehicle.

[0033] When the vehicle meets the warning conditions, a warning reminder is issued to the vehicle.

[0034] Secondly, embodiments of this application also provide an early warning device, the device comprising:

[0035] The target vehicle acquisition unit is used to acquire the vehicle tracking results of the current frame on the road, and acquire the target vehicle located on the side lane of the road based on the vehicle tracking results of the current frame.

[0036] The driving intention prediction unit is used to determine whether the driving intention of the target vehicle is to leave the side lane based on the vehicle tracking results of the target vehicle in multiple consecutive frames.

[0037] The warning and reminder unit is used to issue a warning and reminder to vehicles traveling on the road based on the current position of the target vehicle when the target vehicle's driving intention is to leave the side lane.

[0038] Thirdly, embodiments of this application also provide an electronic device, including:

[0039] Processor; and

[0040] A memory configured to store computer-executable instructions, which, when executed, cause the processor to perform a warning method.

[0041] Fourthly, embodiments of this application also provide a computer-readable storage medium that stores one or more programs, which, when executed by an electronic device including multiple applications, cause the electronic device to perform a warning method.

[0042] The above-mentioned technical solutions adopted in this application embodiment can achieve the following beneficial effects: This application embodiment first determines the target vehicle located in the side lane based on the vehicle tracking result of the current frame; then, based on the vehicle tracking results of the target vehicle for multiple consecutive frames, it obtains whether the target vehicle's driving intention is to leave the side lane. When the target vehicle's driving intention is to leave the side lane, a warning is issued to vehicles on the road based on the target vehicle's current position. This application embodiment can predict in advance target vehicles that intend to enter adjacent lanes, thus enabling early warning to vehicles approaching the target vehicle. This allows vehicles to know in advance that the target vehicle may change lanes at the next moment without relying on the target vehicle's turn signal status, thereby having sufficient time to adjust their driving strategies and improving driving safety. Attached Figure Description

[0043] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0044] Figure 1 This is a flowchart illustrating an early warning method in an embodiment of this application;

[0045] Figure 2 This is a schematic diagram of the structure of an early warning device shown in an embodiment of this application;

[0046] Figure 3 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0048] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0049] This application provides an early warning method, such as... Figure 1The diagram shows a flowchart of an early warning method according to an embodiment of this application. The early warning method may include the following steps S110 to S130:

[0050] Step S110: Obtain the vehicle tracking result of the current frame on the road, and obtain the target vehicle located on the side lane of the road based on the vehicle tracking result of the current frame.

[0051] The warning method of this application embodiment can be executed by roadside devices (such as edge computing devices, roadside cameras) or hardware or software combined with cloud devices. The warning method of this application embodiment requires first acquiring vehicle tracking results on the road. These vehicle tracking results are mainly obtained based on target tracking and matching algorithms. For example, the tracking status of the vehicle and its position and speed data in each frame can be obtained. Based on the vehicle's position data, the vehicle's driving lane can be determined, thereby identifying the target vehicle located in the side lane. Here, the side lane includes the rightmost lane and the leftmost lane.

[0052] Because roadside cameras have the advantages of ultra-long line-of-sight and high detection accuracy, embodiments of this application may optionally obtain target vehicles on the side lanes based on road images from roadside cameras. Of course, those skilled in the art can also obtain target vehicles by combining data from other sensors.

[0053] Step S120: Determine whether the driving intention of the target vehicle is to leave the side lane based on the vehicle tracking results of the target vehicle in multiple consecutive frames.

[0054] Research has found that before a target vehicle in a side lane suddenly changes lanes and enters an adjacent lane, it generally needs to adjust its direction multiple times. During this process, the target vehicle's heading angle, speed, displacement, and other driving indicators exhibit objective patterns of change. For example, the heading angle of a target vehicle in the rightmost lane tends to gradually turn into the adjacent lane of the rightmost lane; the average speed during this period is relatively low, and the instantaneous speed is zero at some point in the middle; the longitudinal movement distance of the target vehicle during this period is not too large.

[0055] Based on this, this application embodiment predicts the driving intention of a target vehicle in the side lane based on the continuous tracking results of the target vehicle across multiple consecutive frames. When the target vehicle's driving intention is to leave the side lane, the target vehicle may pose a threat to vehicles behind it, and a warning needs to be issued to these vehicles. Here, "multiple consecutive frames" refers to the current frame and multiple historical frames preceding it. The specific number of frames can be set empirically; for example, the vehicle tracking results of the target vehicle across multiple consecutive frames can be obtained based on the vehicle tracking results of multiple detection frames within the current 30 seconds.

[0056] Step S130: When the target vehicle's driving intention is to leave the side lane, a warning reminder is given to vehicles traveling on the road based on the target vehicle's current position.

[0057] The roadside equipment in this embodiment can generate a warning location based on the current location of the target vehicle, generate a warning reminder based on the warning location and broadcast it, or send the warning reminder to vehicles traveling near the warning location, so that vehicles traveling on the road have enough time to adjust their driving strategies based on the broadcast message or the sent message, such as slowing down or detouring, to avoid traffic accidents.

[0058] like Figure 1 As can be seen from the warning method shown, the embodiments of this application can predict in advance the target vehicle that intends to enter the adjacent lane. This allows for early warning of vehicles approaching the target vehicle, enabling vehicles to know in advance that the target vehicle may change lanes at the next moment without relying on the target vehicle's turn signal status. This gives them enough time to adjust their driving strategy and improves driving safety.

[0059] In some embodiments of this application, the step S110 above, which involves obtaining the vehicle tracking result of the current frame on the road and obtaining the target vehicle located in the side lane of the road based on the vehicle tracking result of the current frame, includes:

[0060] Based on the vehicle tracking results of the current frame, obtain the current frame position of each vehicle;

[0061] The location data of the upper lane of the road are determined based on the high-precision map;

[0062] Based on the position data of the side lanes on the road and the current frame position of each vehicle, the target vehicle located in the side lane is obtained.

[0063] For example, in this embodiment of the application, the drivable area on the road can be determined from the high-precision map first; then, according to the calibration relationship between the camera and the high-precision map, the sub-image corresponding to the drivable area is segmented from the roadside image, and target detection and target tracking are performed on the segmented sub-image to obtain the vehicle tracking result of the current frame; then, the rightmost lane and the leftmost lane are determined from the high-precision map, and the target vehicles located in the rightmost lane and the leftmost lane are determined according to the calibration relationship between the camera and the high-precision map.

[0064] The calibration relationship between the camera and the high-precision map here refers to the fact that the true value data used in the camera calibration process is obtained from the high-precision map. The calibration relationship calculated in this way is the calibration relationship between the camera and the high-precision map.

[0065] In addition, in other embodiments of this application, the position data of the rightmost lane and the leftmost lane can be determined first based on the high-precision map. Then, according to the calibration relationship between the camera and the high-precision map, the sub-images corresponding to the rightmost lane and the leftmost lane can be segmented from the roadside image. Finally, target detection and target tracking are performed on the sub-images to obtain the target vehicles located in the rightmost lane and the leftmost lane.

[0066] In some embodiments of this application, before performing step S120, that is, before determining whether the driving intention of the target vehicle is to leave the side lane based on the vehicle tracking results of the target vehicle over multiple consecutive frames, the method further includes:

[0067] Determine whether the target vehicle meets the driving intention prediction conditions based on the vehicle tracking results of the current frame of the target vehicle;

[0068] When the target vehicle meets the driving intention prediction conditions, the driving intention of the target vehicle is determined to be to leave the side lane based on the vehicle tracking results of the target vehicle for multiple consecutive frames.

[0069] Based on this embodiment, target vehicles on the side lanes can be screened, and only target vehicles that meet the driving intention prediction conditions can have their driving intentions predicted, thus avoiding incorrect warnings caused by using the positions of normally driving vehicles on the side lanes as warning positions.

[0070] In some possible implementations of this embodiment, determining whether the target vehicle meets the driving intention prediction condition based on the vehicle tracking result of the current frame of the target vehicle includes:

[0071] Based on the vehicle tracking results of the target vehicle in the current frame, determine whether the target vehicle's current frame driving state is a preset state. The preset state includes at least a low-speed state and a stationary state. If the target vehicle's current frame driving state is a preset state, determine that the target vehicle meets the driving intention prediction conditions; otherwise, determine that the target vehicle does not meet the driving intention prediction conditions.

[0072] Low-speed state refers to a state different from normal driving speed. For example, before a target vehicle in the rightmost lane enters the adjacent lane, it will adjust its direction. The speed during this adjustment process is generally low, and at certain moments or instantaneous speeds may be zero. Target vehicles can be filtered based on the driving state of the current frame. Of course, in other possible implementations, target vehicles can also be filtered based on the rate of change of heading angle. For example, if the rate of change of heading angle in the current frame is greater than a preset rate, the target vehicle is determined to meet the driving intention prediction condition.

[0073] In some other possible implementations of this embodiment, before determining whether the current frame driving state of the target vehicle is a preset state based on the vehicle tracking result of the target vehicle in the current frame, the method further includes:

[0074] The turn signal status of the target vehicle is obtained, including the on and off states. When the turn signal status of the target vehicle is off, the driving state of the target vehicle in the current frame is determined based on the vehicle tracking results of the target vehicle in the current frame to determine whether the driving state of the target vehicle in the current frame is a preset state.

[0075] This implementation scheme can obtain the turn signal status based on vehicle tracking results. Driving intention prediction is only performed on the target vehicle when the turn signal status of the current vehicle in the current frame and previous historical frames is off. This further filters out target vehicles with their turn signals on, indicating an impending lane change, and only predicts the driving intention of target vehicles without their turn signals on, saving computational resources for roadside equipment.

[0076] The statement that the turn signal status of the vehicle in the current frame and previous historical frames is off can be understood as follows: the turn signal status of the vehicle in the current frame t0 and previous historical frames t0-1, t0-2, ... t0-M is off, where M is a positive integer greater than 2.

[0077] In some embodiments of this application, step S120 above, which determines whether the target vehicle's driving intention is to leave the side lane based on the vehicle tracking results of multiple consecutive frames of the target vehicle, includes:

[0078] Based on the vehicle tracking results of the target vehicle over multiple consecutive frames, the trend of the heading angle change and the average speed of the target vehicle over multiple consecutive frames are obtained.

[0079] Based on the trend of the target vehicle's heading angle change and the average speed over multiple consecutive frames, determine whether the target vehicle's driving intention is to leave the side lane.

[0080] Specifically, based on the trend of the target vehicle's heading angle change and the average speed over multiple frames, it is determined whether the target vehicle's driving intention is to leave the side lane.

[0081] If the heading angle change trend is a deviation from the driving direction of the side lane, and the average speed of multiple consecutive frames is less than a preset speed threshold, then it is determined that the driving intention of the target vehicle is to leave the side lane; otherwise, it is determined that the driving intention of the target vehicle is not to leave the side lane.

[0082] It should be noted that the preset speed threshold refers to the critical value between normal driving and low-speed states. When the driving speed is less than the speed threshold, the vehicle is in a low-speed state; when the driving speed is greater than the speed threshold, the vehicle is in a normal driving state. Those skilled in the art can set the speed threshold based on experience. The trend of heading angle change, which is the driving direction deviating from the side lane, means that the heading angle deviates towards the adjacent lane of the side lane, rather than deviating in a direction away from the adjacent lane. Thus, in some optional embodiments, the direction of heading change can be further calculated when calculating the trend of heading angle change. The calculation method for the trend of heading angle change can be based on curve fitting methods or other existing technologies, and this application does not specifically limit it in this way.

[0083] In other words, if, within a given time period, the heading angle changes in a direction deviating from the side lane's driving direction, and the target vehicle's average speed is less than a preset speed threshold, then it is predicted that the target vehicle may suddenly change lanes in the next moment. If, within a given time period, the heading angle does not change in a direction deviating from the side lane's driving direction, it indicates that the target vehicle has no intention of entering the adjacent lane; or if the target vehicle's average speed is greater than the preset speed threshold, it also indicates that the target vehicle is in a normal driving state within the given time period, and vehicles behind have sufficient time to adjust their driving strategies. In this case, there is no need to issue a warning to vehicles in a normal driving state in the side lane.

[0084] This application illustrates an implementation scheme for predicting the driving intention of a target vehicle based on the trend of heading angle change and the average speed over multiple consecutive frames. Research has found that for a target vehicle suddenly changing lanes on the side lane, the longitudinal movement distance of the target vehicle is generally not too large in the period prior to the lane change. Therefore, the longitudinal movement distance of the target vehicle over multiple consecutive frames can also provide a reference for predicting the target vehicle's driving intention.

[0085] Based on this, in other embodiments of this application, the driving intention prediction result of the target vehicle can also be obtained by combining the longitudinal movement distance of multiple consecutive frames. Specifically:

[0086] When obtaining the heading angle change trend and average speed of the target vehicle in multiple consecutive frames based on the vehicle tracking results of the target vehicle, the longitudinal movement distance in multiple consecutive frames is also obtained.

[0087] At this point, when it is determined that the trend of the heading angle change is a deviation from the driving direction of the side lane, and the average speed of multiple consecutive frames is less than a preset speed threshold, it is further determined whether the longitudinal movement distance of multiple consecutive frames is less than a preset longitudinal movement distance threshold. If it is less than the preset longitudinal movement distance threshold, it is determined that the driving intention of the target vehicle is to leave the side lane; otherwise, it is determined that the driving intention of the target vehicle is not to leave the side lane.

[0088] In some embodiments of this application, in step S130 above, when the target vehicle's driving intention is to leave the side lane, a warning reminder is given to vehicles traveling on the road based on the target vehicle's current position, including:

[0089] The warning location and warning lane are determined based on the current location of the target vehicle. The warning lane includes the side lane and the adjacent lane adjacent to the side lane.

[0090] The warning is issued to vehicles traveling in the warning lane based on the warning location.

[0091] For example, assuming the warning location is in the rightmost lane, then the rightmost lane and its adjacent lane can be designated as warning lanes. A warning message corresponding to the warning location can then be generated and sent to vehicles in the warning lane. This avoids sending warning messages to unrelated vehicles, preventing disturbance, and also saves communication resources for roadside equipment.

[0092] In some possible implementations of this embodiment, determining the warning location and warning lane based on the current location of the target vehicle includes:

[0093] Determine if there are any other target vehicles whose intention is to leave the said side lane;

[0094] When there are other target vehicles whose driving intention is to leave the side lane, obtain the relative distance between the target vehicles;

[0095] The warning location is determined based on the relative distance between the target vehicles and the driving direction of the side lane.

[0096] For example, if there are three target vehicles, A, B, and C, in the rightmost lane from left to right, and the relative distance between target vehicle A and target vehicle C is less than a preset distance, such as less than 10 meters, the positions of these three target vehicles can be merged into one warning position, that is, the current position of target vehicle A can be used as the warning position. This can avoid frequently issuing warnings to vehicles.

[0097] In some other possible implementations of this embodiment, providing a warning reminder to vehicles traveling in the warning lane based on the warning location includes:

[0098] The vehicles traveling in the warning lane are obtained based on the vehicle tracking results of the current frame;

[0099] Whether the vehicle meets the warning conditions is determined based on the change in distance between the vehicle and the warning location and the speed of the vehicle.

[0100] When the vehicle meets the warning conditions, a warning reminder is issued to the vehicle.

[0101] The determination of whether a vehicle meets the warning conditions is based on the change in distance between the vehicle and the warning location and the vehicle's speed. Specifically, when the relative distance between the vehicle and the warning location is less than the preset safe distance (e.g., less than 20 meters) and the vehicle's speed is greater than the preset safe speed (e.g., greater than 30 km / h), the vehicle is determined to meet the warning conditions, and a warning reminder is issued to the vehicle.

[0102] Thus, this solution can further filter vehicles in the warning lane, only issuing warnings to fast-moving vehicles approaching the warning location, thus avoiding invalid warnings.

[0103] This application embodiment also provides an early warning device 200, such as Figure 2 As shown, a schematic diagram of a warning device according to an embodiment of this application is provided. The warning device 200 includes: a target vehicle acquisition unit 210, a driving intention prediction unit 220, and a warning reminder unit 230, wherein:

[0104] The target vehicle acquisition unit 210 is used to acquire the vehicle tracking result of the current frame on the road, and acquire the target vehicle located on the side lane of the road based on the vehicle tracking result of the current frame.

[0105] The driving intention prediction unit 220 is used to determine whether the driving intention of the target vehicle is to leave the side lane based on the vehicle tracking results of the target vehicle in multiple consecutive frames.

[0106] The warning reminder unit 230 is used to provide a warning reminder to vehicles traveling on the road based on the current position of the target vehicle when the target vehicle's driving intention is to leave the side lane.

[0107] In some embodiments of this application, the driving intention prediction unit 220 is further configured to determine whether the target vehicle meets the driving intention prediction conditions based on the vehicle tracking results of the current frame of the target vehicle before determining whether the driving intention of the target vehicle is to leave the side lane based on the vehicle tracking results of the target vehicle for multiple consecutive frames; when the target vehicle meets the driving intention prediction conditions, the driving intention of the target vehicle is to leave the side lane based on the vehicle tracking results of the target vehicle for multiple consecutive frames.

[0108] In some embodiments of this application, the driving intention prediction unit 220 is specifically used to determine whether the driving state of the target vehicle in the current frame is a preset state based on the vehicle tracking result of the target vehicle in the current frame. The preset state includes at least a low-speed state and a stationary state. When the driving state of the target vehicle in the current frame is a preset state, it is determined that the target vehicle meets the driving intention prediction conditions; otherwise, it is determined that the target vehicle does not meet the driving intention prediction conditions.

[0109] In some embodiments of this application, the driving intention prediction unit 220 is specifically used to obtain the heading angle change trend and the average speed of the target vehicle for multiple consecutive frames based on the vehicle tracking results of the target vehicle; and to determine whether the driving intention of the target vehicle is to leave the side lane based on the heading angle change trend and the average speed of the target vehicle for multiple consecutive frames.

[0110] In some embodiments of this application, the driving intention prediction unit 220 is specifically used to determine that the driving intention of the target vehicle is to leave the side lane if the trend of the heading angle change is a deviation from the driving direction of the side lane and the average speed of multiple consecutive frames is less than a preset speed threshold; otherwise, it is determined that the driving intention of the target vehicle is not to leave the side lane.

[0111] In some embodiments of this application, the warning reminder unit 230 is specifically used to determine the warning location and warning lane based on the current location of the target vehicle, wherein the warning lane includes the side lane and the adjacent lane adjacent to the side lane; and to provide warning reminders to vehicles traveling in the warning lane based on the warning location.

[0112] In some embodiments of this application, the warning reminder unit 230 is specifically used to determine whether there are other target vehicles with the intention of leaving the side lane; when there are other target vehicles with the intention of leaving the side lane, the relative distance between the target vehicles is obtained; and the warning location is determined based on the relative distance between the target vehicles and the driving direction of the side lane.

[0113] In some embodiments of this application, the warning reminder unit 230 is specifically used to obtain the vehicles traveling in the warning lane based on the vehicle tracking results of the current frame; determine whether the vehicles meet the warning conditions based on the distance changes of the vehicles relative to the warning position and the speed of the vehicles; and provide a warning reminder to the vehicles when the vehicles meet the warning conditions.

[0114] It is understood that the aforementioned warning device can realize each step of the warning method in the foregoing embodiments. The relevant explanations of the warning method are applicable to the warning device and will not be repeated here.

[0115] Figure 3 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Please refer to it. Figure 3 At the hardware level, the electronic device includes a processor and memory, and optionally also includes an internal bus and a network interface. The memory may include main memory, such as high-speed random-access memory (RAM), or non-volatile memory, such as at least one disk drive. Of course, the electronic device may also include other hardware required for other business operations.

[0116] The processor, network interface, and memory can be interconnected via an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 3 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0117] Memory is used to store programs. Specifically, programs may include program code, which includes computer operation instructions. Memory may include main memory and non-volatile memory, and provides instructions and data to the processor.

[0118] The processor reads the corresponding computer program from non-volatile memory into main memory and then runs it, forming an early warning system at the logical level. The processor executes the program stored in memory and specifically performs the following operations:

[0119] Obtain the vehicle tracking results of the current frame on the road, and obtain the target vehicle located in the side lane of the road based on the vehicle tracking results of the current frame;

[0120] Based on the vehicle tracking results of multiple consecutive frames of the target vehicle, determine whether the driving intention of the target vehicle is to leave the side lane;

[0121] When the target vehicle intends to leave the side lane, a warning is issued to other vehicles on the road based on the target vehicle's current location.

[0122] The above is as stated in this application. Figure 1 The method executed by the early warning device disclosed in the illustrated embodiment can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory, and the processor reads the information from the memory and, in conjunction with its hardware, completes the steps of the aforementioned early warning method.

[0123] The electronic device can also perform Figure 1 The method of execution of the early warning device, and the realization of the early warning device in Figure 1 The functions of the embodiments shown are not described again in this application.

[0124] This application also proposes a computer-readable storage medium that stores one or more programs, the programs including instructions that, when executed by an electronic device including multiple applications, enable the electronic device to perform... Figure 1 The method executed by the warning device in the illustrated embodiment is specifically used to perform the following operations:

[0125] Obtain the vehicle tracking results of the current frame on the road, and obtain the target vehicle located in the side lane of the road based on the vehicle tracking results of the current frame;

[0126] Based on the vehicle tracking results of multiple consecutive frames of the target vehicle, determine whether the driving intention of the target vehicle is to leave the side lane;

[0127] When the target vehicle intends to leave the side lane, a warning is issued to other vehicles on the road based on the target vehicle's current location.

[0128] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0129] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0130] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0131] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0132] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0133] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0134] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0135] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0136] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0137] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. An early warning method, characterized in that, The method includes: Obtain the vehicle tracking results of the current frame on the road, and obtain the target vehicle located in the side lane of the road based on the vehicle tracking results of the current frame; Based on the vehicle tracking results of multiple consecutive frames of the target vehicle, determine whether the driving intention of the target vehicle is to leave the side lane; When the target vehicle intends to leave the side lane, a warning is issued to vehicles on the road based on the target vehicle's current location. The step of determining whether the driving intention of the target vehicle is to leave the side lane based on the vehicle tracking results of the target vehicle in multiple consecutive frames includes: Based on the vehicle tracking results of the target vehicle in multiple consecutive frames, the trend of the heading angle change of the target vehicle, the average speed of the target vehicle in multiple consecutive frames, and the longitudinal movement distance of the target vehicle in multiple consecutive frames are obtained. Based on the trend of the target vehicle's heading angle change, the average speed over multiple frames, and the longitudinal movement distance over multiple frames, determine whether the target vehicle's driving intention is to leave the side lane. The step of determining whether the target vehicle's driving intention is to leave the side lane based on the target vehicle's heading angle change trend, average speed over multiple frames, and longitudinal movement distance over multiple frames includes: If the trend of the heading angle change is a deviation from the driving direction of the side lane, and the average speed of multiple consecutive frames is less than a preset speed threshold, and the longitudinal movement distance of multiple consecutive frames is less than a preset longitudinal movement distance threshold, then it is determined that the driving intention of the target vehicle is to leave the side lane. Otherwise, it is determined that the target vehicle's driving intention is not to leave the side lane.

2. The method as described in claim 1, characterized in that, Before determining whether the driving intention of the target vehicle is to leave the side lane based on the vehicle tracking results of multiple consecutive frames of the target vehicle, the method further includes: Determine whether the target vehicle meets the driving intention prediction conditions based on the vehicle tracking results of the current frame of the target vehicle; When the target vehicle meets the driving intention prediction conditions, the driving intention of the target vehicle is determined to be to leave the side lane based on the vehicle tracking results of the target vehicle for multiple consecutive frames.

3. The method as described in claim 2, characterized in that, The step of determining whether the target vehicle meets the driving intention prediction conditions based on the vehicle tracking results of the current frame includes: Based on the vehicle tracking results of the target vehicle in the current frame, determine whether the current frame driving state of the target vehicle is a preset state, wherein the preset state includes at least a low speed state and a stationary state. When the current frame driving state of the target vehicle is a preset state, it is determined that the target vehicle meets the driving intention prediction condition. Otherwise, it is determined that the target vehicle does not meet the driving intention prediction conditions.

4. The method as described in claim 1, characterized in that, When the target vehicle's driving intention is to leave the side lane, a warning is issued to vehicles on the road based on the target vehicle's current position, including: The warning location and warning lane are determined based on the current location of the target vehicle. The warning lane includes the side lane and the adjacent lane adjacent to the side lane. The warning is issued to vehicles traveling in the warning lane based on the warning location.

5. The method as described in claim 4, characterized in that, Determining the warning location and warning lane based on the current location of the target vehicle includes: Determine if there are any other target vehicles whose intention is to leave the said side lane; When there are other target vehicles whose driving intention is to leave the side lane, obtain the relative distance between the target vehicles; The warning location is determined based on the relative distance between the target vehicles and the driving direction of the side lane.

6. The method as described in claim 4, characterized in that, The step of issuing warnings to vehicles traveling in the warning lane based on the warning location includes: The vehicles traveling in the warning lane are obtained based on the vehicle tracking results of the current frame; Whether the vehicle meets the warning conditions is determined based on the change in distance between the vehicle and the warning location and the speed of the vehicle. When the vehicle meets the warning conditions, a warning reminder is issued to the vehicle.

7. An early warning device, characterized in that, The device includes: The target vehicle acquisition unit is used to acquire the vehicle tracking results of the current frame on the road, and acquire the target vehicle located on the side lane of the road based on the vehicle tracking results of the current frame. The driving intention prediction unit is used to determine whether the driving intention of the target vehicle is to leave the side lane based on the vehicle tracking results of the target vehicle in multiple consecutive frames. The warning and reminder unit is used to provide warnings and reminders to vehicles traveling on the road based on the current position of the target vehicle when the target vehicle's driving intention is to leave the side lane; The driving intention prediction unit is specifically used for: Based on the vehicle tracking results of the target vehicle in multiple consecutive frames, the trend of the heading angle change of the target vehicle, the average speed of the target vehicle in multiple consecutive frames, and the longitudinal movement distance of the target vehicle in multiple consecutive frames are obtained. Based on the trend of the target vehicle's heading angle change, the average speed over multiple frames, and the longitudinal movement distance over multiple frames, determine whether the target vehicle's driving intention is to leave the side lane. The step of determining whether the target vehicle's driving intention is to leave the side lane based on the target vehicle's heading angle change trend, average speed over multiple frames, and longitudinal movement distance over multiple frames includes: If the trend of the heading angle change is a deviation from the driving direction of the side lane, and the average speed of multiple consecutive frames is less than a preset speed threshold, and the longitudinal movement distance of multiple consecutive frames is less than a preset longitudinal movement distance threshold, then it is determined that the driving intention of the target vehicle is to leave the side lane. Otherwise, it is determined that the target vehicle's driving intention is not to leave the side lane.

8. An electronic device, characterized in that, include: processor; as well as A memory configured to store computer-executable instructions, which, when executed, cause the processor to perform the warning method as described in any one of claims 1 to 6.

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