A method and apparatus for determining a vehicle driving state

Abstract

The present disclosure provides a method for determining the driving state of a vehicle, relating to the field of intelligent traffic control. The method for determining the driving state of a vehicle comprises: when the road currently traveled by the vehicle is a multi-lane road, acquiring time reference information of a signal light; when the vehicle determines that the signal light is blocked, acquiring side-by-side reference information; starting from the time of driving with the side-by-side reference information, determining the driving state of the vehicle based on the time reference information of the signal light and the time taken by the vehicle to reach the stop line of the signal light intersection, which realizes that when the signal light is blocked in the driving environment of the road intersection, whether to follow the car through the intersection is decided according to the signal light information acquired in advance and the surrounding side-by-side information, provides a scheme for estimating the driving state according to the environmental conditions, and improves the driving safety.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent traffic control, and more particularly to a method and apparatus for determining the driving status of a vehicle. Background Technology

[0002] With the rapid development of computer and communication technologies, intelligent technologies have been introduced into transportation systems, giving rise to autonomous driving technology. Over the past decade, autonomous driving technology has made significant progress. Autonomous driving plays a crucial role in improving the environment and ensuring safety. As a type of non-deterministic system, the quality and safety of autonomous driving are receiving increasing attention. However, in some current technical solutions, vehicle-to-everything (V2X) technology has not yet achieved a practically feasible deployment for vehicle-road cooperation, and real-time feedback of traffic light information and driving environment at intersections to the vehicle for decision support is not possible.

[0003] During driving, when there are large vehicles such as trucks or buses in front of the vehicle, the autonomous vehicle may not be able to determine the status of the traffic light due to the presence of obstructions, which may easily cause it to run a red light. At the same time, the obstruction may prevent the autonomous vehicle from seeing the people and vehicles in front of the large vehicle, which may easily cause safety hazards. Summary of the Invention

[0004] This disclosure provides a method and apparatus for determining the driving status of a vehicle, thereby addressing problems in related technologies. By acquiring time reference information from traffic lights and reference information from adjacent vehicles, the driving status of the vehicle is determined, improving driving safety.

[0005] A first aspect of this disclosure provides an image processing method for determining the driving state of a vehicle. The method includes: acquiring traffic light time reference information when the vehicle is currently traveling on a multi-lane road; acquiring adjacent vehicle reference information when the vehicle determines that the traffic light is obstructed; and determining the vehicle's driving state based on the traffic light time reference information and the time elapsed since the vehicle reached the stop line at the traffic light intersection, starting from the adjacent vehicle reference information.

[0006] In some embodiments of this disclosure, obtaining the time reference information of the traffic light includes: obtaining the current color C1 and the current time of the traffic light; when the current color C1 is green, the duration T(C1) from the current time until the color of the traffic light changes to C2, or until the traffic light is blocked, is used as the time reference information.

[0007] In some embodiments of this disclosure, when a vehicle determines that a traffic light is obstructed, obtaining reference information about adjacent vehicles includes: when a vehicle determines that a traffic light is obstructed, identifying the driving status of at least one adjacent vehicle located to the left or right of the vehicle, wherein the driving status includes driving and braking; and using the driving status of the adjacent vehicle as reference information about adjacent vehicles.

[0008] In some embodiments of this disclosure, starting from the time of travel indicated by the reference information of the adjacent vehicle, the vehicle's driving state is determined based on the time reference information of the traffic lights and the time elapsed since the vehicle arrived at the stop line of the traffic light intersection. This includes: determining the time T elapsed from the time indicated by the reference information of the adjacent vehicle until the vehicle arrives at the stop line of the traffic light intersection; when T is less than T(C1), the vehicle's driving state is determined to be traveling; when T is greater than or equal to T(C1), the vehicle's driving state is determined to be braking.

[0009] In some embodiments of this disclosure, the method further includes: when the side vehicle reference information is detected as braking, determining that the vehicle's driving state is braking.

[0010] In some embodiments of this disclosure, the method further includes: obtaining lane reference information of the road on which the vehicle is currently traveling, the lane reference information including multi-lane and single-lane; when the lane reference information is single-lane, determining the vehicle's driving state as braking.

[0011] In some embodiments of this disclosure, the method further includes: uploading at least one of time reference information, adjacent vehicle reference information, and vehicle driving status to a cloud server; receiving a standard green light duration from the cloud server and using the standard green light duration as time reference information, wherein the standard green light duration is trained based on at least one of time reference information, adjacent vehicle reference information, and vehicle driving status uploaded by multiple vehicles.

[0012] A second aspect of this disclosure provides an apparatus for determining the driving status of a vehicle, the apparatus comprising:

[0013] The first acquisition module is used to acquire traffic light timing reference information when the road the vehicle is currently traveling on is a multi-lane road.

[0014] The second acquisition module is used to acquire reference information of the adjacent vehicle when the vehicle determines that the traffic light is blocked.

[0015] The decision module is used to determine the vehicle's driving status based on the reference information of the adjacent vehicle as the starting point of the journey, the time reference information of the traffic lights, and the time elapsed since the vehicle arrived at the stop line of the traffic light intersection.

[0016] A third aspect of this disclosure provides an electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the methods described in the first or second aspect of this disclosure.

[0017] A fourth aspect of this disclosure provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to perform the methods described in the first or second aspect of this disclosure.

[0018] A fifth aspect of this disclosure provides a computer program product including a computer program that, when executed by a processor, implements the methods described in the first or second aspect of this disclosure.

[0019] A seventh aspect of this disclosure provides a chip including one or more interface circuits and one or more processors; the interface circuits are configured to receive signals from the memory of an electronic device and send signals to the processors, the signals including computer instructions stored in the memory, which, when executed by the processors, cause the electronic device to perform the methods described in the first aspect of this disclosure.

[0020] In summary, the method for determining vehicle driving status proposed in this disclosure acquires traffic light time reference information when the road the vehicle is currently traveling on is multi-lane; acquires neighboring vehicle reference information when the vehicle determines that the traffic light is obstructed; and determines the vehicle's driving status based on the neighboring vehicle reference information as the starting point of travel, the traffic light time reference information, and the time elapsed since the vehicle reached the stop line at the traffic light intersection. This method enables a decision on whether to follow another vehicle through the intersection when the traffic light is obstructed, based on the pre-acquired traffic light information and surrounding neighboring vehicle information, in the context of driving at road intersections. It provides a solution for predicting driving status based on environmental conditions, thereby improving driving safety.

[0021] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0022] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure, and are not intended to unduly limit this disclosure.

[0023] Figure 1 A schematic diagram of the vehicle's line of sight when following another vehicle through a traffic light intersection, provided as an embodiment of this disclosure;

[0024] Figure 2 A flowchart of a method for determining the driving status of a vehicle provided in this disclosure embodiment;

[0025] Figure 3 A flowchart of a method for determining the driving status of a vehicle provided in this disclosure embodiment;

[0026] Figure 4 A schematic diagram of a method for determining the driving status of a vehicle provided in an embodiment of this disclosure;

[0027] Figure 5 A schematic diagram illustrating a scheme for using cloud data to assist in determining vehicle driving status, provided by an embodiment of this disclosure;

[0028] Figure 6 A schematic diagram of a device for determining the driving status of a vehicle, provided in an embodiment of this disclosure;

[0029] Figure 7 A schematic diagram of the structure of a first acquisition module in a device for determining the driving status of a vehicle, provided in an embodiment of this disclosure;

[0030] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0031] Embodiments of this disclosure are described in detail below, with examples of embodiments shown in the accompanying drawings, wherein the same or similar reference numerals identify the same or similar originals or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this disclosure, and should not be construed as limiting this disclosure.

[0032] Over the past few decades, with the rapid development of computer and communication technologies, intelligent technologies have been introduced into transportation systems, giving rise to autonomous driving technology. Autonomous driving plays a crucial role in improving the environment and ensuring safety. As a type of non-deterministic system, the quality and safety of autonomous driving are receiving increasing attention. In some current technical solutions, V2X (Vehicle to Everything) technology has not yet achieved a practically implementable vehicle-road cooperative system. Real-time feedback of traffic light information and driving environment at intersections to the vehicle cannot provide decision support. During driving, when large vehicles such as trucks or buses are in front of the vehicle, the obstruction of traffic lights can make it difficult to determine the traffic light status, easily leading to accidentally running a red light. Simultaneously, the obstruction also makes it difficult to assess the surroundings of people and vehicles in front of the large vehicle, creating potential safety hazards.

[0033] To address the problems existing in related technologies, this disclosure proposes a scheme for determining the driving status of a vehicle.

[0034] By acquiring traffic light timing reference information when the vehicle is currently traveling on a multi-lane road, and acquiring reference information from other vehicles when the vehicle determines that the traffic light is obscured, the vehicle's driving status is determined based on the traffic light timing reference information and the reference information from other vehicles. This enables the vehicle to make a decision on whether to follow another vehicle through the intersection when the traffic light is obscured, based on the pre-acquired traffic light information and the information of surrounding vehicles. This provides a solution for predicting driving status based on environmental conditions, thereby improving driving safety.

[0035] The main purpose of this disclosure is to make accurate predictions of traffic light changes and driving environment at intersections by using the time dimension and reference information from adjacent vehicles, and to determine the driving status of vehicles.

[0036] The method for determining the driving status of a vehicle provided in this application will be described in detail below with reference to the accompanying drawings.

[0037] Before introducing the detailed solution of this disclosure, the application scenarios of this disclosure solution will be described first. Figure 1 This is a schematic diagram of the vehicle's line of sight when following another vehicle through a traffic light intersection, as shown in one embodiment. According to... Figure 1 It is evident that when a vehicle is far from the traffic light or there are no large vehicles obstructing its view, the status of the traffic light can be directly identified, thus determining the vehicle's driving status. However, when a vehicle is close to the traffic light, or when there are large vehicles in front, the height of the vehicle obstructing the view when following another vehicle through a traffic light intersection can make it difficult to identify the status of the traffic light, thus making it impossible to directly determine the vehicle's driving status.

[0038] Figure 2 This is a flowchart illustrating a method for determining the driving status of a vehicle, provided as an embodiment of this disclosure. Figure 1 As shown, the method includes:

[0039] Step 201: When the road the vehicle is currently traveling on is a multi-lane road, obtain the traffic light timing reference information.

[0040] This disclosure primarily obtains reference information from two dimensions: time and adjacent vehicles, which complement each other in making judgments. In the embodiments of this disclosure, the traffic light status can be identified in advance when there is no obstruction, and timing can be recorded. For example, the color of the traffic light can be identified when the vehicle is a certain distance away from the traffic light. Before the traffic light is obstructed, the time of identification of the traffic light can be recorded as reference information to assist in judging the vehicle's driving status and provide data support for predicting the vehicle's start and stop.

[0041] Step 202: When the vehicle determines that the traffic light is blocked, obtain reference information from the adjacent vehicle.

[0042] In the embodiments of this disclosure, by monitoring vehicles beside the vehicle, the vehicle's driving status can be determined and real-time reference information can be provided when the vehicle's view is obstructed and traffic lights cannot be recognized.

[0043] In one implementation, when the traffic light is obstructed, the vehicle cannot directly determine whether it can pass through the current intersection. In this case, the vehicle is assisted in deciding its driving state, i.e., whether to proceed or brake, by judging the driving status of adjacent vehicles, such as whether they are slowing down, braking, or starting.

[0044] In the embodiments disclosed herein, the orientation of adjacent vehicles relative to the vehicle is not limited.

[0045] Step 203: Starting from the reference information of the adjacent vehicle as the time of travel, the driving status of the vehicle is determined based on the time reference information of the traffic lights and the time elapsed for the vehicle to reach the stop line at the traffic light intersection.

[0046] In the embodiments of this disclosure, traffic light timing reference information and adjacent vehicle reference information are used to assist in determining whether the vehicle is moving or braking. If the timing reference information and / or adjacent vehicle reference information indicate that the vehicle is likely to be able to safely pass through the current intersection, then even if the traffic light ahead is obstructed, the vehicle can continue to pass through the intersection. For example, if a large vehicle ahead is obstructing the traffic light, the vehicle can follow it through the intersection. If the timing reference information and / or adjacent vehicle reference information indicate that the vehicle is unlikely to be able to safely pass through the current intersection or that there is a high degree of uncertainty, then a relatively conservative driving strategy is implemented. The vehicle brakes to stop when it reaches the stop line at the intersection and waits for the traffic light to become visible before deciding whether to proceed through the intersection.

[0047] In summary, the method for determining vehicle driving status proposed in this disclosure acquires traffic light time reference information when the road the vehicle is currently traveling on is multi-lane; acquires neighboring vehicle reference information when the vehicle determines that the traffic light is obstructed; and determines the vehicle's driving status based on the neighboring vehicle reference information as the starting point of travel, the traffic light time reference information, and the time elapsed since the vehicle reached the stop line at the traffic light intersection. This method enables a decision on whether to follow another vehicle through the intersection when the traffic light is obstructed, based on the pre-acquired traffic light information and surrounding neighboring vehicle information, in the context of driving at road intersections. It provides a solution for predicting driving status based on environmental conditions, thereby improving driving safety.

[0048] based on Figure 2 The embodiment shown, Figure 3 A flowchart of a method for determining the driving state of a vehicle, as presented in this disclosure, is further shown. For ease of understanding, Figure 4A schematic diagram of the overall solution is shown. The decision-making criteria used in the solution are mainly divided into two aspects: 1) the time dimension, using the time reference information of the traffic lights; 2) the adjacent vehicle dimension, using the status reference information of the adjacent vehicles. The following section will combine... Figure 3 This plan is described in detail, in which, Figure 2 In the illustrated embodiment, step 201 includes the following steps 303 to 304.

[0049] Step 301: Obtain lane reference information for the road the vehicle is currently traveling on.

[0050] In embodiments of this disclosure, a forward-looking camera and a side-looking camera can be used to identify lane reference information where the vehicle is located.

[0051] Step 302: When the lane reference information is a single lane, determine the vehicle's driving status as braking.

[0052] In the embodiments of this disclosure, when the road is a single lane, a more conservative following strategy is adopted, and when passing through a traffic light when the traffic light is obscured, the vehicle's driving state is determined to be braking.

[0053] Step 303: When the lane reference information is multi-lane, obtain the current color C1 of the traffic light and the current time.

[0054] Specifically, step 303 includes identifying the status of the traffic lights on the road ahead; and recording the current moment when the traffic light is identified as green.

[0055] In the embodiments of this disclosure, a forward-facing camera can be used to identify traffic lights on the road in front of the vehicle; when the traffic light is identified as green, the in-vehicle controller can be used to record the current moment.

[0056] Step 304: When the current color of the traffic light is green, obtain the duration of the green light as the time reference information of the traffic light.

[0057] Specifically, step 304 includes recording the current time when the traffic light color changes to C2 or the traffic light is blocked; and combining the time when the traffic light started to turn green obtained in step 303 to obtain the identifiable duration of the green light T(C1), which serves as the time reference information for the traffic light.

[0058] Step 305: When the vehicle determines that the traffic light is blocked, obtain reference information from the adjacent vehicle.

[0059] Specifically, step 305 includes identifying the driving status of at least one adjacent vehicle located to the left or right of the vehicle when the vehicle determines that the traffic light is blocked; and using the obtained driving status of the adjacent vehicle as adjacent vehicle reference information.

[0060] In embodiments of this disclosure, the driving status of at least one adjacent vehicle on the left or right side of the vehicle may include the driving status of at least one adjacent vehicle on the left, left front, left rear, right, right front, and right rear sides of the vehicle.

[0061] In embodiments of this disclosure, a front-view camera and a side-view camera can be used to identify the driving status of at least one vehicle on the left, left front, left rear, right, right front, and right rear sides of the vehicle. The driving status of the vehicle on the side includes driving and braking. Specifically, the driving status of the vehicle on the side can be determined by monitoring its speed, acceleration, etc.

[0062] Step 306: Starting from the reference information of the adjacent vehicle as the time of travel, the driving status of the vehicle is determined based on the time reference information of the traffic lights and the time elapsed for the vehicle to reach the stop line at the traffic light intersection.

[0063] Specifically, step 306 includes: when the reference information of the adjacent vehicle is detected as braking, determining that the vehicle's driving state is braking; when the reference information of the adjacent vehicle is detected as driving, determining the time T that has elapsed from the moment the reference information of the adjacent vehicle is driving until the vehicle reaches the stop line at the intersection where the traffic light is located; and judging the vehicle's driving state based on the relationship between time T and T(C1).

[0064] In embodiments of this disclosure, an in-vehicle controller can be used to record and calculate the time T elapsed from the moment when the reference information of the adjacent vehicle is in motion until the vehicle reaches the stop line at the intersection where the traffic light is located.

[0065] In the embodiments of this disclosure, the driving status of a vehicle can be determined by comparing the quantitative relationship between T and T(C1). Specifically, a preset allowable time value for crossing an intersection can be provided for the determination system. When the vehicle is about to cross the stop line at the intersection where the traffic light is located, the difference ΔT between T(C1) and T is calculated. ΔT is compared with the preset allowable time value. If ΔT is greater than or equal to the preset allowable time value, it is determined that the crossing time is sufficient, and the vehicle's driving status is determined to be driving. If ΔT is less than the preset allowable time value, it is determined that the crossing time is insufficient, and the vehicle's driving status is determined to be braking. The preset allowable time value for crossing an intersection can be set according to different driving environments. For example, the allowable time value can be set to 1 second. When ΔT ≥ 1 second, the vehicle's driving status is determined to be driving, and when ΔT < 1 second, the vehicle's driving status is determined to be braking.

[0066] In an optional embodiment of this disclosure, the vehicle's driving state can be determined as braking in the control program, which can be set to decelerate or stop the vehicle. After the large vehicle in front no longer obstructs the traffic light, the vehicle can then determine whether to continue driving based on the traffic light status detected manually or by the vehicle.

[0067] In the embodiments of this disclosure, at least one of the following can be uploaded to a cloud server: traffic light reference information, adjacent vehicle reference information, and vehicle driving status. A standard green light duration is received from the cloud server and used as the traffic light reference information. This standard green light duration is obtained through training based on at least one of the traffic light reference information, adjacent vehicle reference information, and vehicle driving status uploaded by multiple vehicles. For example, information on different traffic light colors can be uploaded to the cloud as data support to assist in determining vehicle driving status. Figure 5 A schematic diagram of a scheme that uses cloud data to help determine the driving status of a vehicle is shown.

[0068] In some optional embodiments of this disclosure, when the vehicle has not reached the stop line at the traffic light intersection and the traffic light status can be identified without obstruction, the changes in the traffic light can be identified multiple times and continuously monitored.

[0069] Specifically, before a vehicle reaches the stop line at a traffic light intersection and before the traffic light status becomes obscured and unrecognizable, the vehicle may detect multiple traffic light status changes. This data from multiple detections can be used to assist in driving decisions. For example, if at least one green light appears in the detected traffic light status changes, the duration of the detected green light can be used as the time reference information for the traffic light, as described in the above embodiment. If no green light appears in the detected traffic light status changes, a conservative following strategy can be adopted, such as braking, slowing down, or stopping, until the traffic light status can be detected. If the same color C0 appears multiple times in the detected traffic light status changes, the time reference information recorded for that color can be continuously updated, and the longest duration among the multiple occurrences can be used as the reference information for the standard duration of the traffic light with color C0.

[0070] In some optional embodiments of this disclosure, the status information of traffic lights other than the green light can be uploaded to the cloud as training data to assist in driving judgment.

[0071] Specifically, the collected traffic light status information, excluding green lights, can also be uploaded to the cloud to assist driving. For example, when multiple vehicles or vehicles pass through an intersection repeatedly, there can be sufficient data records of the traffic light status at that intersection, which can be used to train the traffic light cycle data for that intersection. For the same intersection, different colored traffic light statuses can reflect traffic conditions at different times. Through training, the situation during peak hours and congested periods can be obtained. Furthermore, by recording data on the average number of times vehicles wait when passing through the intersection, more accurate data support and logical optimization can be provided for cloud-based data-assisted judgment when passing through the intersection.

[0072] In summary, the solution disclosed herein can achieve the following beneficial effects:

[0073] This invention uses the time reference information of the traffic lights and the reference information of other vehicles to make a judgment and determine the driving status of the vehicle. It realizes the accurate prediction of the traffic light changes when following another vehicle through the traffic lights under obstructed conditions, thereby improving traffic efficiency.

[0074] This disclosure enables accurate prediction of the traffic environment at intersections when following another vehicle through traffic lights under obstructed conditions, thereby improving driving safety.

[0075] This disclosure allows the acquired data to be uploaded to the cloud, and the training results of the cloud data can be used to assist in the judgment, thereby improving the accuracy of the prediction.

[0076] Figure 6 This is a schematic diagram of a device 600 for determining the driving status of a vehicle, provided as an embodiment of this disclosure. Figure 6 As shown, the device for determining the vehicle's driving status includes:

[0077] The first acquisition module 610 is used for

[0078] When the road the vehicle is currently traveling on is a multi-lane road, obtain the timing reference information of the traffic lights.

[0079] The second acquisition module 620 is used to acquire reference information of the adjacent vehicle when the vehicle determines that the traffic light is blocked.

[0080] The decision module 630 is used to determine the vehicle's driving status based on the reference information of the adjacent vehicle as the starting point of the journey, the time reference information of the traffic lights, and the time elapsed since the vehicle arrived at the stop line of the traffic light intersection.

[0081] In some embodiments, the first acquisition module 610 is specifically used for:

[0082] Obtain the current color C1 and current time of the traffic light; when the current color C1 is green, start from the current time and continue for a duration T(C1) until the color of the traffic light changes to C2, or until the traffic light is blocked, as the time reference information for the traffic light.

[0083] In some embodiments, the second acquisition module 620 is specifically used for:

[0084] When a vehicle determines that a traffic light is obstructed, it identifies the driving status of at least one adjacent vehicle located to its left or right, wherein the driving status includes driving and braking; and uses the driving status of the adjacent vehicle as adjacent vehicle reference information.

[0085] In some embodiments, the second acquisition module 620 is specifically used to: when the vehicle determines that the traffic light is blocked, identify the driving status of at least one vehicle located on the left, left front, left rear, right, right front, and right rear sides of the vehicle, wherein the driving status includes driving and braking.

[0086] In some embodiments, the decision module 630 is specifically used to: determine the time T elapsed from the moment when the reference information of the adjacent vehicle is in motion until the vehicle reaches the stop line at the intersection where the traffic light is located; when T is less than T(C1), determine that the vehicle's driving state is in motion; when T is greater than or equal to T(C1), determine that the vehicle's driving state is in braking state.

[0087] In some embodiments, the decision module 630 is further configured to: determine the vehicle's driving state as braking state when the detected adjacent vehicle reference information is braking.

[0088] In some embodiments, the device 600 further includes a third acquisition module, which is specifically used to: acquire lane reference information of the road on which the vehicle is currently traveling, the lane reference information including multiple lanes and single lanes; and the decision module 630 is used to determine that the vehicle's driving state is braking state when the lane reference information is a single lane.

[0089] In some embodiments, the device 600 further includes a cloud transmission module, which is specifically used to: upload at least one of the traffic light time reference information, the vehicle reference information, and the vehicle driving status to a cloud server; receive a standard green light duration from the cloud server; and use the standard green light duration as the traffic light time reference information, wherein the standard green light duration is trained based on at least one of the traffic light time reference information, the vehicle reference information, and the vehicle driving status uploaded by multiple vehicles.

[0090] Specifically, such as Figure 7 As shown, the first acquisition module 610 may include an identification device 611 and a timing device 612.

[0091] In some alternative embodiments, the recognition device may be a camera that acquires external image information, including traffic light status information, vehicle lane information, and information about vehicles beside it. The camera may include a front-view camera and a side-view camera. The front-view camera can acquire information in front of the vehicle, including traffic light status and information about vehicles ahead. The side-view camera can acquire information to the sides of the vehicle, including information in at least one of the following directions: left front, left, left rear, right front, right, and right rear, for obtaining reference information about vehicles beside it when the vehicle is in a multi-lane environment.

[0092] In some alternative embodiments, the timing device may be a clock module in the vehicle controller. The clock provides information on when the traffic light status is detected, and when the traffic light status changes or becomes undetectable. It also provides information on when the vehicle determines the reference information of the adjacent vehicle as the time of travel, and when the vehicle arrives at the stop line at the intersection where the traffic light is located, thus providing a time-dimensional criterion for determining the vehicle's driving status.

[0093] Corresponding to the methods provided in the above embodiments, this disclosure also provides an apparatus for determining the driving status of a vehicle. Since the apparatus provided in this disclosure corresponds to the methods provided in the above embodiments, the implementation of the methods is also applicable to the apparatus provided in this embodiment, and will not be described in detail in this embodiment.

[0094] The methods and apparatus provided in the embodiments of this application have been described above. To implement the functions of the methods provided in the embodiments of this application, the electronic device may include a hardware structure and software modules, and may implement the above functions in the form of a hardware structure, software modules, or a hardware structure plus software modules. One of the above functions may be executed in the form of a hardware structure, software modules, or a hardware structure plus software modules.

[0095] Figure 8 This is a block diagram illustrating an electronic device 800 for implementing the above-described method for determining the driving state of a vehicle, according to an exemplary embodiment.

[0096] For example, electronic device 800 can be a mobile phone, computer, messaging device, game console, tablet device, medical device, fitness equipment, personal digital assistant, etc.

[0097] Reference Figure 8 The electronic device 800 may include one or more of the following components: a processing component 802, a memory 804, a power supply component 806, a multimedia component 808, an audio component 810, an input / output (I / O) interface 812, a sensor component 814, and a communication component 816.

[0098] Processing component 802 typically controls the overall operation of electronic device 800, such as operations associated with display, telephone calls, data communication, camera operation, and recording operations. Processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the methods described above. Furthermore, processing component 802 may include one or more modules to facilitate interaction between processing component 802 and other components. For example, processing component 802 may include a multimedia module to facilitate interaction between multimedia component 808 and processing component 802.

[0099] Memory 804 is configured to store various types of data to support the operation of electronic device 800. Examples of this data include instructions for any application or method operating on electronic device 800, contact data, phonebook data, messages, pictures, videos, etc. Memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0100] Power supply component 806 provides power to various components of electronic device 800. Power supply component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to electronic device 800.

[0101] Multimedia component 808 includes a screen that provides an output interface between electronic device 800 and user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of touch or swipe actions but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 808 includes a front-facing camera and / or a rear-facing camera. When electronic device 800 is in an operating mode, such as a shooting mode or video mode, the front-facing camera and / or rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0102] Audio component 810 is configured to output and / or input audio signals. For example, audio component 810 includes a microphone (MIC) configured to receive external audio signals when electronic device 800 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 804 or transmitted via communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.

[0103] I / O interface 812 provides an interface between processing component 802 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0104] Sensor assembly 814 includes one or more sensors for providing state assessments of various aspects of electronic device 800. For example, sensor assembly 814 can detect the on / off state of electronic device 800, the relative positioning of components such as the display and keypad of electronic device 800, changes in position of electronic device 800 or a component of electronic device 800, the presence or absence of user contact with electronic device 800, orientation or acceleration / deceleration of electronic device 800, and temperature changes of electronic device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 814 may also include an accelerometer, gyroscope, magnetometer, pressure sensor, or temperature sensor.

[0105] Communication component 816 is configured to facilitate wired or wireless communication between electronic device 800 and other devices. Electronic device 800 can access wireless networks based on communication standards, such as WiFi, 2G or 3G, 4G LTE, 5G NR (NewRadio), or combinations thereof. In one exemplary embodiment, communication component 816 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 816 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0106] In an exemplary embodiment, the electronic device 800 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods described above.

[0107] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 804 including instructions, which can be executed by a processor 820 of an electronic device 800 to perform the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0108] Embodiments of this disclosure also provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to perform the image processing methods described in the above embodiments of this disclosure.

[0109] Embodiments of this disclosure also provide a computer program product, including a computer program that is executed by a processor using the image processing method described in the above embodiments of this disclosure.

[0110] Embodiments of this disclosure also propose a chip including one or more interface circuits and one or more processors; the interface circuits are used to receive signals from the memory of an electronic device and send signals to the processors, the signals including computer instructions stored in the memory, which, when executed by the processor, cause the electronic device to perform the image processing method described in the above embodiments of this disclosure.

[0111] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0112] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0113] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this disclosure pertain.

[0114] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processing module, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (control method), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic device, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0115] It should be understood that various parts of the embodiments of this disclosure can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0116] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0117] Furthermore, the functional units in the various embodiments of this disclosure can be integrated into a single processing module, or each unit can exist physically separately, or two or more units can be integrated into a single module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The aforementioned storage medium can be a read-only memory, a hard disk, or an optical disk, etc.

[0118] Although embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A method for determining the driving status of a vehicle, characterized in that, The method includes: When the road the vehicle is currently traveling on is a multi-lane road, obtain traffic light timing reference information; Obtain the current color C1 and current time of the traffic light; When the current color C1 is green, the duration T(C1) from the current moment until the color of the traffic light changes to C2, or until the traffic light is blocked, will be used as the time reference information. When the vehicle determines that the traffic light is blocked, it obtains reference information from the adjacent vehicle. Starting from the reference information of the adjacent vehicle as the time of travel, the driving status of the vehicle is determined based on the time reference information of the traffic light and the time taken for the vehicle to reach the stop line of the traffic light intersection. Determine the time T elapsed from the moment the reference information for the adjacent vehicle indicates that the vehicle is traveling until the vehicle reaches the stop line at the intersection where the traffic light is located; When T is less than T(C1), the vehicle's driving state is determined to be driving; When T is greater than or equal to T(C1), the driving state of the vehicle is determined to be braking.

2. The method according to claim 1, characterized in that, When the vehicle determines that the traffic light is blocked, obtaining reference information from the adjacent vehicle includes: When the vehicle determines that the traffic light is blocked, it identifies the driving status of at least one adjacent vehicle located to the left or right of the vehicle, wherein the driving status includes driving and braking. The driving status of the adjacent vehicle is used as the reference information for the adjacent vehicle.

3. The method according to claim 1, characterized in that, The method further includes: When the reference information of the adjacent vehicle is detected as braking, the driving state of the vehicle is determined to be braking.

4. The method according to claim 1, characterized in that, The method further includes: Obtain lane reference information for the road currently being traveled by the vehicle, the lane reference information including multi-lane and single-lane; When the lane reference information is a single lane, the vehicle's driving state is determined to be braking when passing through a traffic light that is obscured.

5. A device for determining the driving status of a vehicle, characterized in that, The device includes: The first acquisition module is used to acquire traffic light timing reference information when the road the vehicle is currently traveling on is a multi-lane road; Obtain the current color C1 and current time of the traffic light; When the current color C1 is green, the duration T(C1) from the current moment until the color of the traffic light changes to C2, or until the traffic light is blocked, will be used as the time reference information. The second acquisition module is used to acquire reference information of adjacent vehicles when the vehicle determines that the traffic light is blocked; The decision module is used to determine the driving status of the vehicle, starting from the reference information of the adjacent vehicle and based on the time reference information of the traffic light and the time taken for the vehicle to reach the stop line of the traffic light intersection. Determine the time T elapsed from the moment the reference information for the adjacent vehicle indicates that the vehicle is traveling until the vehicle reaches the stop line at the intersection where the traffic light is located; When T is less than T(C1), the vehicle's driving state is determined to be driving; When T is greater than or equal to T(C1), the driving state of the vehicle is determined to be braking.

6. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-4.

7. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-4.

8. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method according to any one of claims 1-4.

9. A chip, characterized in that, The device includes one or more interface circuits and one or more processors; the interface circuits are configured to receive signals from the memory of the electronic device and send the signals to the processors, the signals including computer instructions stored in the memory, which, when executed by the processors, cause the electronic device to perform the method of any one of claims 1-4.

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