Highway lane-level low-speed warning method, storage, server and system

Abstract

The embodiment of the present invention discloses a lane-level low-speed warning method for highways. The method first determines a target vehicle whose speed is less than a first speed, where the first speed is the minimum speed limit for the first lane where the target vehicle is located; then determines a second speed, where the second speed is the minimum safe speed for the first lane; if the ratio of the second speed to the first speed is greater than or equal to a first preset value, the target vehicle is guided to accelerate; if the speed of the current vehicle is less than the first speed, the target vehicle is reminded that it is at a low speed and is guided to change lanes; if the ratio of the second speed to the first speed is less than the first preset value, a third speed is determined, where the third speed is the minimum safe speed for a lane adjacent to the first lane; if the ratio of the third speed to a fourth speed is greater than or equal to the first preset value, the target vehicle is reminded that it is at a low speed and is guided to change lanes, where the fourth speed is the minimum speed limit for the adjacent lane. This application can avoid missing or erroneously penalizing vehicles traveling at a low speed.

Description

Technical Field

[0001] The present application relates to the field of active highway control, and specifically to a low-speed warning method, memory, server, and system at the lane level of a highway. Background Art

[0002] There is a speed limit for vehicles on highways. Driving too fast or too slow will increase the risk of traffic accidents.

[0003] The risks of speeding are self-evident. However, vehicles traveling at lower speeds, much slower than vehicles in the same lane, can act as obstacles and be overtaken by subsequent vehicles, which is equally unsafe. Furthermore, slow vehicles can create an illusion for vehicles behind them. Drivers' vision can produce errors when following a rapidly moving vehicle, especially at night, when the lack of a reference makes it difficult to visually estimate the distance and speed of moving vehicles. Consequently, drivers may mistake slow vehicles for those traveling at a normal speed. However, the significant speed difference can cause the following vehicle to rapidly close in on the slow vehicle. By the time the following vehicle notices, the gap between the two vehicles is no longer wide enough for braking. Regardless of whether the following vehicle driver applies emergency braking or changes lanes, a rear-end collision or a loss of control rollover can result.

[0004] Currently, highway managers set minimum and maximum speed limits for vehicles, monitor vehicle speeds in real time, issue warnings to vehicles exceeding the speed limit or exceeding the speed limit, and capture photos as a basis for subsequent penalties. Determining whether a vehicle is exceeding the speed limit is relatively simple; simply determine whether the vehicle exceeds the maximum speed limit. However, there are many exceptions to determining whether a vehicle is exceeding the speed limit. For example, in severe weather conditions such as rain, snow, and fog, or in special circumstances such as traffic congestion, exceeding or exceeding the speed limit is not a violation. Existing monitoring methods are relatively simple. While they can accurately identify vehicles exceeding the speed limit, they are less accurate when identifying vehicles exceeding the speed limit, often resulting in incorrect penalties or missed penalties. Corresponding warning measures also fail to guide vehicles to adopt correct driving behavior, failing to reduce accident risks. Summary of the Invention

[0005] The main purpose of the present invention is to propose a highway lane-level low-speed warning method, memory, server and system, aiming to solve the above-mentioned problems existing in the prior art.

[0006] To achieve the above-mentioned object, the present invention provides a lane-level low-speed warning method for highways, characterized in that the method is applied to a server, the server being communicatively connected to a plurality of warning devices, the plurality of warning devices being arranged on the highway, and the method comprising:

[0007] Determine a target vehicle having a travel speed less than a first speed, where the first speed is a minimum speed limit of a first lane where the target vehicle is located;

[0008] determining a second speed according to environmental information, where the second speed is a minimum safe speed for the first lane;

[0009] If the ratio of the second speed to the first speed is greater than or equal to a first preset value, determining the speed of the vehicle preceding the target vehicle;

[0010] If the speed of the preceding vehicle is greater than or equal to the first speed, controlling at least one of the warning devices to send a first message, wherein the first message is used to guide the target vehicle to accelerate;

[0011] If the speed of the preceding vehicle is less than the first speed, controlling at least one of the warning devices to send a second message, wherein the second message is used to remind the target vehicle that it is at a low speed and guide the target vehicle to change lanes;

[0012] If the ratio of the second speed to the first speed is less than the first preset value, determining a third speed according to the environmental information, the third speed being the minimum safe speed of a lane adjacent to the first lane;

[0013] If the ratio of the third speed to the fourth speed is greater than or equal to the first preset value, at least one of the warning devices is controlled to send the second information, and the fourth speed is the minimum speed limit of the adjacent lane.

[0014] In some embodiments, the method further comprises:

[0015] If the ratio of the third speed to the fourth speed is less than the first preset value, comparing the driving speed, the preceding vehicle speed, and the second speed;

[0016] If the driving speed is less than the second speed and the speed of the preceding vehicle is greater than or equal to the second speed, at least one of the warning devices is controlled to send the first information.

[0017] In some embodiments, the method further comprises:

[0018] After controlling at least one of the early warning devices to send the first information, continuously determining whether it is necessary to keep sending the first information within a first preset time;

[0019] If so, record the target vehicle as traveling at an ultra-low speed.

[0020] In some embodiments, the method further comprises:

[0021] determining an average speed of the first lane based on environmental information;

[0022] Processing the average speed of the first lane according to a preset rule to obtain the second speed;

[0023] determining an average speed of the adjacent lanes based on environmental information;

[0024] The third speed is obtained by processing the average vehicle speeds of the adjacent lanes according to a preset rule.

[0025] In some embodiments, before sending the second information, the method further includes:

[0026] Determine whether there is a vehicle in the adjacent lane traveling side by side with the vehicle in front of the target vehicle;

[0027] If yes, stop sending the second information;

[0028] If not, control at least one of the early warning devices to send the second information.

[0029] In some embodiments, the method further comprises:

[0030] continuously determining whether it is necessary to keep sending the second information;

[0031] If so, determining whether the target vehicle can change lanes;

[0032] If so, accumulating the lane change time of the target vehicle;

[0033] When the lane change time is greater than or equal to a second preset time, the target vehicle is recorded as traveling at an ultra-low speed.

[0034] In some embodiments, the method further comprises:

[0035] After the third preset time, if the lane change time is still less than the second preset time, the lane change time is reset to zero, and at least one of the warning devices is controlled to send a fourth message, and the fourth message is used to guide the vehicle behavior of the adjacent lane so that the target vehicle can change lanes to the adjacent lane.

[0036] In addition, to achieve the above-mentioned purpose, the present invention further proposes a computer-readable memory, characterized in that the computer-readable memory stores a computer program, and when the computer program is executed, the method described in any of the above-mentioned embodiments is implemented.

[0037] In addition, to achieve the above-mentioned purpose, the present invention also proposes a server, characterized in that it includes a processor and a memory that communicate with each other, and the processor is used to call a computer program from the memory and implement the method described in any of the above-mentioned embodiments by running the computer program.

[0038] In addition, to achieve the above-mentioned purpose, the present invention also proposes a highway lane-level low-speed warning system, which is characterized by comprising:

[0039] The server as described in the above embodiment;

[0040] A plurality of early warning devices are communicatively connected with the server;

[0041] A plurality of information collection devices are connected to the server for communication and are used to collect environmental information of the highway and send it to the server.

[0042] The highway lane-level low-speed warning method proposed in this application does not directly identify the target vehicle as a low-speed vehicle after determining that its speed is lower than the minimum speed limit (i.e., the first speed). Instead, it determines the minimum safe speed of the first lane where the target vehicle is located based on the environment, i.e., the second speed. When the ratio of the second speed to the first speed is greater than or equal to a first preset value, it indicates that the current environment is unobstructed. When the speed of the preceding vehicle is greater than or equal to the first speed, that is, after eliminating the factor of the preceding vehicle traveling at an extremely low speed, it can be determined that the speed of the target vehicle is too low, and a first message is sent to the target vehicle to guide it to accelerate. When the speed of the preceding vehicle is less than the first speed, a second message is sent to the target vehicle to guide it to change lanes, thereby preventing the target vehicle from following other vehicles by adopting methods such as adaptive cruise control and platooning, which may affect the passage of other vehicles. When the ratio of the second speed to the first speed is less than the first preset value, it indicates that the first lane is "congested"; then determine whether the ratio of the minimum safe speed of the adjacent lane of the first lane (i.e., the third speed) to the minimum speed limit of the adjacent lane (i.e., the fourth speed) is less than the first preset value. If not, it means that the adjacent lane is not "congested" and the "congestion" in the first lane is likely caused by the slow movement of the vehicle ahead or an accident. The second information is sent to the target vehicle to guide it to change lanes to prevent the target vehicle from continuing to drive in the first lane and aggravating the "congestion". This application analyzes low-speed scenarios that may be caused by adaptive cruise control, platooning, and side-by-side driving, and takes corresponding early warning measures, which can avoid missed penalties and wrong penalties for low-speed vehicles. At the same time, the early warning measures take into account traffic efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0044] The methods, systems, and / or programs in the accompanying drawings will be further described according to exemplary embodiments. These exemplary embodiments will be described in detail with reference to the drawings. These exemplary embodiments are non-limiting exemplary embodiments, wherein reference numerals represent similar structures in the various views of the drawings.

[0045] Figure 1This is a block diagram of the architecture of a lane-level low-speed warning system for highways involved in some embodiments of the present application;

[0046] Figure 2 for Figure 1 Schematic diagram of the server architecture in ;

[0047] Figure 3 This is a flow chart of a highway lane-level low-speed warning method according to some embodiments of the present application;

[0048] Figure 4-Figure 9 This is a partial flow chart of the highway lane-level low-speed warning method involved in different embodiments of the present application. DETAILED DESCRIPTION

[0049] In order to better understand the above technical solution, the technical solution of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical solution of the present application, rather than limitations on the technical solution of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0050] In the following detailed description, numerous specific details are set forth by way of example in order to provide a thorough understanding of the relevant teachings. However, it will be apparent to one skilled in the art that the present application can be practiced without these details. In other instances, well-known methods, procedures, systems, compositions, and / or circuits have been described at a relatively high level, without detail, to avoid unnecessarily obscuring aspects of the present application.

[0051] These and other features, the functions disclosed in the present application, the methods of performing them, the functions of the related elements in the structure and the combination of parts and the economics of production may become more apparent upon consideration of the following description with reference to the accompanying drawings, all of which form a part of this application. However, it is to be understood that the drawings are for illustration and description purposes only and are not intended to limit the scope of this application. It should be understood that these drawings are not drawn to scale. However, it should be clearly understood that the drawings are for illustration and description purposes only and are not intended to limit the scope of this application. It should be understood that these drawings are not drawn to scale.

[0052] Flowcharts are used in this application to illustrate the execution processes performed by the system according to the embodiments of the present application. It should be clearly understood that the execution processes of the flowcharts may not be executed in sequence. Instead, these execution processes may be executed in reverse order or simultaneously. In addition, at least one additional execution process may be added to the flowchart. One or more execution processes may be deleted from the flowchart.

[0053] Please refer to Figure 1, is a block diagram of the architecture of a highway lane-level low-speed warning system 100 according to some embodiments of the present application. System 100 includes a server 200 and multiple warning devices and information collection devices in communication with server 200. Server 200 can receive and process environmental information collected by the information collection devices. Server 200 can also communicate and transmit information to the warning devices and control the warning devices to send information.

[0054] In some embodiments, see Figure 2 , is a schematic diagram of the architecture of the server 200, which includes an early warning device control device 210, a memory 220, a processor 230 and a communication unit 240. The memory 220, the processor 230 and the communication unit 240 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The early warning device control device 210 includes at least one software function module that can be stored in the memory 220 in the form of software or firmware or solidified in the operating system (OS) of the server 200. The processor 230 is used to execute executable modules stored in the memory 220, such as the software function modules and computer programs included in the early warning device control device 210.

[0055] The memory 220 may be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The memory 220 is used to store programs, and the processor 230, upon receiving an execution instruction, executes the program to implement the various methods and steps disclosed in the embodiments of the present invention. The communication unit 240 is used to establish a communication connection between the server 100 and the information collection device and the early warning device via a network, and is used to send and receive data via the network.

[0056] The processor may be an integrated circuit chip with signal processing capabilities. The above-mentioned processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor.

[0057] I understand. Figure 2 The structure shown is for illustration only. The server 200 may also include Figure 2 More or fewer components than shown, or with Figure 2 Different configurations shown. Figure 2 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0058] Figure 3 This is a flowchart of a highway lane-level low-speed warning method shown in some embodiments of the present application. The method is applied to a server 200, and the server 200 is communicatively connected with a plurality of warning devices. The plurality of warning devices are set on the highway and can specifically include the following steps S100-S600.

[0059] Step S100 , determining a target vehicle whose travel speed is less than a first speed, where the first speed is the minimum speed limit of a first lane where the target vehicle is located.

[0060] In this embodiment, multiple information collection units connected to server 200 are installed along the highway to collect information about passing vehicles, including but not limited to speed, vehicle model, license plate, and lane, and transmit the collected information to server 200. The information collection units can be a combination of one or more devices such as visible light cameras, radar speed guns, infrared cameras, ultrasonic speed guns, and millimeter-wave radars. In this embodiment, the first speed is the minimum speed limit for the first lane in which the target vehicle is located. The minimum speed limit is the speed specified by relevant regulations and / or speed limit signs. For example, in the absence of speed limit signs, the minimum speed limit on a one-way highway is 60 kilometers per hour; if there are two lanes traveling in the same direction, the minimum speed limit for the left lane is 100 kilometers per hour; if there are three or more lanes traveling in the same direction, the minimum speed limit for the leftmost lane is 110 kilometers per hour, and the minimum speed limit for the middle lane is 90 kilometers per hour. If a speed limit sign is present, the speed indicated on the speed limit sign is the minimum speed limit. The speed and lane of a passing vehicle are identified through an information collection unit. When the identified speed is less than the minimum speed limit of the lane, the vehicle is identified as a target vehicle and the lane it is in is determined as the first lane.

[0061] Step S200: determining a second speed according to environmental information, where the second speed is the minimum safe speed for the first lane.

[0062] In this embodiment, when the target vehicle is traveling in the first lane, its speed must remain within a certain speed range to avoid traffic accidents such as rear-end collisions or being rear-ended. This speed range, which ensures driving safety and avoids accidents, is referred to as the safe speed range, and the lower limit of the safe speed range is referred to as the minimum safe speed. It will be appreciated that the minimum safe speed may differ from the minimum speed limit. For example, in congested traffic, the target vehicle may need to follow the flow of traffic to avoid accidents, and its speed range may be lower than the minimum speed limit.

[0063] In this embodiment, environmental information includes road environment information such as weather, visibility, road friction coefficient, and road slope, as well as traffic condition information such as real-time vehicle speed, vehicle distance, accident type, accident location, and accident impact range. Environmental information can be collected by an information collection unit, a separate environmental collection device, or a combination of the information collection unit and other collection devices. Accordingly, the device collecting environmental information can include one or more of a light sensor, a humidity sensor, a temperature sensor, a smoke sensor, and other devices. It is understood that the safe speed range for the same lane will vary under different environmental conditions, such as daytime and nighttime, sunny and rainy days, and when the average speed of traffic is 60 km / h and 100 km / h. The safe speed range for the first lane can be determined based on information related to the first lane in the environmental information. Specifically, the safe speed range can be directly calculated using a preset formula. Accident risk factors for the target vehicle at different speeds can also be calculated using a preset formula, and the speed range corresponding to the accident risk factor meeting preset requirements can be used as the safe speed range. Alternatively, if sufficient computing power is available, a preset microscopic model can be used to perform real-time simulations of the target vehicle at different speeds, and the safe speed range can be determined from the simulation results.

[0064] Step S300: If the ratio of the second speed to the first speed is greater than or equal to a first preset value, the speed of the vehicle preceding the target vehicle is determined.

[0065] In this embodiment, a ratio of the second speed to the first speed greater than or equal to a first preset value indicates that traffic in the first lane is flowing smoothly and that the target vehicle is not traveling at an excessively low speed due to widespread road congestion. Specifically, the first preset value may be 0.8, 0.85, 0.9, 0.95, 1, etc. In this embodiment, the preceding vehicle is the first vehicle located ahead of the target vehicle and within a distance less than the first preset distance. The first preset distance may be 100 meters, 150 meters, 200 meters, 250 meters, etc. Because the second speed is calculated based on macroscopic environmental information and does not consider the impact of the preceding vehicle's driving behavior, a microscopic factor, on the target vehicle's speed, it is necessary to comprehensively consider the preceding vehicle's speed to formulate a corresponding warning strategy.

[0066] Step S400: If the speed of the preceding vehicle is greater than or equal to a first speed, control at least one warning device to send a first message, where the first message is used to guide the target vehicle to accelerate.

[0067] In this embodiment, when the preceding vehicle is traveling normally, its speed is greater than or equal to a first speed, and there is no sudden deceleration. Therefore, at least one warning device can be controlled to transmit a first message to the target vehicle to guide the target vehicle to accelerate. The first message can include one or more types of information, such as sound, text, color, and image information. Accordingly, the warning device can include a directional speaker, a display screen, a flashing light, and other devices to transmit the first message. The first message can also be transmitted to a receiving device on the target vehicle via a wireless signal, such as electromagnetic waves, and then converted by the receiving device into one or more corresponding sound, text, color, and image information for display to the occupants of the target vehicle. The first message can be transmitted by the warning device closest to the target vehicle, or by multiple warning devices corresponding to different road sections and lanes, with the warning device corresponding to the road section and first lane where the target vehicle is located transmitting the first message. It is understood that the target vehicle can follow the guidance of the first message and accelerate in the first lane to avoid being at a low speed, or it can change lanes to an adjacent lane and then control its speed.

[0068] It should be noted that if the first vehicle in front of the target vehicle is outside the first preset distance, its driving behavior will not affect the target vehicle. At this time, it can be considered that the speed of the vehicle in front of the target vehicle is greater than or equal to the first speed.

[0069] Step S500: If the speed of the preceding vehicle is less than the first speed, control at least one warning device to send a second message, where the second message is used to remind the target vehicle that it is at a low speed and guide the target vehicle to change lanes.

[0070] In this embodiment, when the leading vehicle is traveling at a speed slower than the first speed, it may interfere with the normal travel of the target vehicle behind it. The target vehicle may decelerate to below the first speed due to objective reasons. Furthermore, the target vehicle behind it may also adopt a driving strategy such as adaptive cruise control or platooning with the leading vehicle, "actively" following the leading vehicle at a low speed, thereby adversely affecting traffic in the first lane together with the leading vehicle. Therefore, at least one warning device is controlled to send a second message to the target vehicle to alert the target vehicle of its low speed and guide it to change lanes. This avoids directly classifying the target vehicle as traveling at an excessively low speed and imposing a penalty, and also avoids classifying the target vehicle as traveling normally without taking action because the leading vehicle's speed is below the speed limit. The second message and the first message can have the same type, transmission method, and warning device type. The second message can be sent by the warning device closest to the target vehicle, or by multiple warning devices corresponding to different road sections and lanes, with the warning device corresponding to the road section and first lane where the target vehicle is located sending the second message. The target vehicle can follow the guidance of the second information, change lanes to the adjacent lane and then control the speed to avoid being in a low-speed state. It can be understood that if the speed of the subsequent leading vehicle changes, the target vehicle can also accelerate in the first lane to avoid being in a low-speed state.

[0071] Step S600: If the ratio of the second speed to the first speed is less than a first preset value, a third speed is determined according to the environmental information, where the third speed is the minimum safe speed of a lane adjacent to the first lane.

[0072] In this embodiment, when the minimum safe speed in the first lane is lower than the minimum speed limit, it indicates that congestion has begun or is already occurring in the first lane. This could be due to widespread road congestion (i.e., all lanes are congested), or it could be due to a recent accident, a phantom traffic jam, or a low-speed queuing of vehicles (i.e., only part of the lane is congested). These two situations are distinguished by determining whether the adjacent lanes to the first lane are congested. It can be understood that the adjacent lanes may be the lanes to the left and right of the first lane, and the third speed includes the corresponding minimum safe speeds for each of these lanes. Preferably, the adjacent lane is the left adjacent lane to the first lane, and the minimum speed limit of the left adjacent lane is higher than the minimum speed limit of the first lane. Specifically, similar to the method for determining the second speed, the safe speed range of the adjacent lane can be obtained based on the information related to the adjacent lane in the environmental information. Specifically, the safe speed range can be directly calculated using a preset formula, or the accident risk coefficient of the target vehicle when traveling at different speeds in the adjacent lane can be calculated using a preset formula, and the speed range corresponding to the accident risk coefficient meeting the preset requirements is used as the safe speed range; if there is sufficient computing power, the existing microscopic model can be used to perform real-time simulation of the target vehicle at different speeds in the adjacent lane, and the safe speed range of the adjacent lane can be obtained from the simulation results.

[0073] Step S700: If the ratio of the third speed to the fourth speed is greater than or equal to a first preset value, control at least one warning device to send a second message, and the fourth speed is the minimum speed limit of the adjacent lane.

[0074] In this embodiment, if the ratio of the minimum safe speed to the minimum speed limit in the adjacent lane is greater than or equal to a first preset value, it indicates that there is no congestion in the adjacent lane, and the congestion in the first lane is caused by an accident, maintenance, phantom traffic jam, or the preceding vehicle or some vehicles queuing at low speeds. In this case, it is difficult to determine whether the target vehicle's speed being lower than the minimum speed limit is due to subjective factors (low-speed queuing) or objective factors (accident, maintenance, phantom traffic jam), and simply controlling the target vehicle to accelerate or decelerate in the first lane will not significantly improve the traffic conditions. Therefore, controlling at least one early warning device to send a second message to the target vehicle can, from the perspective of overall traffic efficiency, alleviate the traffic pressure in the first lane by guiding the target vehicle to change lanes. In terms of the identification and punishment of the target vehicle's ultra-low speed driving, it can avoid the target vehicle that has been decelerated due to objective factors being directly identified as being ultra-low speed driving, resulting in erroneous penalties, and prevent the target vehicle that has been decelerated due to subjective factors from driving in the first lane for a long time, thereby exacerbating congestion.

[0075] Some existing low-speed warning methods uniformly classify vehicles traveling below the speed limit as exceeding the speed limit and impose penalties, resulting in some vehicles being mistakenly penalized due to being below the speed limit in congested roads. Other low-speed warning methods classify vehicles following behind as traveling normally when the road is congested or when there are slow-moving vehicles ahead, thus omitting penalties. This results in some vehicles following behind for extended periods, exacerbating road congestion. This embodiment, through steps S100-S700, analyzes the highway environment, effectively identifies whether the first lane where the target vehicle is located is congested, and classifies the congestion situation. Different warning schemes are then adopted for different environments. When the road is clear, the target vehicle is prompted to accelerate or change lanes based on the situation of the vehicle ahead. When only the first lane is congested, the target vehicle is prompted to change lanes. This allows for more accurate identification of whether the target vehicle is traveling below the speed limit based on the scenario, and simultaneously sends targeted information to guide the target vehicle to adopt a more optimal driving strategy to avoid or alleviate traffic congestion.

[0076] like Figure 4 As shown, in some embodiments, the highway lane-level low-speed warning method further includes:

[0077] In step S800 , if the ratio of the third speed to the fourth speed is less than the first preset value, the driving speed, the speed of the preceding vehicle, and the second speed are compared.

[0078] Step S900: If the driving speed is less than the second speed and the speed of the preceding vehicle is greater than or equal to the second speed, control at least one warning device to send a first message.

[0079] In this embodiment, the ratio of the third speed to the fourth speed is less than the first preset value, that is, the ratio of the minimum safe speed of the adjacent lane of the target vehicle to the minimum speed limit of the adjacent lane is less than the first preset value, indicating that both the adjacent lane and the first lane are congested. At this time, continuing to use the minimum speed limit as the speed limit standard is no longer operational.

[0080] Since the second speed is the minimum safe speed for the first lane, the accident rate can be effectively reduced when the vehicle speed is not less than the second speed. Therefore, in this embodiment, when the adjacent lane is congested with the first lane, the second speed is used as the speed limit for the first lane. When the target vehicle speed is greater than or equal to the second speed, the target vehicle is traveling normally and no warning is required for the target vehicle. When the target vehicle speed is less than the second speed, it is necessary to further determine the speed of the preceding vehicle. If the preceding vehicle speed is greater than or equal to the second speed, that is, the preceding vehicle is traveling normally, to avoid the target vehicle traveling too slowly and aggravating traffic congestion, at least one warning device is controlled to send a first message to the target vehicle to guide the target vehicle to accelerate. If the preceding vehicle speed is less than the second speed, the target vehicle cannot accelerate, and changing lanes may aggravate the congestion. Therefore, it can be determined that the target vehicle is not traveling at an ultra-low speed and no warning is required for the target vehicle.

[0081] In the case of road congestion, this embodiment uses the minimum safe speed of the first lane (i.e., the second speed) as the dynamic speed limit standard, and adopts different early warning strategies for the target vehicle according to the driving speed of the target vehicle and the speed of the preceding vehicle, which can effectively prevent the traffic congestion from worsening.

[0082] In some embodiments, after sending the first information and / or the second information, the highway lane-level low-speed warning method further includes:

[0083] Step S410: Control at least one warning device to send a third message to remind the vehicles behind the target vehicle to pay attention to the target vehicle.

[0084] In this embodiment, step S410 can be implemented after the steps of sending the first information and / or the second information such as S400, S500, and S700. The rear vehicles include one or more vehicles located behind the target vehicle in the first lane and the adjacent lane. Since the current target vehicle is traveling slowly or may change lanes, it affects the rear vehicles. Therefore, at least one early warning device is controlled to send a third information to the rear vehicle to remind it to slow down and / or keep a safe distance. The third information may include one or more types of sound information, text information, color information, image information, etc. Accordingly, the early warning device may include a directional speaker, a display screen, a flashing light, etc. to send the third information. It can be understood that the third information can be sent to the rear vehicle by the same or different devices in the same or different manner as the first information and / or the second information.

[0085] like Figure 5As shown, in some embodiments, the highway lane-level low-speed warning method further includes:

[0086] Step S1000: After controlling at least one warning device target vehicle to send a first message, it is continuously determined whether it is necessary to keep sending the first message within a first preset time.

[0087] Step S1100: If yes, record the target vehicle as traveling at an ultra-low speed.

[0088] In this embodiment, at least one early warning device is controlled to send a first message to the target vehicle, indicating that the speed of the target vehicle is lower than the minimum speed limit or the minimum safe speed, and the target vehicle can at least take measures such as acceleration to avoid itself being in a low-speed state. In order to avoid misjudgment, after sending the first message, it is necessary to continuously judge whether the target vehicle is still at a low speed and whether it is necessary to continue to send the first message. After sending the first message, it is possible to start continuously recording information related to the target vehicle's driving. Specifically, it is possible to use a video recording method to record information including the target vehicle's license plate, the distance between the front and rear vehicles, the driving speed, the speed of the front vehicle, etc. When the first message still needs to be sent after the first preset time has passed, it can be determined that the target vehicle is driving at an ultra-low speed and has an adverse effect on the passage of the highway. The recorded information can be used as the basis for subsequent penalties. The length of the first preset time can be 3 seconds, 5 seconds, 7 seconds, 10 seconds, 15 seconds, etc., and can be adjusted and determined based on the on-site environmental information.

[0089] In some embodiments, as Figure 6 As shown, step S200 of the highway lane-level low-speed warning method includes:

[0090] Step S210: determining the average vehicle speed of the first lane according to the environmental information.

[0091] Step S220: Process the average vehicle speed of the first lane to obtain a second speed.

[0092] like Figure 7 As shown, step S600 includes:

[0093] Step S610: determining the average speed of adjacent lanes based on environmental information.

[0094] Step S620: Process the average vehicle speeds of adjacent lanes to obtain a third speed.

[0095] In this embodiment, the average speed of the first lane is the average speed of all vehicles traveling in the first lane and within the second preset distance in front of and behind the target vehicle. Similarly, the average speed of the adjacent lane is the average speed of all vehicles traveling in the adjacent lane and within the second preset distance in front of and behind the target vehicle. These average speeds can be calculated from traffic conditions in the environmental information. The second preset distance can be a fixed distance, such as 1 km, 2 km, 3 km, etc.; the second preset distance can also vary based on environmental information, such as a larger second preset distance on sunny days and a smaller second preset distance on rainy days.

[0096] As an optional implementation, the process of processing the average speed of the first lane is:

[0097]

[0098] Where v2 is the second speed; a is the preset proportional coefficient corresponding to the first lane, which can be 0.8, 0.85, 0.9, 0.95, etc.; b is the environmental impact coefficient corresponding to the first lane, which is determined by analyzing environmental information according to preset rules and has a value range of [0, 1]. is the average speed of the first lane.

[0099] The process of processing the average speed of adjacent lanes is:

[0100]

[0101] Among them, v3 is the third speed; a ′ b is the preset proportional coefficient corresponding to the adjacent lanes, and the value can be 0.8, 0.85, 0.9, 0.95, etc.; ′ is the environmental impact coefficient corresponding to the adjacent lane, which is determined by analyzing the environmental information according to the preset rules and has a value range of [0, 1]; is the average speed of the adjacent lane.

[0102] In some embodiments, as Figure 8 As shown, the highway lane-level low-speed warning method further includes:

[0103] Step S510, determining whether there is a vehicle in an adjacent lane traveling side by side with the vehicle in front of the target vehicle;

[0104] Step S520: If yes, stop sending the second message;

[0105] Step S530: If not, control at least one early warning device to send a second message.

[0106] In this embodiment, the steps such as steps S500 and S700 that require sending the second information may include steps S510-S530, which are used to perform another confirmation before sending the second information. If there is a vehicle in the adjacent lane traveling side by side with the vehicle in front, the target vehicle cannot effectively increase its speed after changing lanes. Therefore, in this case, at least one early warning device is controlled to stop sending the second information to the target vehicle. Specifically, when the distance between the vehicle in front of the target vehicle in the adjacent lane and the vehicle in front of the target vehicle in the first lane along the driving direction is less than the preset vehicle distance, and the ratio of the speeds of the two is less than the second preset value, it can be determined that there is a vehicle in the adjacent lane traveling side by side with the vehicle in front. In this embodiment, the second preset value can be 1.1, 1.15, 1.2, etc., and the preset vehicle distance can be adjusted according to the vehicle speed, which is not limited in this embodiment.

[0107] In some embodiments, as Figure 9 As shown, the highway lane-level low-speed warning method also includes:

[0108] Step S1500, continuously determining whether it is necessary to keep sending the second information;

[0109] Step S1600: If yes, determine whether the target vehicle can change lanes based on the environmental information;

[0110] Step S1700: If yes, accumulate the lane change time of the target vehicle;

[0111] Step S1800: When the lane change time accumulates to a second preset time, the target vehicle is recorded as traveling at an ultra-low speed.

[0112] In this embodiment, steps S1500-S1800 can be implemented after the step of sending the second information, such as step S500 and step S700. At least one early warning device is controlled to send the second information to the target vehicle, indicating that the speed of the target vehicle is lower than the minimum speed limit, and the target vehicle can at least take measures such as changing lanes to avoid being in a low-speed state. To avoid misjudgment, after sending the second information to the target vehicle, it is necessary to continuously determine whether the target vehicle is still at a low speed and whether it is necessary to continue to send the second information. After sending the second information, it is possible to start continuously recording information related to the target vehicle's driving. Specifically, the information including the target vehicle's license plate, the distance between the front and rear vehicles, the driving speed, the speed of the preceding vehicle, etc. can be recorded by shooting a video.

[0113] Based on the distance and speed between the target vehicle and the vehicles preceding and following it in adjacent lanes, combined with information such as visibility, road friction coefficient, and road slope, a real-time determination can be made regarding whether the target vehicle can change lanes. This embodiment does not limit the specific lane change determination method; known lane change determination methods can be employed. To prevent the driver of the target vehicle from missing the opportunity to change lanes due to inattention, this embodiment provides a relatively generous second preset time for the driver. As long as the driver completes the lane change within the second preset time, the driver is deemed to have completed the lane change. If the target vehicle has not completed the lane change after the accumulated lane change time reaches the second preset time, the target vehicle is deemed to be traveling at an excessively low speed and has adversely affected highway traffic. The recorded information can be used as a basis for subsequent penalties. In this embodiment, the second preset time is longer than the first preset time and can be 6 seconds, 8 seconds, 10 seconds, 14 seconds, 18 seconds, etc., and can be adjusted and determined based on on-site environmental information.

[0114] Furthermore, the highway lane-level low-speed warning method also includes:

[0115] Step S1900: After the third preset time, if the lane change time is still less than the second preset time, the lane change time is reset to zero, and at least one warning device is controlled to send a fourth message, which is used to guide the vehicle behavior in the adjacent lane so that the target vehicle can change lanes to the adjacent lane.

[0116] In this embodiment, the third preset time is greater than the second preset time and can be 10 seconds, 15 seconds, 20 seconds, 30 seconds, etc. If the target vehicle's lane change time is still less than the second preset time within the third preset time, i.e., the target vehicle still does not have sufficient lane change time, this indicates that the target vehicle's slow speed is primarily affected by the speed of surrounding vehicles. The driver of the target vehicle may miss sporadic lane change opportunities due to the long time span. In this case, it is not appropriate to classify the target vehicle as being at an excessively low speed. The lane change time is reset to zero to start the next round of the third preset time. The system re-determines whether to send the second information and the accumulated lane change time to the target vehicle, and controls at least one warning device to send a fourth information to vehicles in adjacent lanes, thereby instructing vehicles ahead of the target vehicle in the adjacent lane to accelerate and / or vehicles behind the target vehicle to decelerate so that the target vehicle can change lanes, thereby avoiding or alleviating congestion in the first lane.

[0117] Some embodiments relate to a computer-readable storage medium storing a computer program, which, when executed, implements the highway lane-level low-speed warning method described in any of the aforementioned embodiments.

[0118] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0119] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0120] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0121] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A highway lane-level low-speed warning method, characterized in that: Applied to a server, the server being in communication with a plurality of early warning devices, the plurality of early warning devices being arranged on the highway, the method comprising: Determine a target vehicle having a travel speed less than a first speed, where the first speed is a minimum speed limit of a first lane where the target vehicle is located; determining a second speed according to environmental information, where the second speed is a minimum safe speed for the first lane; If the ratio of the second speed to the first speed is greater than or equal to a first preset value, determining the speed of the vehicle preceding the target vehicle; If the speed of the preceding vehicle is greater than or equal to the first speed, controlling at least one of the warning devices to send a first message, wherein the first message is used to guide the target vehicle to accelerate; If the speed of the preceding vehicle is less than the first speed, controlling at least one of the warning devices to send a second message, wherein the second message is used to remind the target vehicle that it is at a low speed and guide the target vehicle to change lanes; If the ratio of the second speed to the first speed is less than the first preset value, determining a third speed according to the environmental information, the third speed being the minimum safe speed of a lane adjacent to the first lane; If the ratio of the third speed to the fourth speed is greater than or equal to the first preset value, at least one of the warning devices is controlled to send the second information, and the fourth speed is the minimum speed limit of the adjacent lane.

2. The method according to claim 1, wherein The method further comprises: If the ratio of the third speed to the fourth speed is less than the first preset value, comparing the driving speed, the preceding vehicle speed, and the second speed; If the driving speed is less than the second speed and the speed of the preceding vehicle is greater than or equal to the second speed, at least one of the warning devices is controlled to send the first information.

3. The method according to claim 1 or 2, wherein: The method further comprises: After controlling at least one of the early warning devices to send the first information, continuously determining whether it is necessary to keep sending the first information within a first preset time; If so, record the target vehicle as traveling at an ultra-low speed.

4. The method according to claim 1, wherein The method further comprises: determining an average speed of the first lane based on environmental information; Processing the average speed of the first lane according to a preset rule to obtain the second speed; determining an average speed of the adjacent lanes based on environmental information; The third speed is obtained by processing the average vehicle speeds of the adjacent lanes according to a preset rule.

5. The method according to claim 1, wherein Before sending the second information, the method further includes: Determine whether there is a vehicle in the adjacent lane traveling side by side with the vehicle in front of the target vehicle; If yes, stop sending the second information; If not, control at least one of the early warning devices to send the second information.

6. The method according to claim 5, wherein The method further comprises: continuously determining whether it is necessary to keep sending the second information; If so, determining whether the target vehicle can change lanes; If so, accumulating the lane change time of the target vehicle; When the lane change time is greater than or equal to a second preset time, the target vehicle is recorded as traveling at an ultra-low speed.

7. The method according to claim 6, wherein The method further comprises: After the third preset time, if the lane change time is still less than the second preset time, the lane change time is reset to zero, and at least one of the warning devices is controlled to send a fourth message, and the fourth message is used to guide the vehicle behavior of the adjacent lane so that the target vehicle can change lanes to the adjacent lane.

8. A computer-readable memory, characterized in that: The computer readable memory stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

9. A server, characterized in that: The method comprises a processor and a memory communicating with each other, wherein the processor is used to call a computer program from the memory and implement the method according to any one of claims 1 to 7 by running the computer program.

10. A highway lane-level low-speed warning system, characterized in that: include: The server according to claim 9; A plurality of early warning devices are communicatively connected with the server; A plurality of information collection devices are connected to the server for communication and are used to collect environmental information of the highway and send it to the server.

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