Warning method and device based on emergency lane occupation and electronic equipment

Abstract

The invention provides a warning method and device based on emergency lane occupation and electronic equipment, and relates to the field of automatic driving. The method comprises the steps of detecting whether a target vehicle is located in an emergency lane; under the condition that the target vehicle is located in the emergency lane, behavior states of the target vehicle in the emergency lane and traffic information of a road where the emergency lane is located are obtained, and the behavior states comprise a driving state and a parking state; based on the behavior state and the traffic information, determining the type and sending time of target warning information matched with the behavior state and the traffic information; and sending the target warning information based on the type and the sending time of the target warning information. According to the invention, whether the target vehicle illegally occupies the emergency lane can be monitored and automatically detected in real time, and the discovery rate and the processing speed of the emergency lane violation behavior are improved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and specifically to a warning method and device, and electronic equipment based on emergency lane occupancy. Background Art

[0002] The road driving environment often faces high-speed traffic jams during peak travel periods. Some drivers may accidentally or intentionally drive into the emergency lane. Especially in non-emergency situations, driving or parking in the emergency lane can easily cause traffic accidents and delay emergency rescue. However, existing smart vehicles lack solutions to related technical problems. Summary of the invention

[0003] In view of this, an embodiment of the present application provides a warning method and device, and an electronic device based on emergency lane occupancy.

[0004] In the first aspect, an embodiment of the present application provides a warning method based on emergency lane occupancy, including: detecting whether a target vehicle is located in the emergency lane; when the target vehicle is located in the emergency lane, obtaining the behavior status of the target vehicle in the emergency lane and the traffic information of the road where the emergency lane is located, the behavior status including the driving status and the parking status; based on the behavior status and the traffic information, determining the type and sending time of target warning information that matches the behavior status and the traffic information; and sending the target warning information based on the type and sending time of the target warning information.

[0005] In combination with the first aspect, in certain implementations of the first aspect, detecting whether the target vehicle is located in the emergency lane includes: with the target vehicle's driving direction as a reference, detecting whether the first lane line and the second lane line on the left side of the target vehicle are solid lines, wherein the first lane line represents the lane line on the left side that is closest to the target vehicle, and the second lane line represents the lane line on the left side that is second closest to the target vehicle; obtaining the distance between the target vehicle and the right side edge of the road; detecting whether the third lane line on the right side of the target vehicle exists, wherein the third lane line represents the lane line on the right side that is second closest to the target vehicle; if the first lane line and the second lane line are both solid lines, the distance between the target vehicle and the right side edge of the road is less than a preset distance threshold, and the third lane line does not exist, then it is determined that the target vehicle is located in the emergency lane.

[0006] In combination with the first aspect, in certain implementations of the first aspect, the behavior status of the target vehicle in the emergency lane and the traffic information of the road where the emergency lane is located are obtained, including: detecting whether the turn signal of the target vehicle is in an activated state, and whether the hazard warning light is in an on state; if the turn signal is not in an activated state, and the hazard warning light is not in an on state, then obtaining the behavior status of the target vehicle in the emergency lane, the duration of the target vehicle in the behavior status, and the traffic information of the road where the emergency lane is located.

[0007] In combination with the first aspect, in certain implementations of the first aspect, based on the behavior status and traffic information, the type and sending time of the target warning information matching the behavior status and traffic information are determined, including: if the behavior status is a driving status and the traffic information indicates road congestion, then the type of the target warning information is determined to be a first warning information, and the sending time is after the target vehicle has been in a driving status for a first time; if the behavior status is a driving status and the traffic information indicates that the road is not congested, then the type of the target warning information is determined to be a second warning information, and the sending time is after the target vehicle has been in a driving status for a second time; wherein, the first time is greater than the second time, and the first warning information and the second warning information are used to remind the driver not to occupy the emergency lane for more than a specific period of time.

[0008] In combination with the first aspect, in certain implementations of the first aspect, based on the behavior status and traffic information, the type and sending time of the target warning information that matches the behavior status and traffic information are determined, including: if the behavior status is a parked state and the traffic information indicates road congestion, then the type of the target warning information is determined to be a third warning information, and the sending time is after the target vehicle has been in the parked state for a third period of time; if the behavior status is a parked state and the traffic information indicates that the road is not congested, then the type of the target warning information is determined to be a fourth warning information, and the sending time is immediate sending, wherein the third warning information and the fourth warning information are used to remind the driver to pay attention to safety when parking in the emergency lane.

[0009] In combination with the first aspect, in certain implementations of the first aspect, the method also includes: when the behavior state of the target vehicle in the emergency lane is a parked state, and the traffic information of the road where the emergency lane is located indicates that the road is not congested, starting the auxiliary function to prompt the driver to turn on the hazard warning lights.

[0010] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: obtaining the driver's status data if the driver does not respond within a preset time; and automatically issuing an alarm if it is determined that the driver's physiology and / or behavior is abnormal based on the driver's status data.

[0011] In the second aspect, an embodiment of the present application provides a warning device based on emergency lane occupancy, including: a detection module, used to detect whether the target vehicle is located in the emergency lane; an acquisition module, used to obtain the behavior status of the target vehicle in the emergency lane and the traffic information of the road where the emergency lane is located when the target vehicle is located in the emergency lane; a determination module, used to determine the type and sending time of target warning information that matches the behavior status and traffic information based on the behavior status and traffic information; a sending module, used to send the target warning information based on the type and sending time of the target warning information.

[0012] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and the computer program is used to execute the warning method based on emergency lane occupancy described in the first aspect.

[0013] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising: a processor; a memory for storing instructions executable by the processor; the processor is used to execute the warning method based on emergency lane occupancy described in the first aspect.

[0014] This application can monitor in real time and automatically detect whether the target vehicle illegally occupies the emergency lane, which improves the detection rate and processing speed of emergency lane violations. Secondly, this solution can conduct a comprehensive and real-time analysis of traffic conditions, improving the level of intelligent traffic management. When illegal occupation of the emergency lane is detected, a warning message is sent so that timely measures can be taken to correct the violation, ensure the smooth flow of the emergency lane, and improve road safety and emergency rescue efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0016] Figure 1 The figure is a flow chart of a warning method based on emergency lane occupancy provided in one embodiment of the present application.

[0017] Figure 2 The figure is a schematic diagram of a process for detecting whether a target vehicle is located in an emergency lane provided by an embodiment of the present application.

[0018] Figure 3 Shown is a schematic diagram of a target vehicle traveling at high speed provided by an embodiment of the present application.

[0019] Figure 4 The figure is a schematic diagram of a process for obtaining relevant status of a target vehicle provided in one embodiment of the present application.

[0020] Figure 5 The figure is a schematic diagram of the process of sending warning information provided by an embodiment of the present application.

[0021] Figure 6 The figure is a schematic diagram of a process of sending a warning message provided by another embodiment of the present application.

[0022] Figure 7Shown is a schematic diagram of the structure of an emergency lane occupancy warning system provided in one embodiment of the present application.

[0023] Figure 8 Shown is a schematic structural diagram of a warning device provided in one embodiment of the present application.

[0024] Fig. 9 Shown is a schematic structural diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] Figure 1 FIG. 2 is a flow chart of a warning method based on emergency lane occupancy provided by an embodiment of the present application. Figure 1 As shown, the method includes the following steps.

[0027] Step S110, detecting whether the target vehicle is located in the emergency lane.

[0028] In some embodiments, cameras are installed along the highway, so the target vehicle can obtain images captured by the cameras and use image recognition technology to identify whether the target vehicle is in the emergency lane.

[0029] In some embodiments, the target vehicle can detect whether it is in the emergency lane through built-in sensors and algorithms. Specifically, the vehicle's GPS (Global Positioning System) is first used to determine the precise location of the target vehicle, and compared with the digital map data of the road to identify whether the target vehicle is in the predetermined area of ​​the emergency lane. At the same time, the camera and image recognition software equipped by the target vehicle are used to analyze the road sidelines and traffic signs to assist in the judgment.

[0030] Step S120, when the target vehicle is located in the emergency lane, the behavior state of the target vehicle in the emergency lane and the traffic information of the road where the emergency lane is located are obtained.

[0031] For example, the behavior status of the target vehicle in the emergency lane includes the target vehicle parking, driving, whether there are people getting off the vehicle, etc. in the emergency lane, and this information can be monitored and recorded in real time by the chassis system of the target vehicle. For example, the traffic information of the road where the emergency lane is located includes traffic flow, speed, traffic accidents, congestion, weather conditions, etc., and this information can be obtained through road monitoring cameras, sensors, GPS data and HD Map (High Definition Map).

[0032] Step S130: Based on the behavior status and traffic information, determine the type and sending time of target warning information matching the behavior status and traffic information.

[0033] Specifically, the type of target warning information refers to a type of warning information classified according to behavior status and traffic information, and is used to characterize the warning level of emergency lane occupancy in different situations, and the warning level indicates the urgency of the warning information.

[0034] Further, taking urgency as an example, if the target vehicle is parked and the traffic information is not congested, for example, there are no other vehicles around or there are fewer than the target number of vehicles around, the type of target warning information is relatively mild, such as "Please start the vehicle as soon as possible and leave the emergency lane" to avoid unnecessary panic. If the target vehicle is parked, but the traffic information is congested, or there are other vehicles around that are making emergency avoidance, the type of target warning information is relatively urgent, such as "Please leave the emergency lane immediately to avoid danger" to remind other drivers to pay attention and avoid possible collisions.

[0035] Specifically, the sending time is the time for sending the target warning information, which is set according to the behavior state and traffic information to determine when to send the warning information. For example, if the target vehicle is in a driving state and the traffic information is congested, the delay time of the sending time is longer. This is because in a congested situation, even if the driver realizes that he needs to leave the emergency lane, he cannot act immediately due to the traffic conditions. Therefore, a slightly longer time is used for buffering. For example, if the behavior state is a parking state and the traffic information is congested, the delay time of the sending time is also longer. This is because the driver needs to be given enough time to react so that he can safely leave the emergency lane.

[0036] Optionally, the correspondence between the behavior status, traffic information and the sending time may be pre-stored; and the sending time may be determined based on the pre-stored correspondence between the behavior status, traffic information and the sending time.

[0037] Step S140: Send the target warning information based on the type and sending time of the target warning information.

[0038] This application can monitor in real time and automatically detect whether the target vehicle illegally occupies the emergency lane, which improves the detection rate and processing speed of emergency lane violations. Secondly, this solution can conduct a comprehensive and real-time analysis of traffic conditions, improving the level of intelligent traffic management. When illegal occupation of the emergency lane is detected, a warning message is sent so that timely measures can be taken to correct the violation, ensure the smooth flow of the emergency lane, and improve road safety and emergency rescue efficiency.

[0039] Figure 2 The figure shows a flow chart of detecting whether a target vehicle is located in an emergency lane according to an embodiment of the present application. Figure 1 Based on the embodiment shown, Figure 2 The embodiment shown is described below in detail. Figure 2 The embodiment shown and Figure 1 The differences and similarities of the illustrated embodiments are not described in detail.

[0040] like Figure 2 As shown, in this embodiment, detecting whether the target vehicle is located in the emergency lane includes the following steps.

[0041] Step S210, with the driving direction of the target vehicle as a reference, detecting whether the first lane line and the second lane line on the left side of the target vehicle are solid lines.

[0042] In some embodiments, using the target vehicle's driving direction as a reference means that when judging the left and right sides of the target vehicle and whether it is located in the emergency lane, the lane line is identified and judged based on the target vehicle's forward direction.

[0043] Specifically, the first lane line represents the lane line closest to the target vehicle on the left, and the second lane line represents the lane line next closest to the target vehicle on the left. Figure 3 FIG. 1 is a schematic diagram of a target vehicle provided by an embodiment of the present application traveling at a high speed. Figure 3 It can be seen from the figure that there is a relationship between the first lane line, the second lane line and the driving direction of the target vehicle.

[0044] In some embodiments, the target vehicle is positioned using computer vision technology through a road image captured by a high-definition camera equipped on the body of the target vehicle to determine its position in the lane. Then, an edge detection algorithm, such as the Canny algorithm or the Sobel algorithm, is used to identify high-contrast edges in the road image and separate the lane line from the road background. After the lane line is identified, the pixel position of the target vehicle in the road image and the pixel position of the lane line in the road image are compared to determine which lane line is closest to the target vehicle and which is the second closest.

[0045] Further, the detected lane line features are analyzed. It can be understood that the main difference between solid lines and dashed lines is their continuity and spacing pattern. Specifically, a solid line appears as a continuous straight line in a road image without obvious intervals, while a dashed line consists of a series of discontinuous short line segments. Therefore, in this embodiment, by measuring the width of the lane line, the continuity of the color intensity, and the intervals between the line segments, it can be determined whether the lane line is a solid line or a dashed line. Among them, the solid line has a uniform color intensity and a wider line width, while the dashed line has a narrower line width and the color intensity will vary significantly in the interval.

[0046] Step S220, obtaining the distance between the target vehicle and the right road edge.

[0047] For example, the target vehicle captures an image of the road edge through a camera mounted on the right side of the vehicle body, and further analyzes the image to identify features of the road edge, such as road markings, physical boundaries of the roadside, or other visual clues. Then, the exact position of the target vehicle relative to the road edge is determined by combining the lidar sensor data and the image recognition results.

[0048] In some embodiments, the target vehicle may also use GPS and high-precision map data to assist in determining the precise location of the target vehicle on the road, thereby more accurately identifying the right side of the road edge.

[0049] In some embodiments, the target vehicle can also use machine learning or deep learning algorithms, such as convolutional neural networks, to identify the target vehicle and the right road edge and directly predict the distance between them. These algorithms can be trained to learn the features of the vehicle and the road edge in the image, as well as the relative position relationship between them.

[0050] Through the above method, the distance between the target vehicle and the right road edge can be accurately obtained, which is crucial for determining whether the target vehicle is illegally parked in the emergency lane or is too close to the road edge, which may affect the safety of other vehicles and pedestrians.

[0051] Step S230, detecting whether there is a third lane line on the right side of the target vehicle.

[0052] The third lane line indicates the lane line on the right side that is the closest to the target vehicle. It is understandable that the emergency lane is located on the far right side of the road. If the target vehicle is already in the emergency lane, there will be no other lanes on the right side of the target vehicle. At this time, there will be no third lane line on the right side that is the closest to the target vehicle. On the contrary, if the third lane line on the right side that is the closest to the target vehicle exists, it means that there is another lane on the right side of the current lane where the target vehicle is located, which also proves that the target vehicle is not parked in the emergency lane.

[0053] In some embodiments, an edge detection algorithm is further applied to identify edges in the road image. Then, straight line segments are identified from the detected edges by methods such as Hough transform, and these straight line segments represent possible lane lines. After determining the position of the target vehicle in the lane, by analyzing the geometric relationship of the lane lines, it is determined whether a third lane line on the right side of the target vehicle exists.

[0054] Step S240: If the first lane line and the second lane line are both solid lines, the distance between the target vehicle and the right road edge is less than a preset distance threshold, and the third lane line does not exist, it is determined that the target vehicle is located in the emergency lane.

[0055] Specifically, if the first lane line and the second lane line on the left side of the target vehicle are both solid lines, this indicates that lane changes are not allowed at the location of the target vehicle, and there is a lane on the left side of the target vehicle. At the same time, if the distance between the target vehicle and the right edge of the road is less than the preset distance threshold, this means that the target vehicle is very close to the edge of the road and is likely to be partially or completely stopped outside the lane. In addition, if the third lane line does not exist, this means that the target vehicle is already driving in the rightmost lane. In summary, if the target vehicle meets these specific conditions, it is determined that the target vehicle is already in the emergency lane.

[0056] In this embodiment, by checking whether the first and second lane lines are solid lines, it is ensured that the target vehicle is located in a section of the road where lane changes are not allowed. By obtaining the distance between the target vehicle and the right road edge and comparing it with the preset distance threshold, vehicles that are close to the emergency lane but not actually in the emergency lane can be excluded, thereby reducing misjudgments. By confirming that the third lane line does not exist, it can be identified that the target vehicle has exceeded the range of the normal driving lane and is more likely to be parked in the emergency lane. Ultimately, through multi-dimensional analysis, not only the accuracy and efficiency of illegal parking detection are improved, but it also helps to maintain traffic rules and ensure road safety.

[0057] Figure 4 FIG. 1 is a flow chart of obtaining the relevant status of a target vehicle provided by an embodiment of the present application. Figure 1 Based on the embodiment shown, Figure 4 The embodiment shown is described below in detail. Figure 4 The embodiment shown and Figure 1 The differences and similarities of the illustrated embodiments are not described in detail.

[0058] like Figure 4 As shown, in this embodiment, obtaining the behavior state of the target vehicle in the emergency lane, the duration of the target vehicle in the behavior state, and the traffic information of the road where the emergency lane is located includes the following steps.

[0059] Step S410, detecting whether the turn signal lights of the target vehicle are activated and whether the hazard warning lights are turned on.

[0060] Turn signals are signal lights used by the target vehicle when turning or changing lanes to indicate the vehicle's driving intention to other road users. Hazard warning lights, also known as double flash lights or emergency flashers, are usually used when the target vehicle encounters an emergency, breaks down, stops, or performs maintenance work on the road. Their role is to alert other road users to the presence of the vehicle to reduce the risk of accidents.

[0061] Exemplarily, in this embodiment, the activation state of the turn signal lamp and the turn-on state of the hazard warning lamp are detected by the vehicle body light.

[0062] Step S420: If the turn signal is not activated and the hazard warning light is not turned on, the behavior status of the target vehicle in the emergency lane and the traffic information of the road where the emergency lane is located are obtained.

[0063] It is understandable that when these lights are activated or turned on, the target vehicle is considered to be in a state that requires special attention, for example, the target vehicle may be preparing to change lanes, turn, stop, or has encountered an emergency. Specifically, when the turn signal is activated, it means that the vehicle driver intends to change the direction of travel, and the target vehicle may be leaving the emergency lane. At this time, there is no need to further obtain the relevant status of the target vehicle and issue a warning. The turning on of the hazard warning lights indicates that the target vehicle is in other emergency situations, alerting other road users. In this case, the target vehicle is allowed to be in the emergency lane to deal with emergencies, that is, the target vehicle has a legal reason to use the emergency lane. Therefore, the present application is to further obtain the behavior status of the target vehicle in the emergency lane and the traffic information of the road where the emergency lane is located when the turn signal of the target vehicle is not activated and the hazard warning lights are not turned on, and send warning information based on this information.

[0064] In summary, this embodiment can determine whether the target vehicle is in a normal driving intention or an emergency situation by detecting the status of the turn signal and the hazard warning light. If these lights are activated, it means that the target vehicle may be performing a legal operation, and no warning will be issued immediately. If it is confirmed that both the turn signal and the hazard warning light are not activated, the target vehicle has no obvious legal reason to stay in the emergency lane. At this time, the behavior status of the target vehicle will be further analyzed so as to send warning information in time, reduce traffic congestion and potential safety risks caused by the target vehicle illegally occupying the emergency lane, and also improve the availability of the emergency lane.

[0065] Figure 5 The figure is a schematic diagram of the process of sending warning information provided by an embodiment of the present application. Figure 1 Based on the embodiment shown, Figure 5 The embodiment shown is described below in detail. Figure 5 The embodiment shown and Figure 1 The differences and similarities of the illustrated embodiments are not described in detail.

[0066] like Figure 5 As shown, in this embodiment, based on the behavior state and traffic information, determining the type and sending time of the target warning information matching the behavior state and traffic information includes the following steps.

[0067] Step S510: If the behavior state is the driving state and the traffic information indicates road congestion, the type of the target warning information is determined to be the first warning information and the sending time is after the target vehicle is in the driving state for the first time.

[0068] In some embodiments, if the traffic information shows that the road is congested, it means that the driving of the target vehicle in the emergency lane will affect emergency rescue or road clearing, so measures need to be taken.

[0069] In this case, the type of the target warning information is determined to be the first warning information, and the sending time is after the target vehicle has been in driving state for a first time. This first time period is preset, such as 1 minute, to determine whether the target vehicle is only temporarily using the emergency lane. If the target vehicle does not leave the emergency lane during this period, it will be considered that the target vehicle is illegally occupying the emergency lane or is unaware of the potential impact of its behavior on traffic.

[0070] In some embodiments, the purpose of sending the first warning message is to remind the driver of the target vehicle not to occupy the emergency lane for more than a certain period of time. In this way, it helps to maintain the safety and smoothness of the road, especially in traffic congestion, to ensure that the emergency lane can be used by emergency rescue vehicles. At the same time, it also helps to improve the driver's awareness and compliance with traffic rules, and reduce traffic accidents or delays in emergency rescue caused by illegal occupation of the emergency lane.

[0071] Step S520: If the behavior state is the driving state and the traffic information indicates that the road is not congested, the type of the target warning information is determined to be the second warning information, and the sending time is after the target vehicle is in the driving state for a second time.

[0072] In some embodiments, when the traffic information of the road where the emergency lane is located shows that the road is not congested, it means that the current demand for the emergency lane is low, but it is still necessary to manage the use of the emergency lane by the target vehicle to prevent abuse and ensure that the emergency lane can be unobstructed when necessary. In this case, the target vehicle is allowed to travel in the emergency lane for a shorter period of time (i.e., the second time), and this second time is shorter than the first time. This setting reflects that when traffic is smooth, there should be stricter restrictions on the behavior of occupying the emergency lane.

[0073] In some embodiments, the purpose of the second warning message is to remind the driver not to occupy the emergency lane for more than a certain period of time, especially when traffic is not congested. Such warnings help cultivate good driving habits of the driver while ensuring the availability of the emergency lane.

[0074] In this embodiment, by distinguishing between traffic congestion and non-congestion, and setting different types of warning information and sending time, it is helpful to manage the use of emergency lanes more finely. This differentiated management method can not only improve the efficiency of road use, but also keep the emergency lanes unobstructed under different traffic conditions, ensuring rapid response in various situations. At the same time, this also helps to reduce traffic accidents that may be caused by illegal occupation of emergency lanes.

[0075] Figure 6 The figure is a schematic diagram of a process of sending a warning message provided by another embodiment of the present application. Figure 1 Based on the embodiment shown, Figure 6 The embodiment shown is described below in detail. Figure 6 The embodiment shown and Figure 1 The differences and similarities of the illustrated embodiments are not described in detail.

[0076] like Figure 6 As shown, in this embodiment, based on the behavior state and traffic information, determining the type and sending time of the target warning information matching the behavior state and traffic information includes the following steps.

[0077] Step S610: If the behavior state is the parking state and the traffic information indicates road congestion, the type of the target warning information is determined to be the third warning information and the sending time is after the target vehicle is in the parking state for a third period of time.

[0078] Step S610 is to manage the target vehicle parked in the emergency lane in the case of traffic congestion. Specifically, when the traffic information of the road where the emergency lane is located shows a congested state, it means that all lanes are being fully utilized. At this time, any non-emergency parking may aggravate the congestion and hinder the passage of emergency rescue vehicles. In this case, the sending time of the third warning message is determined to be after the target vehicle has been in the parked state for a third time. The purpose of this warning message is to remind the driver to pay attention to driving safety when parking in the emergency lane. That is, in the emergency lane, it is not allowed to park for a long time without reason, especially when the traffic is already congested. Such warnings help reduce potential safety risks and traffic delays caused by illegal occupation of the emergency lane.

[0079] In this way, not only the efficiency of the emergency lane is improved, ensuring that rescue vehicles can pass unimpeded in an emergency, but also the overall road safety is improved. At the same time, it also reflects the adaptability and flexibility to different traffic conditions.

[0080] Step S620: If the behavior state is the parking state and the traffic information indicates that the road is not congested, the type of the target warning information is determined to be the fourth warning information and the sending time is determined to be immediate sending.

[0081] Step S620 is to manage the target vehicle parked in the emergency lane when the traffic is not congested. Specifically, when the traffic information of the road where the emergency lane is located shows that the road is not congested, it means that the road's traffic capacity has not yet reached saturation, and the use of the emergency lane still needs to be strictly controlled. In this case, the fourth warning message will be sent immediately to the target vehicle parked in the emergency lane.

[0082] It can be seen that compared with step S610, step S620 does not need to wait for the target vehicle to remain in the parked state for a specific preset time threshold, but once the target vehicle is found to be parked in the emergency lane under non-congested conditions, a warning will be issued immediately. This design is intended to remind drivers in a timely manner that they must not occupy the emergency lane at will even when the traffic flow is small. At the same time, this immediate warning helps to improve drivers' awareness of the importance of the emergency lane, reduce safety risks that may be caused by improper parking, and also help maintain orderly traffic on the road and improve the overall safety of the road.

[0083] Combination Figure 1 In the illustrated embodiment, in other embodiments of the present application, the method further includes: when the behavior state of the target vehicle in the emergency lane is a parked state, and when the traffic information of the road where the emergency lane is located indicates that the road is not congested, the auxiliary function is started to prompt the driver to turn on the hazard warning lights.

[0084] In some embodiments, due to the low traffic volume, the target vehicle parked in the emergency lane may not immediately affect traffic, but there is still a potential safety risk. Therefore, when the target vehicle is detected to be parked, the auxiliary function is automatically activated to prompt the driver to turn on the hazard warning lights. For example, this prompt can be a flashing hazard warning light icon on the dashboard, or a voice prompt from the vehicle voice system, informing the driver that the hazard warning lights should be used in accordance with regulations when parking in the emergency lane.

[0085] Understandably, such assistance functions help to remind drivers who may have to stop in the emergency lane due to emergency situations or vehicle failures that they should take necessary safety measures even in non-congested traffic to alert other road users of their vehicle's position, thereby reducing the risk of traffic accidents. At the same time, this also helps to improve drivers' awareness and compliance with traffic rules and promote road traffic safety.

[0086] In some other embodiments of the present application, the method further includes: obtaining the driver's status data if the driver does not respond within a preset time; and automatically issuing an alarm if the driver's physiology and / or behavior is determined to be abnormal based on the driver's status data.

[0087] Exemplarily, the driver's status data includes the driver's physiological data (such as heart rate, breathing rate, etc.) and behavioral data (such as driving behavior, reaction time, etc.).

[0088] For example, the driver's physiological and behavioral status can be monitored in real time through on-board sensors and monitoring equipment. For example, the driver's grip strength and grip time can be monitored through sensors on the steering wheel, the driver's facial expressions and eye closure frequency can be monitored through facial recognition cameras, and the driver's operating behavior can be monitored through motion sensors of the target vehicle.

[0089] If the driver is judged to have physiological abnormalities (such as health emergencies) or behavioral abnormalities (such as fatigue driving, inattention) based on the collected data, an automatic alarm mechanism will be triggered. The automatic alarm can be an alarm sounding inside the vehicle to alert the driver; it can also be notifying the traffic management center or emergency rescue services of the emergency so that they can respond in time and provide necessary assistance.

[0090] In summary, the solution in this embodiment can provide additional safety protection when the driver is unable to respond on his own or cannot drive safely. Through real-time monitoring and automatic alarm, traffic accidents caused by driver health problems or fatigue driving can be effectively prevented, improving road safety. At the same time, it also reflects the advancement and initiative of the intelligent transportation system in improving driving safety.

[0091] Figure 7 FIG. 2 is a schematic diagram of the structure of an emergency lane occupancy warning system provided by an embodiment of the present application. Figure 7 As shown, the system relies on multiple automotive subsystems and sensors to provide the necessary data to ensure the correct execution of its functions. Specifically, the front camera is responsible for capturing lane line information and the lateral distance between the road edge and the target vehicle in order to determine whether the target vehicle is traveling in the emergency lane. The front radar provides information on the road edge and guardrail to understand the position of the target vehicle relative to the road. The map system, including SD Map (Standard Definition Map) and HD Map, is used to provide road type information, road congestion information, ramp information, etc., which is very important for evaluating traffic conditions and whether the vehicle should use the emergency lane.

[0092] In addition, the chassis provides the target vehicle's motion status, such as speed and body posture. These data can be used to determine whether the target vehicle is stationary or moving. The body provides the status of the turn signal and hazard warning lights. This information helps the system determine the driver's intentions and the vehicle's behavior. The HMI (Human-Machine Interface) not only provides the system's on / off status, but also receives warning information sent by the alarm module and supports the display of the information to ensure that the driver can receive it in time. The DMS (Driver Monitoring System) and IMS (In-Cabin Monitoring System) monitor the driver's status, including physiological and behavioral characteristics, so that appropriate measures can be taken when abnormalities are detected.

[0093] The entire warning system is designed to achieve accurate monitoring and warning of emergency lane occupation behavior through the collaborative work of these components. When it detects that the target vehicle may illegally occupy the emergency lane, it will analyze the collected data and warn the driver through HM if necessary, or automatically alarm if the driver does not respond. Such a system can improve road safety, reduce traffic accidents caused by illegal occupation of the emergency lane, and provide timely assistance to drivers in emergency situations.

[0094] Combination of the above Figures 1 to 7 , describes in detail the embodiment of the warning method based on emergency lane occupancy of the present application, and the following is combined with Figure 8 , the warning device embodiment of the present application is described in detail. It should be understood that the description of the warning method embodiment based on emergency lane occupancy corresponds to the description of the warning device embodiment, so the part not described in detail can refer to the previous method embodiment.

[0095] Figure 8 The figure is a schematic diagram of the structure of a warning device provided by an embodiment of the present application. Figure 8 As shown, the warning device provided in the embodiment of the present application includes:

[0096] A detection module 810 is used to detect whether the target vehicle is located in the emergency lane;

[0097] The acquisition module 820 is used to acquire the behavior state of the target vehicle in the emergency lane and the traffic information of the road where the emergency lane is located when the target vehicle is located in the emergency lane;

[0098] A determination module 830, for determining, based on the behavior state and the traffic information, the type and sending time of the target warning information matching the behavior state and the traffic information;

[0099] The sending module 840 is used to send the target warning information based on the type and sending time of the target warning information.

[0100] In one embodiment of the present application, the detection module 810 is also used to detect whether the first lane line and the second lane line on the left side of the target vehicle are solid lines, with reference to the driving direction of the target vehicle, wherein the first lane line represents the lane line on the left side that is closest to the target vehicle, and the second lane line represents the lane line on the left side that is second closest to the target vehicle; obtain the distance between the target vehicle and the right side edge of the road; detect whether the third lane line on the right side of the target vehicle exists, wherein the third lane line represents the lane line on the right side that is second closest to the target vehicle; if the first lane line and the second lane line are both solid lines, the distance between the target vehicle and the right side edge of the road is less than a preset distance threshold, and the third lane line does not exist, it is determined that the target vehicle is located in the emergency lane.

[0101] In one embodiment of the present application, the acquisition module 820 is also used to detect whether the turn signal of the target vehicle is in an activated state and whether the hazard warning light is in an on state; if the turn signal is not in an activated state and the hazard warning light is not in an on state, then the behavior status of the target vehicle in the emergency lane, the duration of the target vehicle in the behavior status and the traffic information of the road where the emergency lane is located are obtained.

[0102] In one embodiment of the present application, the determination module 830 is also used to determine the type and sending time of the target warning information that matches the behavior status and traffic information based on the behavior status and traffic information, including: if the behavior status is a driving status and the traffic information indicates road congestion, then the type of the target warning information is determined to be a first warning information, and the sending time is after the target vehicle has been in a driving status for a first time; if the behavior status is a driving status and the traffic information indicates that the road is not congested, then the type of the target warning information is determined to be a second warning information, and the sending time is after the target vehicle has been in a driving status for a second time; wherein the first time is greater than the second time, and the first warning information and the second warning information are used to remind the driver not to occupy the emergency lane for more than a specific period of time.

[0103] In one embodiment of the present application, the determination module 830 is also used to, if the behavior state is a parked state and the traffic information indicates road congestion, determine that the type of the target warning information is the third warning information, and the sending time is after the target vehicle has been in the parked state for a third period of time; if the behavior state is a parked state and the traffic information indicates that the road is not congested, determine that the type of the target warning information is the fourth warning information, and the sending time is immediate sending, wherein the third warning information and the fourth warning information are used to remind the driver to pay attention to safety when parking in the emergency lane.

[0104] In one embodiment of the present application, a starting module is also included, which is used to start the auxiliary function to prompt the driver to turn on the hazard warning lights when the behavior state of the target vehicle in the emergency lane is a parked state and the traffic information of the road where the emergency lane is located indicates that the road is not congested.

[0105] In one embodiment of the present application, an alarm module is also included, which is used to obtain the driver's status data when the driver does not respond within a preset time; if the driver's physiological and / or behavioral abnormalities are determined based on the driver's status data, an automatic alarm is issued.

[0106] Below, reference Fig. 9 To describe an electronic device according to an embodiment of the present application. Fig. 9 Shown is a schematic structural diagram of an electronic device provided by an exemplary embodiment of the present application.

[0107] like Fig. 9 As shown, the electronic device 90 includes one or more processors 901 and a memory 902 .

[0108] The processor 901 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 90 to perform desired functions.

[0109] The memory 902 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 901 may run the program instructions to implement the warning method based on emergency lane occupation and / or other desired functions of the various embodiments of the present application described above. Various contents such as the behavior status of the target vehicle in the emergency lane, traffic information of the road where the emergency lane is located, and warning information may also be stored in the computer-readable storage medium.

[0110] In one example, the electronic device 90 may further include: an input device 903 and an output device 904 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0111] The input device 903 may include, for example, a keyboard, a mouse, etc.

[0112] The output device 904 can output various information to the outside, including the behavior status of the target vehicle in the emergency lane, traffic information of the road where the emergency lane is located, warning information, etc. The output device 904 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, etc.

[0113] Of course, to simplify, Fig. 9 Only some of the components related to the present application in the electronic device 90 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 90 may also include any other appropriate components.

[0114] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the warning method based on emergency lane occupancy according to various embodiments of the present application described above in this specification.

[0115] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0116] In addition, an embodiment of the present application may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes the steps of the warning method based on emergency lane occupancy according to various embodiments of the present application described above in this specification.

[0117] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0118] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0119] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0120] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0121] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0122] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A warning method based on emergency lane occupancy, characterized in that: include: Detect whether the target vehicle is in the emergency lane; When the target vehicle is located in the emergency lane, obtaining the behavior state of the target vehicle in the emergency lane and traffic information of the road where the emergency lane is located, wherein the behavior state includes a driving state and a parking state; Based on the behavior state and the traffic information, determining a type and a sending time of target warning information matching the behavior state and the traffic information; The target warning information is sent based on the type and sending time of the target warning information.

2. The warning method based on emergency lane occupation according to claim 1 is characterized in that: The detecting whether the target vehicle is located in the emergency lane includes: Taking the driving direction of the target vehicle as a reference, detecting whether the first lane line and the second lane line on the left side of the target vehicle are solid lines, wherein the first lane line represents the lane line on the left side closest to the target vehicle, and the second lane line represents the lane line on the left side second closest to the target vehicle; Obtaining the distance between the target vehicle and the right road edge; Detecting whether a third lane line exists on the right side of the target vehicle, wherein the third lane line represents a lane line on the right side that is second closest to the target vehicle; If the first lane line and the second lane line are both solid lines, the distance between the target vehicle and the right road edge is less than a preset distance threshold, and the third lane line does not exist, it is determined that the target vehicle is located in the emergency lane.

3. The warning method based on emergency lane occupation according to claim 1 is characterized in that: The obtaining of the behavior state of the target vehicle in the emergency lane and the traffic information of the road where the emergency lane is located includes: Detecting whether the turn signal lights of the target vehicle are activated and whether the hazard warning lights are turned on; If the turn signal lamp is not activated and the hazard warning lamp is not turned on, the behavior state of the target vehicle in the emergency lane and the traffic information of the road where the emergency lane is located are obtained.

4. The warning method based on emergency lane occupation according to any one of claims 1 to 3, characterized in that: The determining, based on the behavior state and the traffic information, the type and sending time of the target warning information matching the behavior state and the traffic information includes: If the behavior state is a driving state and the traffic information indicates road congestion, the type of the target warning information is determined to be a first warning information, and the sending time is when the target vehicle is in the driving state for a first time; If the behavior state is a driving state, and the traffic information indicates that the road is not congested, the type of the target warning information is determined to be a second warning information, and the sending time is when the target vehicle is in the driving state for a second time; The first time is greater than the second time, and the first warning information and the second warning information are used to remind the driver not to occupy the emergency lane for more than a specific period of time.

5. The warning method based on emergency lane occupation according to any one of claims 1 to 3, characterized in that: The determining, based on the behavior state and the traffic information, the type and sending time of the target warning information matching the behavior state and the traffic information includes: If the behavior state is a parking state and the traffic information indicates road congestion, the type of the target warning information is determined to be a third warning information, and the sending time is after the target vehicle has been in the parking state for a third time; If the behavior state is a parking state and the traffic information indicates that the road is not congested, the type of the target warning information is determined to be the fourth warning information and the sending time is instant sending, wherein the third warning information and the fourth warning information are used to remind the driver to pay attention to safety when parking in the emergency lane.

6. The warning method based on emergency lane occupation according to any one of claims 1 to 3, characterized in that: Also includes: When the behavior state of the target vehicle in the emergency lane is a parking state and the traffic information of the road where the emergency lane is located indicates that the road is not congested, the auxiliary function is started to prompt the driver to turn on the hazard warning lights.

7. The warning method based on emergency lane occupation according to claim 6 is characterized in that: Also includes: If the driver does not respond within a preset time, obtaining the driver's status data; If it is determined based on the driver's status data that the driver's physiology and / or behavior is abnormal, an automatic alarm is issued.

8. A warning device based on emergency lane occupancy, characterized in that: include: A detection module, used to detect whether the target vehicle is located in the emergency lane; an acquisition module, for acquiring, when the target vehicle is located in the emergency lane, a behavior state of the target vehicle in the emergency lane and traffic information of the road where the emergency lane is located, wherein the behavior state includes a driving state and a parking state; a determination module, configured to determine, based on the behavior state and the traffic information, a type and a sending time of target warning information matching the behavior state and the traffic information; A sending module is used to send the target warning information based on the type and sending time of the target warning information.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to execute the warning method based on emergency lane occupancy as described in any one of claims 1 to 7 above.

10. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is used to execute the warning method based on emergency lane occupancy as described in any one of claims 1 to 7 above.

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