A warning sign control method and device, vehicle and storage medium

Abstract

The application provides a warning sign control method and device, a vehicle and a storage medium. The method is applied to a vehicle including a warning sign. The method comprises the following steps: when it is detected that the vehicle is in a stopping state, a first image is acquired, the first image indicating surrounding environment information of the vehicle; when it is determined that the surrounding environment of the vehicle meets a preset condition based on the first image, the warning sign is controlled to fall to the ground and move to a target position. The preset condition can include that the vehicle is in a fault state and / or there is another fault vehicle within a preset distance of the vehicle. The method can intelligently place the warning sign when it is determined that the vehicle stops moving due to a fault or a traffic accident, reduces user operation and improves user experience.

Description

Technical Field

[0001] This application relates to the field of traffic technology, and more specifically, to a warning sign control method, device, vehicle, and storage medium in the field of traffic technology. Background Technology

[0002] According to relevant Chinese regulations, when a vehicle is involved in a traffic accident or breaks down on the road, a warning triangle must be placed a certain distance behind the vehicle to warn oncoming traffic. Currently, users must manually place the warning triangle a certain distance behind the vehicle. However, in practice, many users are unwilling to get out of their cars and walk to place the warning triangle. Moreover, traffic accidents may result in injuries or fatalities, making it impossible to place the warning triangle. Furthermore, manually placing the warning triangle is extremely dangerous when a traffic accident occurs at night or on a highway. Therefore, there is an urgent need for an intelligent method for placing warning triangles. Summary of the Invention

[0003] This application provides a warning sign control method, device, vehicle, and storage medium, which enables intelligent placement of warning signs.

[0004] In a first aspect, a warning sign control method is provided, which is applied to a vehicle including a warning sign. The method includes: when the vehicle is detected to be in a stopped state, acquiring a first image, the first image indicating the surrounding environment information of the vehicle; and when it is determined based on the first image that the surrounding environment of the vehicle meets preset conditions, controlling the warning sign to land and move to a target location, the preset conditions including the vehicle being in a fault state, and / or other faulty vehicles existing within a preset distance of the vehicle.

[0005] The present invention describes a method for controlling a warning sign to land and move to a target location when a vehicle stops due to a malfunction or traffic accident. This embodiment of the application intelligently places the warning sign, reducing user operations and improving the user experience.

[0006] In conjunction with the first aspect, in some possible implementations, the method further includes: acquiring a second image, the second image indicating the surrounding environment information of the warning sign; and determining the target location based on the second image.

[0007] Combining the first aspect and the above implementation methods, in some possible implementation methods, determining the target location based on the second image includes:

[0008] The road type where the vehicle is located and the distance between the vehicle and the target object are determined based on the second image. The target object is the vehicle that is in the same lane as the vehicle and is the closest to the vehicle.

[0009] The movement range of the warning sign is determined based on the road type;

[0010] The target location is determined based on the movement range and the distance between the vehicle and the target object.

[0011] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the vehicle includes a warning sign storage box, which is installed on the chassis of the vehicle in a preset installation manner;

[0012] Control the landing of warning signs, including:

[0013] Upon receiving the landing instruction, the warning sign storage box is opened and the warning sign is placed on the ground.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the vehicle includes a first camera and a second camera. The first camera is deployed on the windshield of the vehicle, and the second camera is deployed on a warning sign. The first camera is used to capture a first image, and the second camera is used to capture a second image.

[0015] In combination with the first aspect and the above implementation methods, in some possible implementations, the vehicle is equipped with a display panel, and the method further includes:

[0016] During the process of the warning sign being placed on the ground and moved, the display panel shows a prompt message to remind the user of the process.

[0017] In combination with the first aspect and the above implementation methods, in some possible implementations, the method further includes:

[0018] When it is determined from the first image that there are other vehicles behind a vehicle in the same lane, and the distance between the vehicle and the other vehicle is less than a reference distance, it is determined that the warning sign was placed by another vehicle.

[0019] In summary, the embodiments of this application transform the manual placement of warning signs into intelligent placement, reducing user operations and avoiding some dangers caused by neglecting to place warning signs, as well as the dangers of manually placing warning signs on highways.

[0020] Secondly, a device for controlling warning signs is provided, the device comprising:

[0021] The first acquisition module is used to acquire a first image when the vehicle is detected to be in a stopped state. The first image indicates the surrounding environment information of the vehicle.

[0022] The control module is used to control the warning sign to land and move to the target location when the surrounding environment of the vehicle is determined to meet preset conditions based on the first image. The preset conditions include the vehicle being in a faulty state and / or other faulty vehicles existing within a preset distance of the vehicle.

[0023] In conjunction with the second aspect, in some possible implementations, the device further includes:

[0024] The second acquisition module is used to acquire a second image, which indicates the surrounding environment information of the warning sign;

[0025] The first determining module is used to determine the target location based on the second image.

[0026] Combining the second aspect and the above implementation methods, in some possible implementation methods, the determining module is also used for:

[0027] The road type where the vehicle is located and the distance between the vehicle and the target object are determined based on the second image. The target object is the vehicle that is in the same lane as the vehicle and is the closest to the vehicle.

[0028] The movement range of the warning sign is determined based on the road type;

[0029] The target location is determined based on the movement range and the distance between the vehicle and the target object.

[0030] In conjunction with the second aspect and the above implementation methods, in some possible implementations, the control module is also used for:

[0031] Upon receiving the landing instruction, the warning sign storage box is opened and the warning sign is placed on the ground.

[0032] In conjunction with the second aspect and the above-described implementations, in some possible implementations, the device further includes:

[0033] The display module is used to display prompts during the landing and movement of the warning sign, which are used to inform the user of the landing and movement process of the warning sign.

[0034] In conjunction with the second aspect and the above-described implementations, in some possible implementations, the device further includes:

[0035] The second determining module is used to determine that the warning sign was placed by another vehicle when it is determined from the first image that there are other vehicles behind the vehicle in the same lane and the distance between the vehicle and the other vehicle is less than a reference distance.

[0036] Thirdly, a vehicle is provided, including a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, causing the vehicle to perform the methods described in the first aspect or any possible implementation thereof.

[0037] Fourthly, a computer program product is provided, comprising: computer program code, which, when run on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof.

[0038] Fifthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of a system architecture provided in an embodiment of this application;

[0040] Figure 2 This is a schematic flowchart of a warning sign control method provided in an embodiment of this application;

[0041] Figure 3 This is a flowchart of a warning sign control method provided in an embodiment of this application;

[0042] Figure 4 This is a flowchart of another warning sign control method provided in the embodiments of this application;

[0043] Figure 5 This is a flowchart illustrating the movement of a warning sign upon landing, as provided in an embodiment of this application.

[0044] Figure 6 This is a schematic diagram of the structure of a warning sign control device provided in an embodiment of this application;

[0045] Figure 7 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0046] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0047] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0048] Before providing a detailed explanation of the warning sign control method provided in the embodiments of this application, the application scenarios and system architecture provided in the embodiments of this application will be introduced first.

[0049] Normally, when a vehicle is involved in a traffic accident or breaks down on the road, the user manually places a warning triangle behind the vehicle to alert other vehicles. However, many users are unwilling to get out of their cars to place the warning triangle, and manually placing it on highways or at night can be dangerous, and there may be situations where it is inconvenient or impossible for the user to get out of the vehicle. Furthermore, many users are unwilling to walk extra distance when manually placing the warning triangle, resulting in the triangle being placed too close to the vehicle and thus having a poor warning effect.

[0050] To address the aforementioned issues, this application provides a warning sign control method that can intelligently place warning signs when a vehicle is involved in a traffic accident or malfunction, accurately determine the placement location, and improve the warning effect.

[0051] Figure 1 This is a schematic diagram of a system architecture provided in an embodiment of this application.

[0052] like Figure 1 As shown, the system architecture includes a vehicle 100, a camera 101, a controller 102, and a warning sign 103. The warning sign 103 can be installed on the chassis of the vehicle 100 and is movable.

[0053] The camera 101 is used to capture a first image and send it to the controller 102. The first image indicates the surrounding environment information of the vehicle 100. In this scenario, the camera 101 can be deployed on the windshield of the vehicle 100, such as the front windshield or the rear windshield. This embodiment of the application does not limit this.

[0054] The controller 102 is used to acquire a first image when it detects that the vehicle 100 is in a stopped state, and to control the warning sign 103 to land and move to the target position when it determines that the surrounding environment of the vehicle 100 meets preset conditions based on the first image. The implementation process of the controller 102 controlling the warning sign 103 to land and move to the target position when it determines that the surrounding environment of the vehicle 100 meets the preset conditions will be described in detail later, and will not be repeated here.

[0055] Optionally, after acquiring the first image, the camera 101 can also perform image processing on the first image and send the image processing result to the controller 102. In this way, the controller 102 can directly match the image processing result with preset conditions, and then, when it is determined that the surrounding environment of the vehicle 100 meets the preset conditions, control the warning sign 103 to land and move to the target location.

[0056] Optionally, camera 101 can also acquire a second image and send it to controller 102. The second image indicates the surrounding environment information of warning sign 103. In this scenario, camera 101 can be deployed on warning sign 103.

[0057] In this scenario, the controller 103 is used to acquire the second image and determine the target location of the warning sign 103 based on the second image.

[0058] Optionally, after acquiring the second image, the camera 101 can also perform image processing on the second image to obtain the target location and send the target location to the controller 102. In this way, the controller 102 can directly obtain the target location of the warning sign 103.

[0059] Optionally, the system architecture may also include two cameras 101. One camera 101 is deployed on the windshield of the vehicle 100 to capture a first image. The other camera 101 is deployed on the warning sign 103 to capture a second image.

[0060] In this embodiment, vehicle 100 is a means of transportation driven by an engine; the type of vehicle 100 is not limited in this application. Camera 101 is an electronic device with imaging capabilities. This camera can be a monocular camera or a multi-view camera; this application does not limit the type. Controller 102 can be a microcontroller unit (MCU) or other controller, a server, a server cluster consisting of multiple servers, or a cloud computing service center. Warning sign 103 is a movable warning sign.

[0061] The following is a detailed explanation of a warning sign control method provided in the embodiments of this application.

[0062] Figure 2 This is a schematic flowchart illustrating a warning sign control method provided in an embodiment of this application. Figure 2 As shown, the method 200 includes:

[0063] Step 201: When the vehicle is detected to be in a stopped state, a first image is acquired, which indicates the surrounding environment information of the vehicle.

[0064] Step 202: When it is determined from the first image that the surrounding environment of the vehicle meets the preset conditions, control the warning sign to land and move to the target location. The preset conditions may include the vehicle being in a faulty state and / or other faulty vehicles existing within a preset distance of the vehicle.

[0065] When a vehicle is stationary, it could be due to the user stopping the vehicle for other reasons, a vehicle malfunction, or a traffic accident. Therefore, when a vehicle is stationary, it is necessary to further determine the reason for its cessation of movement. Only if it is determined that the vehicle is stationary due to a traffic accident or a malfunction can this embodiment control the warning sign to land and move.

[0066] Therefore, in this embodiment of the application, when the vehicle is stationary, steps 201 and 202 can first determine the reason for the vehicle's stationary state, i.e., whether the vehicle has been involved in a traffic accident or malfunction. Only then can the warning sign be intelligently controlled to land and move to the target location.

[0067] The first image can be captured by a first camera deployed on the windshield of the vehicle. The first camera can be deployed on the front windshield or the rear windshield of the vehicle, and this application embodiment does not limit this.

[0068] The first camera is used to capture a first image, which indicates information about the vehicle's surrounding environment. For example, the surrounding environment information may include lane markings, other vehicles in the vicinity, pedestrians, and other information.

[0069] After the first camera captures the first image, it can send the first image to the controller, which will then process the image to determine whether the vehicle's surrounding environment meets the preset conditions, and then control the warning sign to land and move to the target location.

[0070] Optionally, the first camera can also directly process the first image to obtain the image processing result, and then send the image processing result to the controller for subsequent operations. The implementation process of image processing of the first image is described in detail in step 202.

[0071] In some embodiments, the preset conditions may include the vehicle being in a faulty state, and / or other faulty vehicles existing within a preset distance of the vehicle. The preset distance is the necessary interval between vehicles to maintain normal driving without collision. This preset distance can be set in advance, and this application embodiment does not limit it.

[0072] Optionally, the faulty vehicle could be either a vehicle with damage to its front or rear. Based on this, if the first camera is positioned on the vehicle's windshield, essentially capturing the front of the vehicle, the first image might show a vehicle with rear-end damage, in which case the faulty vehicle is the vehicle in front. If the first camera is positioned on the vehicle's rear windshield, essentially capturing the rear of the vehicle, the first image might show a vehicle with front-end damage, in which case the faulty vehicle is the vehicle in front. These two scenarios will be described in detail below.

[0073] After acquiring the first image, image processing can be performed on the first image to determine the vehicle's current surrounding environment. If the vehicle's current surrounding environment indicates that the vehicle is stopped due to a traffic accident or malfunction, that is, the vehicle's surrounding environment meets the preset conditions, the warning sign is controlled to land and move to the target location.

[0074] In some embodiments, the first image can be processed by a first neural network model to obtain the vehicle's surrounding environment. That is, the first image is used as input to the first neural network model to obtain the vehicle's surrounding environment as output by the first neural network model. For example, the vehicle's surrounding environment may include whether other vehicles are in the lane where the vehicle is located, the distance between other vehicles and the vehicle, and whether other vehicles have malfunctions. Specifically, in the scenario where the first image is captured by a first camera deployed on the vehicle's windshield, i.e., when the current vehicle is the following vehicle, determining whether other vehicles have malfunctions can mean determining whether the rear of the other vehicles is damaged. In the scenario where the first image is captured by a first camera deployed on the vehicle's rear windshield, i.e., when the current vehicle is the preceding vehicle, determining whether other vehicles have malfunctions can mean determining whether the front of the other vehicles is damaged.

[0075] The first network model is trained in advance using a small number of samples. Therefore, it can be used to process the first image to obtain the surrounding environment of the vehicle corresponding to the first image.

[0076] The process of training the first neural network model described above can be as follows: Multiple training samples and labels corresponding to each training sample are obtained. Each training sample is an image, and the label for each training sample indicates whether other vehicles exist in the lane where the vehicle (this vehicle) is located, the distance between other vehicles and this vehicle, and whether other vehicles have malfunctions. The labels for each training sample are manually assigned. Then, the multiple training samples and their labels are input into an initialized neural network model. After learning, the initialized neural network model yields the first neural network model described above. Following this training process, the first neural network model can be used to process the first image and output the surrounding environment of the vehicle corresponding to the first image.

[0077] Optionally, the method for image processing of the first image is not limited to the method using the first neural network model described above, and other image processing methods can also be used. This application embodiment does not limit this.

[0078] When the vehicle's surrounding environment is obtained, it can be matched with preset conditions. If the vehicle's surrounding environment meets the preset conditions, it means that the vehicle is currently stopped due to a traffic accident or malfunction, and a warning sign can be placed at this time.

[0079] The following examples illustrate two scenarios: the first image is captured by a first camera deployed on the windshield of the vehicle, and the first image is captured by a first camera deployed on the rear windshield of the vehicle.

[0080] Scenario 1: The scenario where the first image is captured by a first camera deployed on the windshield of the vehicle, i.e., the current vehicle is the following vehicle.

[0081] Figure 3 This is a flowchart of a warning sign control method provided in an embodiment of this application.

[0082] For example, such as Figure 3As shown, when the vehicle is stopped, step 302 can be used to detect whether there are other vehicles within a preset distance in front of the vehicle. If the first camera determines that there are no other vehicles within the preset distance in front of the vehicle, it should be considered that the current vehicle is malfunctioning. Therefore, for safety reasons, a warning sign can be placed behind the vehicle in this case. If the first camera determines that there are other vehicles (the vehicle in front) within the preset distance in front of the vehicle, it can be considered whether the vehicle in front is malfunctioning or has been involved in a traffic accident. Therefore, step 303 can be used to detect whether the vehicle in front is malfunctioning. When it is determined that another vehicle (the vehicle in front) is malfunctioning, considering that the owner of the malfunctioning vehicle may be inconvenient to place a warning sign or forget to place a warning sign, this embodiment of the application can place a warning sign behind the vehicle to remind vehicles approaching from behind. The method of detecting whether the vehicle in front is malfunctioning can be to detect whether there is damage to the rear of the vehicle in front. If the other vehicle (the vehicle in front) is not malfunctioning, no operation is performed, and the process ends directly.

[0083] After the warning sign is brought to the ground, step 304 can be used to determine the target location of the warning sign, and then step 305 can be used to move the warning sign to the target location. The implementation process of steps 304 and 305 will be described in detail later, and will not be repeated here.

[0084] Scenario 2: The first image is captured by a first camera deployed on the rear windshield of the vehicle, i.e., the current vehicle is the vehicle in front.

[0085] Figure 4 This is a flowchart of another warning sign control method provided in the embodiments of this application.

[0086] For example, such as Figure 4 As shown, when the vehicle is stationary, step 302 can be used to detect whether there are other vehicles within a preset distance behind the vehicle. If the first camera determines that there are no other vehicles within the preset distance behind the vehicle, it should be considered that the current vehicle has malfunctioned. Therefore, for safety reasons, a warning sign can be placed behind the vehicle in this case. Then, step 303 is used to detect whether the following vehicle is malfunctioning. If the first camera determines that there are other vehicles (following vehicles) within the preset distance behind the vehicle, it can be considered whether the following vehicle has malfunctioned or has been involved in a traffic accident. The method for detecting whether the following vehicle is malfunctioning can be to detect whether there is damage to the front of the vehicle in front.

[0087] Normally, in a traffic accident where a vehicle is rear-ended, the vehicle behind should place the warning sign. Therefore, in this embodiment of the application, if it is determined that the other vehicle (the rear vehicle) is not disabled, a warning sign can be placed behind the vehicle to alert oncoming traffic. When the other vehicle (the rear vehicle) is disabled, the rear vehicle should place the warning sign.

[0088] Of course, if the vehicle behind does not place a warning sign, for safety reasons, this embodiment of the application can also place a warning sign behind the vehicle (this vehicle) in a timely manner to avoid danger.

[0089] Optionally, in the scenario where the first image is captured by a first camera deployed on the rear windshield of the vehicle, this application embodiment also provides a more specific method for determining the landing of a warning sign.

[0090] For example, when the vehicle is stationary, the surrounding environment of the vehicle is determined based on the first image, that is, whether there are other vehicles behind the vehicle. If there are other vehicles (rear vehicles), the distance between the rear vehicle and the vehicle is determined. When the distance between the rear vehicle and the vehicle is less than a reference distance, it can be determined that the vehicle was rear-ended by the rear vehicle. In this case, the rear vehicle should place a warning sign, and the vehicle does not need to place a warning sign. The reference distance can be preset. For example, the reference distance can be set to 1 meter, but this embodiment of the application does not limit it.

[0091] Additionally, when a predetermined safe distance exists between the following vehicle and the vehicle behind, it's possible to determine if the front of the following vehicle is damaged, i.e., whether the following vehicle is disabled. If the following vehicle is not disabled, the vehicle behind should place a warning sign. If the following vehicle is disabled, this indicates a rear-end collision, and the vehicle behind should place the warning sign.

[0092] After the warning sign is brought to the ground, step 304 can be used to determine the target location of the warning sign, and then step 305 can be used to move the warning sign to the target location. The implementation process of steps 304 and 305 will be described in detail later, and will not be repeated here.

[0093] In one possible implementation, the vehicle is equipped with a display panel. In this embodiment, a prompt message can also be displayed on the vehicle's display panel when the warning sign lands, to alert the user. This prompt message can, for example, be a voice prompt.

[0094] Once it is determined that the vehicle is stopped due to a traffic accident or malfunction, the warning sign can be controlled to land and move to the target location based on step 202.

[0095] Typically, warning signs are 42 centimeters high, which is much greater than the chassis height of a vehicle. Therefore, the warning sign should not be placed under the vehicle's chassis, but rather outside the chassis.

[0096] In some embodiments, the warning sign is placed in a warning sign storage box, which is installed on the chassis of the vehicle in a preset installation manner.

[0097] The preset installation method can be set in advance, but this application embodiment does not limit it. For example, the preset installation method can be an inclined installation method, and the inclination angle is not limited.

[0098] Based on this, the process of controlling the warning sign to fall to the ground in step 202 can be as follows: receive the falling instruction, respond to the falling instruction, open the warning sign storage box, and the warning sign falls to the ground.

[0099] Specifically, the controller can send a drop command to the warning sign storage box. When the warning sign storage box receives the drop command, it responds by opening one side of the warning sign storage box and dropping the warning sign.

[0100] For example, the warning sign storage box is installed at an angle on the vehicle's chassis. When the storage box is opened, the warning sign can fall to the ground in a parabolic trajectory, thus landing at a position behind the vehicle, outside the chassis.

[0101] After the warning sign is placed on the ground, the first step is to determine the target location of the warning sign, and then move the warning sign to the target location.

[0102] Furthermore, the actions of placing the warning sign and determining the target location can be performed simultaneously. This saves operation time and improves efficiency.

[0103] In some embodiments, the process of determining the target location of the warning sign can be divided into: acquiring a second image, the second image indicating the surrounding environment information of the warning sign; and determining the target location based on the second image.

[0104] The second image can be captured by a second camera deployed on the warning sign. The surrounding environmental information in the second image may include vehicles in the lane where the warning sign is located, lane markings, and other information.

[0105] It should be noted that the first and second images may be the same or different. Both images focus on the lane where the vehicle is located; however, because the first camera is deployed on the vehicle's windshield, its higher shooting position results in a wider field of view and more detailed content. The second camera, deployed on the warning sign, has a lower shooting position, thus its lower field of view focuses more on lane markings on the ground.

[0106] After acquiring the second image, the second camera sends the second image to the controller, which processes the second image to determine the target location of the warning sign.

[0107] Alternatively, the second camera can also directly process the second image to obtain the target location of the warning sign, and then send the target location to the controller.

[0108] After obtaining the second image, the target location of the warning sign can be determined. The following explanation uses a controller as an example to illustrate the process of determining the target location of the warning sign.

[0109] In one possible implementation, the process of determining the target location of the warning sign can be divided into the following three steps:

[0110] Step 1: Determine the road type where the vehicle is located and the distance between the vehicle and the target object based on the second image. The target object is the vehicle that is in the same lane as the vehicle and is the closest to the vehicle.

[0111] Step 2: Determine the movement range of the warning sign based on the road type;

[0112] Step 3: Determine the target location of the warning sign based on the movement range and the distance between the vehicle and the target object.

[0113] The road types include ordinary highways and expressways.

[0114] For example, step 1 can be implemented by using the second image as input to the second neural network to obtain the road type where the vehicle is located and the distance between the vehicle and the target object, as output by the second neural network model.

[0115] The second neural network model was also trained beforehand using a small number of samples. Therefore, it can be used to process the second image to obtain the road type where the vehicle corresponding to the second image is located, as well as the distance between the vehicle and the target object.

[0116] The process of training the second neural network model described above can be as follows: Multiple training samples and labels corresponding to each training sample are obtained. Each training sample is an image, and the label for each training sample is the lane type of the vehicle in the corresponding image and the distance between the vehicle and a target object. The target object is the vehicle that is in the same lane as the vehicle and is closest to it. The labels for each training sample are manually assigned. Then, the multiple training samples and their labels are input into an initialized neural network model. After learning, the initialized neural network model yields the second neural network model. Following this training process, the second neural network model can be used to process the second image, outputting the road type of the vehicle in the second image and the distance between the vehicle and the target object.

[0117] Optionally, the method for image processing of the second image is not limited to the method of using the second neural network model described above, and other image processing methods can also be used. This application embodiment does not limit this.

[0118] The structures of the first neural network model and the second neural network model can be the same or different, and this application does not limit this.

[0119] After obtaining the road type, the movement range of the warning sign can be determined based on step 2.

[0120] According to the Road Traffic Safety Law, when a vehicle breaks down on a highway, the warning sign should be placed at least 150 meters away in the direction of oncoming traffic. On ordinary roads, it should be placed 50-100 meters away in the direction of oncoming traffic. In other words, on highways, the movement range is greater than 150 meters, and on ordinary roads, it is 50-100 meters.

[0121] For example, if the road type is determined to be a regular highway based on the second image, then the movement range of the warning sign can be determined to be 50-100 meters.

[0122] After obtaining the movement range, the target location of the warning sign can be determined based on step 3.

[0123] For example, step 3 can be implemented as follows: if the distance between the vehicle and the target object is greater than the minimum value of the movement interval, the difference between the distance between the vehicle and the target object and the distance of the blind spot in front of the vehicle is taken as the target position.

[0124] Provided that road traffic safety is met, if the distance between the vehicle and the target object is greater than the minimum distance of movement, the warning sign can be placed between the vehicle and the target object. Moreover, considering that all vehicles have blind spots, the difference between the distance between the vehicle and the target object and the distance of the blind spot in front of the vehicle can be used as the target position. In this way, the warning sign can be avoided in the blind spots of other vehicles, and the placement of the warning sign can effectively remind other vehicles.

[0125] For example, the blind spot distance in front of a typical sedan is 2 meters, while the blind spot distance in front of a sports utility vehicle (SUV) is 3 meters.

[0126] For example, if the movement range of the warning sign is determined to be 50-100 meters, and the distance between the vehicle and the target object is 60 meters, and the target object is a sedan, then the distance of 60 meters is greater than the minimum movement range of 50 meters. The blind spot of a sedan is 2 meters. Therefore, the final determined target position of the warning sign is the difference between the distance of 60 meters between the vehicle and the target object and the blind spot distance of 2 meters, which is 58 meters.

[0127] In another possible implementation, the process of determining the target location of the warning sign can be: determining the road type where the vehicle is located based on the second image, and determining the target location of the warning sign based on the road type.

[0128] In other words, this implementation directly uses the movement range obtained from the previous implementation as the target location of the warning sign. For details on this implementation, please refer to the previous implementation; it will not be repeated here.

[0129] Once the target location of the warning sign is known, the sign can be moved to that location.

[0130] Figure 5 This is a flowchart illustrating the movement of a warning sign on the ground, as provided in an embodiment of this application.

[0131] like Figure 5As shown, step 501 opens the warning sign storage box, causing the warning sign to fall to the ground; step 502 involves the second camera capturing a second image. Steps 501 and 502 can be performed simultaneously, or step 501 can be executed first, followed by step 502. After obtaining the second image, step 503 determines the target location of the warning sign based on the second image. Upon obtaining the target location, it can be determined whether there are other vehicles within the distance range from the current location to the target location. If no other vehicles are present, step 504 controls the warning sign to move at a constant speed to the target location. If other vehicles are present, the process can wait for them to move until no other vehicles are within the distance range before executing step 504 to control the warning sign to move at a constant speed to the target location.

[0132] In some embodiments, during the landing and movement of the warning sign, the vehicle's display panel shows a prompt message to inform the user of the process.

[0133] For example, the prompt message can be an audio prompt, such as the vehicle issuing a voice prompt saying "Warning sign has landed," indicating that the warning sign has landed. The prompt message can also be a visual prompt, such as the vehicle displaying a video on its screen showing the entire process of the warning sign landing and moving.

[0134] This application embodiment transforms the manual placement of warning signs into intelligent placement, reducing user operations and avoiding dangers caused by neglecting to place warning signs, as well as the risks of manually placing warning signs on highways. Furthermore, this application embodiment continuously displays prompts on the vehicle's display panel during the placement and movement of the warning sign, reminding the driver to promptly retrieve the sign and further improving the user experience.

[0135] Figure 6 This is a schematic diagram of the structure of a warning sign control device provided in an embodiment of this application.

[0136] For example, such as Figure 6 As shown, the device 600 includes:

[0137] The first acquisition module 601 is used to acquire a first image when the vehicle is detected to be in a stopped state. The first image indicates the surrounding environment information of the vehicle.

[0138] The control module 602 is used to control the warning sign to land and move to the target location when the surrounding environment of the vehicle is determined to meet preset conditions based on the first image. The preset conditions include that the vehicle is in a faulty state and / or there are other faulty vehicles within a preset distance of the vehicle.

[0139] Optionally, the device 600 further includes:

[0140] The second acquisition module is used to acquire a second image, which indicates the surrounding environment information of the warning sign;

[0141] The first determining module is used to determine the target location based on the second image.

[0142] Optionally, the determining module is also used for:

[0143] The road type where the vehicle is located and the distance between the vehicle and the target object are determined based on the second image. The target object is the vehicle that is in the same lane as the vehicle and is the closest to the vehicle.

[0144] The movement range of the warning sign is determined based on the road type;

[0145] The target location is determined based on the movement range and the distance between the vehicle and the target object.

[0146] Optionally, the control module 601 is also used for:

[0147] Upon receiving the landing instruction, the warning sign storage box is opened and the warning sign is placed on the ground.

[0148] Optionally, the device 600 further includes:

[0149] The display module is used to display prompts during the landing and movement of the warning sign, which are used to inform the user of the landing and movement process of the warning sign.

[0150] Optionally, the device 600 further includes:

[0151] The second determining module is used to determine that the warning sign was placed by another vehicle when it is determined from the first image that there are other vehicles behind the vehicle in the same lane and the distance between the vehicle and the other vehicle is less than a reference distance.

[0152] This application embodiment transforms the manual placement of warning signs into intelligent placement, reducing user operations and avoiding dangers caused by neglecting to place warning signs, as well as the risks of manually placing warning signs on highways. Furthermore, this application embodiment continuously displays prompts on the vehicle's display panel during the placement and movement of the warning sign, reminding the driver to promptly retrieve the sign and further improving the user experience.

[0153] Figure 7 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0154] For example, such as Figure 7As shown, the vehicle 700 includes a memory 701 and a processor 702. The memory 701 stores executable program code 7011, and the processor 702 is used to call and execute the executable program code 7011 to perform a warning sign control method.

[0155] This embodiment can divide the vehicle into functional modules according to the above method example. For example, each function can be assigned to a separate module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0156] When each functional module is divided according to its corresponding function, the vehicle may include: a first acquisition module and a control module. It should be noted that all relevant content of each step involved in the above method embodiments can be referenced from the functional descriptions of the corresponding functional modules, and will not be repeated here.

[0157] The vehicle provided in this embodiment is used to execute the above-described warning sign control method, and thus can achieve the same effect as the above-described implementation method.

[0158] When using integrated units, the vehicle may include a processing module and a storage module. The processing module is used to control and manage the vehicle's actions. The storage module supports the vehicle in executing program code and data.

[0159] The processing module may be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits as disclosed in this application. The processor may also be a combination of computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and microprocessors, etc., and the storage module may be a memory.

[0160] This embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the aforementioned method steps to implement a warning sign control method as described in the above embodiment.

[0161] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement a warning sign control method as described in the above embodiment.

[0162] In addition, the vehicle provided in the embodiments of this application may include a connected processor and a memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor may call and execute the instructions to make the vehicle perform a warning sign control method in the above embodiments.

[0163] In this embodiment, the vehicle, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0164] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0165] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0166] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling warning signs, characterized in that, The method is applied to vehicles including warning signs, and the method includes: When the vehicle is detected to be in a stopped state, a first image is acquired, the first image indicating the surrounding environment information of the vehicle; When it is determined from the first image that the surrounding environment of the vehicle meets the preset conditions, it is determined whether there are other vehicles behind the vehicle within the same lane line. If there are other vehicles behind the vehicle, and the distance between the vehicle and the other vehicle is less than a reference distance, it is determined that the warning sign is placed by the other vehicle. If there are no other vehicles behind the vehicle, or if the other vehicles behind the vehicle are not disabled vehicles, it is determined that the warning sign is placed by the vehicle. When the warning sign is placed by the vehicle, a second image is acquired, the second image indicating the surrounding environment information of the warning sign; Based on the second image, the road type where the vehicle is located and the distance between the vehicle and the target object are determined. The target object is the vehicle that is in the same lane as the vehicle and is the closest to the vehicle. The movement range of the warning sign is determined based on the road type; The target location is determined based on the movement range and the distance between the vehicle and the target object; When there are no other vehicles between the current position of the warning sign and the target position, the warning sign is controlled to land and move to the target position. The preset conditions include the vehicle being in a faulty state and / or other faulty vehicles existing within a preset distance of the vehicle.

2. The method according to claim 1, characterized in that, The vehicle includes a warning sign storage box, which is installed on the chassis of the vehicle in a preset installation manner; The control of the warning sign to fall to the ground includes: Upon receiving a landing instruction, and in response to the landing instruction, the warning sign storage box is opened, and the warning sign is placed on the ground.

3. The method according to claim 1, characterized in that, The vehicle includes a first camera and a second camera. The first camera is deployed on the windshield of the vehicle, and the second camera is deployed on the warning sign. The first camera is used to capture the first image, and the second camera is used to capture the second image.

4. The method according to claim 1, characterized in that, The vehicle is equipped with a display panel, and the method further includes: During the process of the warning sign being placed on the ground and moved, the display panel displays prompt information to remind the user of the process of the warning sign being placed on the ground and moved.

5. A warning sign control device, characterized in that, The device includes: The first acquisition module is used to acquire a first image when the vehicle is detected to be in a stopped state, wherein the first image indicates the surrounding environment information of the vehicle; The second determining module is used to determine whether there are other vehicles behind the vehicle in the same lane when the surrounding environment of the vehicle is determined to meet preset conditions based on the first image; if there are other vehicles behind the vehicle and the distance between the vehicle and the other vehicles is less than a reference distance, determine that the warning sign is placed by the other vehicle; if there are no other vehicles behind the vehicle, or the other vehicles behind the vehicle are not disabled vehicles, determine that the warning sign is placed by the vehicle. The second acquisition module is used to acquire a second image when the warning sign is placed by the vehicle, the second image indicating the surrounding environment information of the warning sign; The first determining module is configured to determine, based on the second image, the road type where the vehicle is located and the distance between the vehicle and a target object, wherein the target object is the vehicle that is in the same lane as the vehicle and is closest to the vehicle; determine the movement range of the warning sign based on the road type; and determine the target location based on the movement range and the distance between the vehicle and the target object. The control module is used to control the warning sign to land and move to the target location when there are no other vehicles between the current location of the warning sign and the target location. The preset conditions include the vehicle being in a faulty state and / or other faulty vehicles existing within a preset distance of the vehicle.

6. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the method as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the method as described in any one of claims 1 to 4.

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