Vehicle curve passing reminding method and device, vehicle and storage medium

Abstract

The application relates to a vehicle curve passing reminding method and device, a vehicle and a storage medium, wherein the method comprises the following steps: obtaining road condition data of a front road according to image data, and in the case that the front road comprises a road intersection, combining current positioning data and the road condition data of the vehicle to determine whether the vehicle meets a preset curve passing working condition; in the case that the vehicle does not meet the preset curve passing working condition, combining a steering plan and the road condition data to control the vehicle to perform corresponding lane changing reminding; in the case that the vehicle meets the preset curve passing working condition and meets a preset passing condition, identifying a steering working condition of the vehicle, and matching a corresponding reminding level according to the steering working condition and the road condition data and performing curve passing reminding. Therefore, the technical problem that in the related art, driving guidance cannot be provided for a driver, the driver is prone to incorrect operation due to insufficient driving experience or unfamiliarity with traffic rules in a complex road environment, and there is a great safety hazard is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, and in particular relates to a vehicle curve passing reminding method and device, a vehicle and a storage medium. BACKGROUND

[0002] With the continuous rise in the number of vehicles, safety accidents caused by accidental factors are increasing, especially novice drivers who have just started driving on the road, are not skilled in driving, and will naturally be nervous and uneasy, thus greatly increasing the accident rate. At the same time, the road conditions are becoming more and more complex, and most drivers are not familiar with or do not understand traffic regulations, increasing the probability of incorrect judgment of their driving route by drivers at various intersections, curves and other road conditions, making some wrong operations, increasing the frequency of traffic violations or traffic accidents of drivers, and reducing the safety index of drivers.

[0003] In related technologies, various safety driving systems are proposed for safe driving, such as anti-lock braking system (ABS), vehicle stability system (ESP), traction control system (ASR), brake force distribution system (EBD), electronic control brake auxiliary system (EBA), etc. Through the above systems, the safety of the driver driving the vehicle can be improved.

[0004] However, in related technologies, only assistance is provided when the driver controls the vehicle, and driving guidance cannot be provided for the driver. In a complex road environment, the driver is prone to traffic accidents or vehicle violations in the driving process due to insufficient driving experience or unfamiliarity with traffic rules, which needs to be improved. SUMMARY

[0005] The present application provides a vehicle curve passing reminding method and device, a vehicle and a storage medium to solve the technical problem that in related technologies, driving guidance cannot be provided for the driver, and the driver is prone to incorrect operation due to insufficient driving experience or unfamiliarity with traffic rules in a complex road environment, which has a large safety hazard.

[0006] The first aspect of the present application provides a vehicle curve passing reminding method, comprising the following steps: collecting image data of a front road of the vehicle, and obtaining road condition data of the front road according to the image data; judging whether the front road includes an intersection based on the road condition data, and in the case that the front road includes an intersection, combining current positioning data of the vehicle and the road condition data to judge whether the vehicle meets a preset curve passing working condition; in the case that the vehicle is not in the preset curve passing working condition, obtaining a planned path of the vehicle, obtaining a turning plan of the vehicle at a next intersection based on the planned path, and combining the turning plan and the road condition data to control the vehicle to perform corresponding lane changing reminding; in the case that the vehicle is in the preset curve passing working condition, obtaining a turn signal state of the vehicle and traffic regulation information of the front road, judging whether the vehicle meets a preset passing condition, and in the case that the vehicle meets the preset passing condition, combining the current positioning data of the vehicle and the road condition data to identify a turning working condition of the vehicle, and matching a corresponding reminding level according to the turning working condition and the road condition data to perform curve passing reminding according to the reminding level.

[0007] Optionally, in an embodiment of the present application, the road condition data includes at least one of lane line information, traffic signal light information, ground traffic sign information and traffic identification information of the front road.

[0008] Optionally, in an embodiment of the present application, the judging whether the vehicle meets a preset passing condition includes: judging whether the vehicle meets a preset signal light passing condition according to the traffic signal light information and the lane line information; if the vehicle does not meet the preset signal light passing condition, generating a parking reminding, otherwise, combining the ground traffic sign information and the traffic regulation information to identify a current driving lane type of the vehicle, and judging whether the turn signal state and the current driving lane type are consistent; if the turn signal state and the current driving lane type are consistent, it is determined that the vehicle meets the preset passing condition, otherwise, generating a turning error reminding.

[0009] Optionally, in an embodiment of the present application, the combining the current positioning data of the vehicle and the road condition data to judge whether the vehicle meets a preset curve passing working condition includes: judging whether a distance between the vehicle and the intersection is less than a preset threshold based on the lane line information, and in the case that the distance is less than the preset threshold, identifying a current driving lane of the vehicle according to the road condition data and the current positioning data; judging whether the current driving lane is a turning lane according to the ground traffic sign information, and in the case that the current driving lane is the turning lane, determining that the vehicle is in the preset curve passing working condition.

[0010] Optionally, in an embodiment of the present application, the identifying the steering working condition of the vehicle comprises: if the current driving lane type is a U-turn lane, the steering working condition is a U-turn working condition; if the current driving lane type is a U-turn or right-turn lane, the steering working condition is a U-turn or right-turn working condition; if the current driving lane type is a right-turn or left-turn lane, the steering working condition is a right-turn or left-turn working condition.

[0011] Optionally, in an embodiment of the present application, the matching the corresponding reminding level according to the steering working condition and the road condition data comprises: judging whether there is a traffic signal at the front intersection based on the road condition data; if there is the traffic signal at the front intersection, generating a first-level reminding in the case that the steering working condition is the U-turn working condition; if there is the traffic signal at the front intersection, generating a second-level reminding in the case that the steering working condition is a U-turn or right-turn working condition; if there is no traffic signal at the front intersection, generating a third-level reminding.

[0012] Optionally, in an embodiment of the present application, the reminding for the curve passing according to the reminding level comprises: not reminding for the curve passing in the case that the reminding level is the first-level reminding; reminding for the curve passing by using at least one visual reminding device in the case that the reminding level is the second-level reminding; reminding for the curve passing by using at least one visual reminding device and at least one audible reminding device in the case that the reminding level is the third-level reminding.

[0013] The second aspect embodiment of the present application provides a reminding device for vehicle passing a curve, comprising: a collection module, configured to collect image data of a front road of the vehicle, and obtain road condition data of the front road according to the image data; a judgment module, configured to judge whether the front road includes a road intersection based on the road condition data, and in the case that the front road includes a road intersection, judge whether the vehicle meets a preset curve passing condition in combination with current positioning data of the vehicle and the road condition data; a first reminding module, configured to, in the case that the vehicle does not meet the preset curve passing condition, obtain a planned path of the vehicle, obtain a turning plan of the vehicle at a next road intersection based on the planned path, and control the vehicle to perform corresponding lane changing reminding in combination with the turning plan and the road condition data; and a second reminding module, configured to, in the case that the vehicle meets the preset curve passing condition, obtain a turn signal state of the vehicle and traffic regulation information of the front road, judge whether the vehicle meets a preset passing condition, and in the case that the vehicle meets the preset passing condition, identify a turning condition of the vehicle in combination with the current positioning data of the vehicle and the road condition data, and match a corresponding reminding level according to the turning condition and the road condition data, so as to perform curve passing reminding according to the reminding level.

[0014] Optionally, in an embodiment of the present application, the road condition data comprises at least one of lane line information, traffic signal information, ground traffic sign information and traffic identification information of the front road.

[0015] Optionally, in an embodiment of the present application, the second reminding module comprises: a first judgment unit, configured to judge whether the vehicle meets a preset signal light passing condition according to the traffic signal information and the lane line information; a first reminding unit, configured to, in the case that the vehicle does not meet the preset signal light passing condition, generate a stop reminding, otherwise, identify a current driving lane type of the vehicle in combination with the ground traffic sign information and the traffic regulation information, and judge whether the turn signal state is consistent with the current driving lane type; and a second reminding unit, configured to, in the case that the turn signal state is consistent with the current driving lane type, determine that the vehicle meets the preset passing condition, otherwise, generate a turning error reminding.

[0016] Optionally, in an embodiment of the present application, the judging module comprises: a second judging unit, configured to judge whether the distance between the vehicle and the intersection is less than a preset threshold based on the lane line information, and identify the current driving lane of the vehicle according to the road condition data and the current positioning data if the distance is less than the preset threshold; and a third judging unit, configured to judge whether the current driving lane is a turning lane according to the ground traffic sign information, and determine that the vehicle is in the preset curve passing condition if the current driving lane is the turning lane.

[0017] Optionally, in an embodiment of the present application, the second reminding module is further configured to: if the current driving lane type is a U-turn lane, the turning condition is a U-turn condition; if the current driving lane type is a U-turn or right-turn lane, the turning condition is a U-turn or right-turn condition; and if the current driving lane type is a turning lane, the turning condition is a right-turn or left-turn condition.

[0018] Optionally, in an embodiment of the present application, the second reminding module comprises: a fourth judging unit, configured to judge whether there is a traffic signal at the front intersection based on the road condition data; a first generating unit, configured to generate a first-level reminder if the turning condition is the U-turn condition and there is the traffic signal at the front intersection; a second generating unit, configured to generate a second-level reminder if the turning condition is a U-turn or right-turn condition and there is the traffic signal at the front intersection; and a third generating unit, configured to generate a third-level reminder if there is no traffic signal at the front intersection.

[0019] Optionally, in an embodiment of the present application, the second reminding module comprises: a third reminding unit, configured to not perform the curve passing reminding if the reminding level is the first-level reminder; a fourth reminding unit, configured to perform the curve passing reminding by using at least one visual reminding device if the reminding level is the second-level reminder; and a fifth reminding unit, configured to perform the curve passing reminding by using at least one visual reminding device and at least one audible reminding device if the reminding level is the third-level reminder.

[0020] A third aspect of embodiments of the present application provides a vehicle, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to implement the reminding method for curve passing of the vehicle as described in the above embodiments.

[0021] The fourth aspect of the present application provides a computer readable storage medium, which stores computer instructions for causing the computer to execute the reminding method for vehicle curve passing as described in the above embodiments.

[0022] The embodiments of the present application can obtain road condition data of the front road according to image data, and in the case that the front road includes an intersection, determine whether the vehicle meets the preset curve passing working condition in combination with the current positioning data and the road condition data of the vehicle, plan a safe driving route for the vehicle in the case that the vehicle does not meet the preset curve passing working condition, determine whether the vehicle meets the preset passing condition in the case that the vehicle meets the preset curve passing working condition, match a corresponding reminding level according to the turning working condition of the vehicle and the road condition data in the case that the vehicle meets the preset passing condition, and perform curve passing reminding according to the reminding level, so as to provide corresponding driving assistance reminding for the driver in the case that the traffic environment is relatively complex, thereby reducing the tension of the driver in the complex environment, helping the driver to form good driving habits, reducing the probability of driving error operation, improving the driving safety of the vehicle, and further improving the driving experience of the driver. Thus, the technical problem that the driver cannot be provided with driving guidance in the related art, the driver is prone to error operation due to insufficient driving experience or unfamiliarity with traffic rules in a complex road environment, and there is a great safety risk is solved.

[0023] Additional aspects and advantages of the present application will be made apparent by the following description and the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0024] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description, taken in conjunction with the accompanying drawings, in which:

[0025] Figure 1 A flowchart of a reminding method for vehicle curve passing according to an embodiment of the present application is shown;

[0026] Figure 2 A schematic diagram of a planned route according to an embodiment of the present application is shown;

[0027] Figure 3 A schematic diagram of a human-computer interaction setting interface according to an embodiment of the present application is shown;

[0028] Figure 4 A schematic diagram of the principle of a reminding method for vehicle curve passing according to an embodiment of the present application is shown;

[0029] Figure 5 A schematic diagram of the principle of a reminding method for vehicle curve passing according to another embodiment of the present application is shown;

[0030] Figure 6 FIG. 1 is a structural schematic diagram of a vehicle curve passing reminding device according to an embodiment of the present application;

[0031] Figure 7 FIG. 2 is a structural schematic diagram of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0032] Embodiments of the present application are described in detail below with reference to the accompanying drawings, in which the same or similar notations used throughout the drawings and the specific embodiments described herein are intended to represent the same or similar functionalities of elements or components. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application, and should not be understood as limiting the present application.

[0033] A vehicle curve passing reminding method, device, vehicle and storage medium according to embodiments of the present application are described below with reference to the accompanying drawings. In view of the technical problems in the related art mentioned above, that is, the driver cannot be provided with driving guidance, and in a complex road environment, the driver is prone to make wrong operations due to insufficient driving experience or unfamiliarity with traffic rules, and there is a great safety hazard, the present application provides a vehicle curve passing reminding method. In the method, road condition data of a front road can be obtained according to image data, and in the case that the front road includes an intersection, whether the vehicle meets a preset curve passing working condition is determined in combination with current positioning data of the vehicle and the road condition data, a safe driving route of the vehicle is planned in the case that the vehicle does not meet the preset curve passing working condition, whether the vehicle meets a preset passing condition is determined in the case that the vehicle meets the preset curve passing working condition, and in the case that the vehicle meets the preset passing condition, a corresponding reminding level is matched according to a turning working condition of the vehicle and the road condition data, so as to perform curve passing reminding according to the reminding level. Thus, in the case that the traffic environment is relatively complex, the driver can be provided with corresponding driving assistance reminding, so as to reduce the tension of the driver in the complex environment, help the driver to form good driving habits, reduce the probability of driving wrong operations, improve the driving safety of the vehicle, and further improve the driving experience of the driver. Thus, the technical problems in the related art, that is, the driver cannot be provided with driving guidance, and in a complex road environment, the driver is prone to make wrong operations due to insufficient driving experience or unfamiliarity with traffic rules, and there is a great safety hazard, are solved.

[0034] Specifically, Figure 1 FIG. 3 is a flowchart of a vehicle curve passing reminding method according to an embodiment of the present application.

[0035] As shown in FIG. 3, the vehicle curve passing reminding method includes the following steps: Figure 1

[0036] ​In step S101, image data of a front road of the vehicle is collected, and road condition data of the front road is obtained according to the image data, wherein the road condition data includes at least one of lane line information, traffic signal information, ground traffic sign information and traffic identification information of the front road

[0037] In actual implementation, the embodiment of the present application can use an image collection device of the vehicle, such as a camera, to collect image data of the front road of the vehicle, and obtain road condition data of the front road, such as lane line information, traffic signal information, ground traffic sign information, traffic identification information and other traffic participants of the front road, according to the image data or in combination with radar data.

[0038] For example, the embodiment of the present application can input the image into a pre-constructed recognition model to obtain corresponding road condition data, or can perform feature matching of the image data by combining pre-input map data or receiving map data or dynamic traffic flow data from the cloud, and then obtain corresponding road condition data.

[0039] In step S102, it is determined whether the front road includes an intersection based on the road condition data, and in the case that the front road includes an intersection, it is determined whether the vehicle meets a preset curved road passing condition in combination with current positioning data and the road condition data of the vehicle.

[0040] As a possible implementation manner, the embodiment of the present application can determine whether the front road of the vehicle includes an intersection according to intersection data, such as identifying an intersection stop line through lane line information, identifying an intersection courtesy pedestrian signboard through traffic identification information, and determining whether to include an intersection by judging whether there is a traffic signal in front.

[0041] Further, in the case that the front road includes an intersection, it is determined whether the vehicle meets a preset curved road passing condition in combination with current positioning data and the road condition data of the vehicle; and in the case that the front road does not include an intersection, the embodiment of the present application can read a turn signal state of the vehicle to determine whether the driver has a lane changing or overtaking intention, and then identify a relative distance and a relative speed between the vehicle and other vehicles in the surrounding according to the lane changing or overtaking intention of the driver to generate a lane changing reminding suggestion.

[0042] Optionally, in an embodiment of the present application, determining whether the vehicle meets a preset curved road passing condition in combination with current positioning data and the road condition data of the vehicle includes: judging whether a distance between the vehicle and the intersection is less than a preset threshold based on the lane line information, and in the case that the distance is less than the preset threshold, identifying a current driving lane of the vehicle according to the road condition data and the current positioning data; judging whether the current driving lane is a turning lane according to the ground traffic sign information, and in the case that the current driving lane is a turning lane, determining that the vehicle is in a preset curved road passing condition.

[0043] Further, the embodiment of the present application can calculate the distance between the current positioning data of the vehicle and the stop line of the intersection, and determine whether the distance between the vehicle and the intersection is less than a preset threshold. In the case where the distance is less than the preset threshold, the embodiment of the present application can determine the current driving lane of the vehicle according to the current positioning data of the vehicle and the lane line information, and then determine the attribute of the current driving lane, such as straight, U-turn, left turn, right turn, etc., in combination with the ground traffic sign information and the traffic identification information.

[0044] Further, according to the attribute of the current driving lane, it is determined whether the vehicle is allowed to turn in the current driving lane, or according to the lane lines on both sides of the current driving lane, it is determined whether the vehicle is allowed to change lanes in the current driving vehicle, etc.

[0045] In step S103, in the case where the vehicle is not in the preset curve passing condition, the planning path of the vehicle is obtained, the turning planning of the vehicle at the next intersection is obtained based on the planning path, and the vehicle is controlled to perform corresponding lane changing reminder in combination with the turning planning and the road condition data.

[0046] In some embodiments, when the vehicle is not in the preset curve passing condition, the embodiment of the present application can obtain the planning path of the vehicle by using, for example, vehicle navigation, so as to obtain the turning planning of the vehicle at the next intersection in the planning path, and then control the vehicle to perform corresponding lane changing reminder in combination with the turning planning and the road condition data.

[0047] For example, the turning planning of the vehicle at the next intersection is left turn, and at this time the vehicle is in a straight lane. The embodiment of the present application can remind the vehicle to change lanes before entering the solid line of the intersection.

[0048] In addition, the embodiment of the present application can also calculate the safe driving route of the vehicle according to the destination of the vehicle or the traffic flow around the vehicle through a fusion algorithm, and generate a lane changing reminder of the vehicle according to the calculation result.

[0049] As shown in FIG. 11, based on the calculation result of the fusion algorithm, it is determined that there is an obstacle in front of the vehicle or the driving speed of the vehicle in front is too slow, and the adjacent lane allows safe lane changing. In this case, the embodiment of the present application can remind the vehicle to change lanes. Figure 2 In step S104, in the case where the vehicle is in the preset curve passing condition, the turning light state of the vehicle and the traffic regulation information of the road in front are obtained, it is determined whether the vehicle meets the preset passing condition, and in the case where the vehicle meets the preset passing condition, the turning condition of the vehicle is identified in combination with the current positioning data of the vehicle and the road condition data, and the corresponding reminder level is matched according to the turning condition and the road condition data, so as to perform curve passing reminder according to the reminder level.

[0050] As a possible implementation manner, the embodiment of the present application judges the preset passing condition according to the turn signal state of the vehicle and the traffic regulation information of the road ahead, wherein the turn signal state can include no turn signal, left turn signal state and right turn signal state, and the traffic regulation information of the road ahead can include restricted driving time period, restricted driving license plate number, restricted driving vehicle type, construction restricted driving, etc.

[0051] In the case that the vehicle meets the preset passing condition, the embodiment of the present application can combine the current positioning input of the vehicle and the road condition data to determine whether the vehicle is in a turning lane, to identify the turning working condition of the vehicle, and to match the reminding level according to the special working condition and the road condition data.

[0052] Optionally, in an embodiment of the present application, judging whether the vehicle meets the preset passing condition comprises: judging whether the vehicle meets the preset signal light passing condition according to the traffic signal light information and the lane line information; if the vehicle does not meet the preset signal light passing condition, generating a parking reminder, otherwise, identifying the current driving lane type of the vehicle in combination with the ground traffic sign information and the traffic regulation information, and judging whether the turn signal state and the current driving lane type are consistent; if the turn signal state and the current driving lane type are consistent, determining that the vehicle meets the preset passing condition, otherwise, generating a turning error reminder.

[0053] In some embodiments, the embodiment of the present application can identify the current traffic signal light state corresponding to the current driving lane of the vehicle according to the traffic signal light information and the lane line information, including the color and the read second data of the traffic signal light, generate a parking reminder to remind the driver to park in the case that the color of the traffic signal light is red and the vehicle cannot pass the intersection at the current speed according to the read second data, or the color of the traffic signal light is yellow or green and the vehicle cannot pass the road condition at the current speed according to the read second data.

[0054] And in the case that the vehicle can pass the road condition at the current speed, the embodiment of the present application can identify the current driving lane type of the vehicle in combination with the ground traffic sign information and the traffic regulation information, such as straight lane, left turn lane, right turn lane, U-turn lane, etc., and judge whether the turn signal state and the current driving lane type are consistent, for example, when the turn signal state is right turn and the current driving lane type is straight lane, it indicates that the turn signal state and the current driving lane type are inconsistent

[0055] Optionally, in an embodiment of the present application, identifying the turning working condition of the vehicle comprises: if the current driving lane type is a U-turn lane, the turning working condition is a U-turn working condition; if the current driving lane type is a U-turn or right turn lane, the turning working condition is a U-turn or right turn working condition; if the current driving lane type is a turning lane, the turning working condition is a right turn or left turn working condition.

[0056] In actual implementation, the embodiment of the present application can determine the steering working condition according to the current lane type, that is, under the premise of ensuring that the vehicle follows the traffic rules during driving, the lane in which the vehicle drives can represent the steering working condition, for example, if the current lane type is a U-turn lane, the steering working condition is a U-turn working condition; if the current lane type is a U-turn or right-turn lane, the steering working condition is a U-turn or right-turn working condition; if the current lane type is a turn lane, the steering working condition is a right-turn or left-turn working condition.

[0057] Optionally, in an embodiment of the present application, the corresponding reminding level is matched according to the steering working condition and the road condition data, including: judging whether there is a traffic signal at the front intersection based on the road condition data; if there is a traffic signal at the front intersection, generating a first-level reminder in the case of a U-turn working condition; if there is a traffic signal at the front intersection, generating a second-level reminder in the case of a U-turn or right-turn working condition; if there is no traffic signal at the front intersection, generating a third-level reminder; in the case of a first-level reminder, no curve passing reminder is performed; in the case of a second-level reminder, at least one visual reminding device is used to perform the curve passing reminder; in the case of a third-level reminder, at least one visual reminding device and at least one audible reminding device are used to perform the curve passing reminder.

[0058] As a possible implementation, the embodiment of the present application can be divided into three levels of alarm: the first level is low in intensity, at the intersection with a traffic signal, and is for the U-turn scenario; the second level is medium in intensity, at the intersection with a traffic signal, and is for the U-turn and turning scenarios; the third level is high in intensity, at all intersections, and is for the U-turn and turning scenarios.

[0059] For example, the first level is functionally closed, with no image indication and no voice broadcast;

[0060] The second level is image indication, with no voice broadcast; the display screen ADAS interface displays a route indication icon (such as Figure 3 as shown), and a pop-up window displays a text alarm, such as “the front can turn left” and “the front can U-turn”;

[0061] The third level is image indication and voice broadcast, and the audio entertainment system domain controller controls the real voice broadcast reminder through software strategy, for example, “the front can turn left” and “the front can U-turn”.

[0062] Through the above multi-level alarm reminders, the safety hazards caused by turning in a complex traffic environment can be greatly reduced.

[0063] In combination with Figure 4 and Figure 5The working principle of the reminding method for the vehicle to pass the curve in the embodiment of the application is described in detail in one embodiment.

[0064] As Figure 4 shown, the embodiment of the application can be divided into three parts: perception, decision and execution.

[0065] Among them, the perception part contains complex road information: such as the position of the lane line, the current position of the vehicle, the position of other traffic participants, etc.; traffic signs: such as ground traffic signs, traffic signboards, signal light information; driver operation information: vehicle turn signal, throttle state. Among them, the external perception information can be obtained through the camera, laser radar (image recognition), and the driver operation information can be collected through the body domain controller.

[0066] For example, the road condition data perceived by the perception part can be as follows:

[0067] 1. Lane line

[0068] Identify lane position information and lane line type, confirm the current vehicle is in which lane. This information can use third-party high-precision map to obtain the current lane information or through camera image recognition.

[0069] 2. Target object

[0070] Identify front, rear, left and right target objects such as sedans, trucks, traffic cones, etc. Recognized through camera and independent image algorithm.

[0071] 3. Intersection distance

[0072] Used to determine the distance between the current vehicle and the intersection or curve, and to remind when the distance is less than 50M (which can be set according to the specific circumstances of the design).

[0073] 4. Driveable route

[0074] This information can be combined with lane information and lane turn markers on the lane to determine the drivable route of the current vehicle.

[0075] Driver operation information:

[0076] 1. Vehicle turn signal state

[0077] Record the turn signal signal actively operated by the driver, which indicates the driver's steering operation. In the case that the vehicle is in a free lane-changing state, it can represent the driver's steering intention, and in the case that the vehicle is not in a free lane-changing state, it can be used to judge whether the driver has an operation error.

[0078] 2. Throttle force

[0079] 3. Vehicle speed information

[0080] The embodiments of the present application can rely on the constantly revised algorithm model to analyze and make decisions, and finally give several levels of execution, which are handed over to the vehicle for processing.

[0081] Traffic signs:

[0082] 1. Signal light recognition

[0083] The embodiments of the present application can recognize the turning marks and countdown information of the signal light. The countdown information on the signal light sign is used to provide data support for the following logical information. Here, the adas-tls system or self-developed image recognition technology can be used to recognize the signal light information.

[0084] 2. Traffic sign recognition

[0085] The ground traffic signs and traffic sign information are recognized to provide data support for the following logical information. Here, the adas-tls system or self-developed image recognition technology can be used for recognition.

[0086] After the embodiments of the present application collect the perception information, the data is processed through the fusion algorithm, the route is planned, and the CAN signal is converted and input to the vehicle DMC for display.

[0087] The decision part can calculate the accurate safe driving route through the fusion algorithm, and output through the CAN (Controller Area Network) signal.

[0088] The execution part can convert the signal into corresponding image display and voice broadcast through the instrument, HUD (Head-Up Display) and other display modules.

[0089] As shown in Figure 5 In the actual execution process, the embodiments of the present application identify the intersection, confirm the line of the current driving road of the vehicle and the turnable direction, judge the ground traffic signs and signal light state, and confirm the current feasible driving route in accordance with the regulations.

[0090] The application scenario is converted into a CAN signal, and the audio entertainment system domain controller is responsible for the system software control logic and provides the system human-machine interface (as shown in Figure 3 ), realizes real voice broadcast;

[0091] The audio entertainment system controller provides diversified function customization schemes for the driver, and adds a dedicated setting interface to the system in the host function interface. The driver can define the system state, alarm level (level one and level two), and response mode of each alarm level in the setting interface.

[0092] The system function alarm mode is divided into two levels of reminders; the first level is function closing, no image indication and voice broadcast;

[0093] The second level is image indication, no voice broadcast; the display screen ADAS interface displays a route indication icon (such as Figure 2 ), and a pop-up window displays a text alarm, such as "turn left in front", "turn around in front"; the third level is image indication + voice broadcast, and the DMC controls the real voice broadcast reminder through software strategy, for example, "turn left in front", "turn around in front".

[0094] The reminder strength is divided into three levels of alarms: the first level is low strength, which is used for the scene of turning around at a road intersection with a signal lamp; the second level is medium strength, which is used for the scenes of turning around and turning at a road intersection with a signal lamp; and the third level is high strength, which is used for the scenes of turning around and turning at all road intersections.

[0095] Through the above three levels of alarm reminders, the safety hidden danger of the driver and passengers caused by turning in a complex traffic environment can be greatly reduced.

[0096] According to the vehicle curve passing reminder method provided in the embodiments of the present application, the road condition data of the front road can be obtained according to the image data, and in the case that the front road includes a road intersection, the current positioning data of the vehicle and the road condition data are combined to determine whether the vehicle meets the preset curve passing working condition. In the case that the vehicle does not meet the preset curve passing working condition, a safe driving route of the vehicle is planned, and in the case that the vehicle meets the preset curve passing working condition, it is determined whether the vehicle meets the preset passing condition. In the case that the vehicle meets the preset passing condition, a corresponding reminder level is matched according to the turning working condition of the vehicle and the road condition data, so as to perform curve passing reminder according to the reminder level, thereby providing the driver with corresponding driving assistance reminder in the case that the traffic environment is relatively complex, reducing the tension of the driver in the complex environment, helping the driver to form good driving habits, reducing the probability of driving error operation, improving the driving safety of the vehicle, and further improving the driving experience of the driver. Thus, the technical problem in the related art that the driver cannot be provided with driving guidance, the driver is prone to error operation due to insufficient driving experience or unfamiliarity with traffic rules in a complex road environment, and there is a great safety hidden danger is solved.

[0097] Secondly, the vehicle curve passing reminder device provided in the embodiments of the present application is described with reference to the accompanying drawings.

[0098] Figure 6 is a block schematic diagram of the vehicle curve passing reminder device of the embodiments of the present application.

[0099] As Figure 6As shown, the vehicle curve passing reminding device 10 comprises a collection module 100, a judgment module 200, a first reminding module 300 and a second reminding module 400.

[0100] Specifically, the collection module 100 is configured to collect image data of a road ahead of the vehicle, and obtain road condition data of the road ahead according to the image data.

[0101] The judgment module 200 is configured to determine whether the road ahead includes an intersection based on the road condition data, and in the case that the road ahead includes the intersection, determine whether the vehicle meets a preset curve passing working condition in combination with current positioning data of the vehicle and the road condition data.

[0102] The first reminding module 300 is configured to, in the case that the vehicle does not meet the preset curve passing working condition, obtain a planned path of the vehicle, obtain a turning plan of the vehicle at a next intersection based on the planned path, and control the vehicle to perform corresponding lane changing reminding in combination with the turning plan and the road condition data.

[0103] The second reminding module 400 is configured to, in the case that the vehicle meets the preset curve passing working condition, obtain a turn signal state of the vehicle and traffic regulation information of the road ahead, determine whether the vehicle meets a preset passing condition, and in the case that the vehicle meets the preset passing condition, identify a turning working condition of the vehicle in combination with the current positioning data of the vehicle and the road condition data, and match a corresponding reminding level according to the turning working condition and the road condition data, so as to perform curve passing reminding according to the reminding level.

[0104] Optionally, in an embodiment of the present application, the road condition data comprises at least one of lane line information, traffic signal lamp information, ground traffic sign information and traffic identification information of the road ahead.

[0105] Optionally, in an embodiment of the present application, the second reminding module 400 comprises a first judgment unit, a first reminding unit and a second reminding unit.

[0106] The first judgment unit is configured to determine whether the vehicle meets a preset signal lamp passing condition according to the traffic signal lamp information and the lane line information.

[0107] The first reminding unit is configured to, in the case that the vehicle does not meet the preset signal lamp passing condition, generate a stopping reminding, and otherwise, identify a current driving lane type of the vehicle in combination with the ground traffic sign information and the traffic regulation information, and determine whether the turn signal state is consistent with the current driving lane type.

[0108] The second reminding unit is configured to, in the case that the turn signal state is consistent with the current driving lane type, determine that the vehicle meets the preset passing condition, and otherwise, generate a turning error reminding.

[0109] Optionally, in an embodiment of the present application, the judging module 200 comprises a second judging unit and a third judging unit.

[0110] The second judging unit is configured to determine whether the distance between the vehicle and the intersection is less than a preset threshold based on the lane line information, and identify the current driving lane of the vehicle according to the road condition data and the current positioning data if the distance is less than the preset threshold.

[0111] The third judging unit is configured to determine whether the current driving lane is a turning lane based on the ground traffic sign information, and determine that the vehicle is in the preset curve passing condition if the current driving lane is the turning lane.

[0112] Optionally, in an embodiment of the present application, the second reminding module 400 is further configured to determine that the turning condition is the U-turn condition if the current driving lane type is the U-turn lane, determine that the turning condition is the U-turn or right-turn condition if the current driving lane type is the U-turn or right-turn lane, and determine that the turning condition is the right-turn or left-turn condition if the current driving lane type is the turning lane.

[0113] Optionally, in an embodiment of the present application, the second reminding module 400 comprises a fourth judging unit, a first generating unit, a second generating unit and a third generating unit.

[0114] The fourth judging unit is configured to determine whether there is a traffic signal at the front intersection based on the road condition data.

[0115] The first generating unit is configured to generate a first-level reminding if there is a traffic signal at the front intersection and the turning condition is the U-turn condition.

[0116] The second generating unit is configured to generate a second-level reminding if there is a traffic signal at the front intersection and the turning condition is the U-turn or right-turn condition.

[0117] The third generating unit is configured to generate a third-level reminding if there is no traffic signal at the front intersection.

[0118] Optionally, in an embodiment of the present application, the reminding module 300 comprises a third reminding unit, a fourth reminding unit and a fifth reminding unit.

[0119] The third reminding unit is configured to not perform the curve passing reminding if the reminding level is the first-level reminding.

[0120] The fourth reminding unit is configured to perform the curve passing reminding by using at least one visual reminding device if the reminding level is the second-level reminding.

[0121] The fifth reminding unit is configured to remind the driver to drive safely in the curve in the case that the reminding level is the third reminding.

[0122] It should be noted that the above description of the reminding method for the vehicle driving in the curve is also applicable to the reminding device for the vehicle driving in the curve, and thus will not be repeated here.

[0123] The reminding device for the vehicle driving in the curve provided by the embodiments of the present application can obtain the road condition data of the front road according to the image data, and in the case that the front road includes a road intersection, the vehicle driving in the curve is judged in combination with the current positioning data and the road condition data of the vehicle, the safe driving route of the vehicle is planned in the case that the vehicle is not in the preset driving condition in the curve, and in the case that the vehicle is in the preset driving condition in the curve, it is determined whether the vehicle meets the preset driving condition, so that in the case that the vehicle meets the preset driving condition, the corresponding reminding level is matched according to the steering condition and the road condition data of the vehicle, and the reminding in the curve is performed according to the reminding level, so as to provide the corresponding driving assistance reminding for the driver in the case that the traffic environment is relatively complex, thereby reducing the tension of the driver in the complex environment, helping the driver to form good driving habits, reducing the probability of driving error operation, improving the driving safety of the vehicle, and further improving the driving experience of the driver. Thus, the technical problem in the related art that the driver cannot be provided with driving guidance and the driver is prone to error operation due to lack of driving experience or unfamiliarity with traffic rules in a complex road environment, and there is a great safety risk, is solved.

[0124] Figure 7 The vehicle provided by the embodiments of the present application is shown in the structural schematic diagram. The vehicle can include:

[0125] The memory 701, the processor 702 and the computer program stored in the memory 701 and executable on the processor 702.

[0126] The processor 702 implements the reminding method for the vehicle driving in the curve provided in the above embodiments when executing the program.

[0127] Further, the vehicle further includes:

[0128] The communication interface 703 is configured to communicate between the memory 701 and the processor 702.

[0129] The memory 701 is configured to store the computer program executable on the processor 702.

[0130] The memory 701 can include a high-speed RAM memory, and can also include a non-volatile memory, for example, at least one disk memory.

[0131] If the memory 701, the processor 702 and the communication interface 703 are implemented independently, the communication interface 703, the memory 701 and the processor 702 can be connected with each other through a bus and complete communication between each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For convenience of representation, Figure 7 In the figure, only one thick line is used to represent the bus, but it does not mean that there is only one bus or only one type of bus.

[0132] Optionally, in a specific implementation, if the memory 701, the processor 702 and the communication interface 703 are integrated on a chip, the memory 701, the processor 702 and the communication interface 703 can complete communication between each other through an internal interface.

[0133] The processor 702 can be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0134] The embodiment also provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the above-mentioned method for reminding a vehicle to pass a curve.

[0135] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0136] Moreover, the terms "first", "second", "third", etc. are used herein only to describe different steps or claims and do not imply a relative importance or a specific order of steps. Thus, a feature defined with "first", "second", etc. can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "N" is at least two, for example, two, three, etc., unless explicitly specifically defined otherwise.

[0137] Any process or method descriptions or descriptions of the flow diagrams described herein, or otherwise described herein, can be understood as representing at least one of the steps of a method implemented with one or more computers, as well as any other suitable process, such as a data process or an artificial intelligence process, whether or not such process is implemented with one or more computers. The embodiments of the present application contemplate any such process, whether or not such process is implemented with one or more computers.

[0138] Logic and / or steps represented in flow diagrams or otherwise described herein, for example, can be considered a list of executable instructions for implementing the logic function, and can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor- based system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection having one or more wires (electrical apparatus), a portable computer diskette (magnetic apparatus), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber (optical apparatus), and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium can even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via the optical scan of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and then stored in the computer memory.

[0139] It should be understood that portions of the application can be realized with a combination of hardware, software, firmware, or their combination. In the above-described embodiments, the N steps or methods can be realized with software or firmware stored in a memory and executed by a suitable instruction execution system. As in another embodiment, if realized with hardware, any one or their combination of the following technologies known in the art can be used: discrete logic circuit with logic gate circuit for implementing logic functions on data signals, application specific integrated circuit with suitable combination logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA), etc.

[0140] Those skilled in the art of the present technology can understand that all or part of the steps carried out by the above-mentioned embodiment method can be completed by a program instructing the relevant hardware, and the program can be stored in a computer readable storage medium. When the program is executed, it includes one of the steps of the method embodiment or a combination thereof.

[0141] In addition, each functional unit in each embodiment of the present application can be integrated into one processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above-mentioned integrated module can be realized in the form of hardware or in the form of a software functional module. When the integrated module is realized in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0142] The above-mentioned storage medium can be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the present application.

Claims

1. A method for reminding vehicles to proceed on curves, characterized in that, The method comprises the following steps: acquiring image data of a front road of a vehicle, and obtaining road condition data of the front road according to the image data; judging whether the front road comprises an intersection based on the road condition data, and in the case that the front road comprises an intersection, judging whether the vehicle meets a preset curved road passing condition in combination with current positioning data of the vehicle and the road condition data; in the case that the vehicle does not meet the preset curved road passing condition, acquiring a planned path of the vehicle, obtaining a turning plan of the vehicle at a next intersection based on the planned path, and controlling the vehicle to perform corresponding lane changing reminding in combination with the turning plan and the road condition data; in the case that the vehicle meets the preset curved road passing condition, acquiring a turn signal state of the vehicle and traffic regulation information of the front road, judging whether the vehicle meets a preset passing condition, and in the case that the vehicle meets the preset passing condition, identifying a turning condition of the vehicle in combination with the current positioning data of the vehicle and the road condition data, and matching a corresponding reminding level according to the turning condition and the road condition data to perform curved road passing reminding according to the reminding level.

2. The method of claim 1, wherein, The road condition data comprises at least one of lane line information, traffic signal lamp information, ground traffic sign information and traffic identification information of the front road.

3. The method of claim 2, wherein, The judging whether the vehicle meets the preset passing condition comprises: judging whether the vehicle meets a preset signal lamp passing condition according to the traffic signal lamp information and the lane line information; if the vehicle does not meet the preset signal lamp passing condition, generating a stop reminding, otherwise, identifying a current driving lane type of the vehicle in combination with the ground traffic sign information and the traffic regulation information, and judging whether the turn signal state and the current driving lane type are consistent; if the turn signal state and the current driving lane type are consistent, it is determined that the vehicle meets the preset passing condition, otherwise, generating a turning error reminding.

4. The method of claim 2, wherein, The judging whether the vehicle meets the preset curved road passing condition in combination with the current positioning data of the vehicle and the road condition data comprises: judging whether a distance between the vehicle and the intersection is less than a preset threshold based on the lane line information, and in the case that the distance is less than the preset threshold, identifying a current driving lane of the vehicle according to the road condition data and the current positioning data; judging whether the current driving lane is a turning lane according to the ground traffic sign information, and in the case that the current driving lane is the turning lane, determining that the vehicle is in the preset curved road passing condition.

5. The method of claim 3, wherein, The identifying the turning condition of the vehicle comprises: if the current driving lane type is a U-turn lane, the turning condition is a U-turn condition; if the current driving lane type is a U-turn or right-turn lane, the turning condition is a U-turn or right-turn condition; if the current driving lane type is a turning lane, the turning condition is a right-turn or left-turn condition.

6. The method of claim 5, wherein, The matching the corresponding reminding level according to the turning condition and the road condition data comprises: determining whether a traffic signal exists at a front intersection based on the road condition data; generating a first-level reminder if the traffic signal exists at the front intersection and the turning condition is the U-turn condition; generating a second-level reminder if the traffic signal exists at the front intersection and the turning condition is the U-turn or right-turn condition; generating a third-level reminder if the traffic signal does not exist at the front intersection.

7. The method of claim 6, wherein, The curve passing reminder according to the reminder level comprises: not performing the curve passing reminder if the reminder level is the first-level reminder; performing the curve passing reminder by using at least one visual reminder device if the reminder level is the second-level reminder; performing the curve passing reminder by using at least one visual reminder device and at least one audible reminder device if the reminder level is the third-level reminder.

8. A device for alerting a driver of a vehicle of an approaching curve, characterized in that The method comprises: a collection module configured to collect image data of a front road of a vehicle and obtain road condition data of the front road according to the image data; a determination module configured to determine whether the front road comprises an intersection based on the road condition data, and determine whether the vehicle meets a preset curve passing condition in combination with current positioning data of the vehicle and the road condition data if the front road comprises the intersection; a first reminder module configured to obtain a planned path of the vehicle if the vehicle does not meet the preset curve passing condition, obtain a turning plan of the vehicle at a next intersection based on the planned path, and control the vehicle to perform a corresponding lane changing reminder in combination with the turning plan and the road condition data; a second reminder module configured to obtain a turning light state of the vehicle and traffic regulation information of the front road if the vehicle meets the preset curve passing condition, determine whether the vehicle meets a preset passing condition, identify a turning condition of the vehicle in combination with current positioning data of the vehicle and the road condition data if the vehicle meets the preset passing condition, and match a corresponding reminder level according to the turning condition and the road condition data to perform a curve passing reminder according to the reminder level.

9. A vehicle characterized by comprising: The method comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the reminder method for vehicle curve passing according to any one of claims 1-7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the reminder method for vehicle curve passing according to any one of claims 1-7.

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