Speed limit reminding method and device on high-speed main road

Abstract

The invention discloses a speed limit reminding method and device on a high-speed main road, and belongs to the field of safe driving. The method comprises the steps that when a vehicle runs on a highway, the position of a front speed limit board and a speed limit value are recognized through a camera; judging whether the speed limit value is the ramp speed limit or not, and reminding a driver of the corresponding speed limit value when the speed limit value is not the ramp speed limit; when the speed limit value is ramp speed limit, further judging whether a driver intends to get off the ramp or not; when the driver intends to get off the ramp, the driver is reminded of the corresponding speed limit value; and when the driver does not have the intention of getting off the ramp, the corresponding speed limit value is not reminded. According to the invention, the accuracy of speed limit reminding of the high-speed main road is improved, interference to a driver caused by false alarm of an instrument in high-speed driving is avoided, and high-speed driving safety is provided.

Description

Technical Field

[0001] The present invention belongs to the field of safe driving, and in particular, relates to a speed limit reminder method and device on a highway main road. Background Art

[0002] Currently, vehicles mostly recognize speed limit signs by adopting a strategy that combines cameras and navigation maps.

[0003] For example, the comparative document (CN116588142A) provides a vehicle control method, device, vehicle and storage medium. The first speed limit information of the current section in the direction of vehicle travel, the second speed limit information of the next speed limit interval and the current position information of the vehicle are obtained through the vehicle positioning system, and the transition section and the length of the transition section required for the vehicle to transition from the first speed limit value to the second speed limit value are determined based on the first speed limit information, the second speed limit information and the braking deceleration corresponding to different driving modes, and then the target speed limit value is determined based on the current position information of the vehicle, the starting position of the next speed limit interval, the length of the transition section, the first speed limit value and the second speed limit value, and finally the vehicle is controlled according to the target speed limit value, realizing diversified speed limit reminders, ensuring the safety of users driving vehicles, and avoiding traffic violations.

[0004] However, for vehicles that do not have navigation or are not equipped with a navigation system, they can only rely on cameras to identify speed limit signs. Relying solely on cameras, it is easy to mistakenly identify the speed limit on the ramp as the speed limit on the main highway, resulting in false reminders and user disgust. If some vehicles also have an automatic speed adjustment function, it will cause the high-speed vehicle to suddenly slow down, causing serious consequences such as rear-end collisions. Summary of the invention

[0005] The present invention aims to overcome the deficiencies of the prior art and proposes a method and device for speed limit reminder on a highway main road to achieve the following purposes: improve the accuracy of speed limit reminder on the highway main road, avoid interference to the driver caused by false alarms of instruments during high-speed driving, and provide high-speed driving safety.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] A speed limit reminder method on a highway main road, the method comprising:

[0008] Step S1: When a vehicle is traveling on a highway, a camera is used to identify the position and speed limit of a speed limit sign in front of the vehicle;

[0009] Step S2, determining whether the speed limit value is a ramp speed limit, and when the speed limit value is not a ramp speed limit, reminding the driver of the corresponding speed limit value;

[0010] Step S3: When the speed limit value is the ramp speed limit, further determine whether the driver intends to get off the ramp; when the driver intends to get off the ramp, remind the driver of the corresponding speed limit value; when the driver has no intention to get off the ramp, do not remind the driver of the corresponding speed limit value.

[0011] Preferably, in step S2, when the speed limit value is less than or equal to 60 km / h, it indicates that the speed limit value is a ramp speed limit, otherwise, it is not a ramp speed limit.

[0012] Preferably, in step S3, the method for determining whether the driver intends to get off the ramp includes:

[0013] Step S31, fitting the vehicle motion trajectory curve in real time through the vehicle sensor data;

[0014] Step S32: based on the vehicle motion trajectory curve, calculating in real time the lateral distance from the vehicle motion trajectory curve to the speed limit sign;

[0015] Step S33: When the lateral distance is less than or equal to the preset threshold and continues to decrease, it indicates that the driver intends to get off the ramp; otherwise, it indicates that the driver has no intention to get off the ramp.

[0016] Preferably, the sensor data in step S31 includes EPS direction, driver's hand torque, vehicle speed, lateral and longitudinal speeds, lateral and longitudinal accelerations, and yaw angle.

[0017] Preferably, the reminder method includes display screen image display and voice reminder.

[0018] At the same time, the present application also proposes a speed limit reminder device on a highway main road, which is configured according to the above-mentioned speed limit reminder method on a highway main road, and includes a body sensor module, a front camera module, and a vehicle combination instrument, wherein the body sensor module is connected to the front camera module, and the front camera module is connected to the vehicle combination instrument; the body sensor module is used to collect body sensor data and send it to the front camera module; the front camera module is also used to identify the position and speed limit value of the speed limit sign in front through the camera, judge the driver's intention through the body sensor data, and finally judge whether to send the speed limit value to the combination instrument based on the speed limit value and the driver's intention; the combination instrument is used to remind the driver after receiving the speed limit value.

[0019] Preferably, the front camera module includes a camera module, a SOC and an MCU, and the camera module, SOC and MCU are connected in sequence, wherein the road video collected by the camera module is directly input into the SOC, and the SOC is used to identify the speed limit sign position and the speed limit value from the road video and input them into the MCU, and the MCU is respectively connected to the body sensor module and the instrument cluster, and is used to determine the driver's intention through the body sensor data, and finally determine whether to send the speed limit value to the instrument cluster in combination with the speed limit value and the driver's intention.

[0020] Preferably, the vehicle body sensor module includes an EPS controller and an ESP controller, and the EPS controller and the ESP controller are respectively connected to the front camera module.

[0021] Preferably, the front camera module and the instrument cluster are connected via a CAN bus.

[0022] Preferably, the front camera module is arranged on the inner side of the front windshield of the vehicle.

[0023] The technical effects of the present invention are as follows: (1) The present invention can filter out the influence of ramp speed limit on driving on the main highway to the greatest extent, avoid the interference of false alarms of instruments during high-speed driving on the driver, and provide high-speed driving safety. (2) The present invention does not use navigation information, does not increase new configuration costs, and only uses the conventional information of the vehicle body to make strategy judgments. The method is simple and effective, which is conducive to promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a flow chart of a speed limit reminder method on a highway main road according to an embodiment of the present invention;

[0025] Figure 2 The present invention is a structural diagram of a speed limit reminder device on a highway main road according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The specific implementation of the present invention is further described in detail below by describing the embodiments with reference to the accompanying drawings, with the purpose of helping those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention, and to facilitate its implementation. It should be noted that the "connection" described in this application includes both electrical connections for power supply and distribution and signal transmission for information transmission. In order to make the technical solution of the present invention clearer, the present invention is explained through the following embodiments.

[0027] A speed limit reminder method on a highway main road, such as Figure 1 As shown, the method includes:

[0028] Step S1: When a vehicle is traveling on a highway, the vehicle uses a camera to identify the position and speed limit of a speed limit sign in front of it.

[0029] Step S2: determining whether the speed limit value is a ramp speed limit, and when the speed limit value is not a ramp speed limit, reminding the driver of the corresponding speed limit value.

[0030] Specifically, in this embodiment, when the speed limit value is less than or equal to 60km / h, it indicates that the speed limit value is the ramp speed limit; when the speed limit value is greater than 60km / h, it indicates that the speed limit value is not the ramp speed limit, but the speed limit of the main road of the highway, so the driver can be reminded of the corresponding speed limit value.

[0031] Step S3: When the speed limit value is the ramp speed limit, it is necessary to further determine whether the driver intends to go off the ramp; when the driver intends to go off the ramp, the driver is reminded of the corresponding speed limit value; when the driver has no intention to go off the ramp, the corresponding speed limit value is not reminded.

[0032] Specifically, the method for determining whether the driver intends to get off the ramp includes:

[0033] Step S31, real-time fitting of the vehicle motion trajectory curve through the vehicle sensor data. In this embodiment, the sensor data includes EPS (electronic power steering system) direction, driver hand torque, vehicle speed, lateral and longitudinal speed, lateral and longitudinal acceleration, yaw angle, etc., wherein the EPS direction and the driver's hand torque can be used to preliminarily judge the driver's artificial intention, and combined with the vehicle motion trajectory curve, the driver's intention to control the vehicle can be more realistically expressed. Based on these data, a variety of fitting methods can be used to fit the vehicle motion trajectory curve in real time, including polynomial fitting, spline curve fitting (such as B-spline or cubic spline), Bezier curve, etc. These fitting methods are all existing general technologies of those skilled in the art, and the present invention will not be repeated here. They can be flexibly selected according to actual conditions during specific implementation.

[0034] Specifically, this embodiment uses a fifth-order polynomial to fit the vehicle motion trajectory, and the specific formula is as follows:

[0035] d(t)=c0+c1t 1 +c2t 2 +c3t 3 +c4t 4 +c5t 5

[0036] Where t is time, d(t) is the lateral deviation corresponding to different times, c0, c1, c2, c3, c4, c5 are coefficients, and are related to the lateral and longitudinal velocities, lateral and longitudinal accelerations, yaw angles, vehicle speed, etc.

[0037] Step S32: Based on the vehicle motion trajectory curve, calculate in real time the lateral distance from the vehicle motion trajectory curve to the speed limit sign.

[0038] In this embodiment, considering that the vehicle motion trajectory fitted by the quintic polynomial has certain oscillations, which interferes with the calculation of the lateral distance from the speed limit sign to the trajectory, the minimum envelope of the vehicle motion trajectory can be calculated, and the midline of the envelope is selected as the vehicle trajectory trend line. Then, the minimum distance from the speed limit sign position to the vehicle trajectory trend line is calculated, which is the lateral distance.

[0039] Step S33, when the lateral distance is less than or equal to a preset threshold (which can be set to 4m in this embodiment and can be flexibly selected according to actual conditions during specific implementation) and continues to decrease, it means that the vehicle is gradually moving in the direction approaching the sign, that is, the driver intends to get off the ramp. At this time, the driver can be reminded of the corresponding speed limit value. Otherwise, it means that the driver has no intention to get off the ramp, and the corresponding speed limit value will not be reminded.

[0040] Furthermore, the speed limit value reminder method provided in this embodiment includes display screen image display, voice reminder, etc., which can be realized by the display and power amplifier on the vehicle combination instrument. In specific implementation, image and voice dual reminder can also be used to improve the warning effect.

[0041] In general, for speed limits lower than 60km / h, this embodiment determines whether a reminder is needed for the speed limit by calculating the lateral distance from the speed limit sign to the real-time motion trajectory of the vehicle and the change trend of the distance, thereby filtering out the impact of some ramp speed limits on driving on the main highway, avoiding interference to the driver caused by false alarms of the instrument during high-speed driving, improving the accuracy of speed limit reminders, improving driving experience, and providing high-speed driving safety. At the same time, the present invention does not use navigation information, does not increase new configuration costs, and only uses the conventional information of the vehicle body for strategy judgment. The method is simple and effective, which is conducive to promotion.

[0042] At the same time, if Figure 2 As shown, the present application also proposes a speed limit reminder device on a highway main road, and the device is configured according to the above-mentioned speed limit reminder method on a highway main road, including a body sensor module, a front camera module, and a vehicle combination instrument, wherein the body sensor module is connected to the front camera module, and the front camera module is connected to the vehicle combination instrument; the body sensor module is used to collect body sensor data and send it to the front camera module; the front camera module is also used to identify the position and speed limit value of the speed limit sign in front through the camera, judge the driver's intention through the body sensor data, and finally judge whether to send the speed limit value to the combination instrument in combination with the speed limit value and the driver's intention; the combination instrument is used to remind the driver after receiving the speed limit value.

[0043] Specifically, the front camera module includes a camera module, a SOC (system on chip) and an MCU (microcontroller), and the camera module, SOC and MCU are connected in sequence, wherein the road video collected by the camera module is directly input into the SOC, and the SOC is used to identify the position of the speed limit sign and the speed limit value from the road video and input them into the MCU, and the MCU is respectively connected to the body sensor module and the instrument cluster, and is used to determine whether it is a ramp speed limit according to the speed limit value identified by the SOC, and to determine the driver's intention through the body sensor data, and finally determine whether to send the speed limit value to the instrument cluster in combination with the speed limit value and the driver's intention.

[0044] The front camera module of this embodiment can be in the form of an integrated device, which is arranged on the inside of the front windshield of the vehicle, and is easy to install and convenient for shooting. In particular, this embodiment adopts the mode of MCU plus SOC dual processors, each of which performs its own functions, and fully utilizes the efficient data processing capabilities of both parties. Different from the traditional single processor mode, the data processing efficiency is higher, so that the speed limit analysis and speed limit reminder are performed faster, which improves the real-time performance of the present invention and further ensures the safety of high-speed driving.

[0045] The vehicle body sensor module of this embodiment includes an EPS (Electronic Power Steering System) controller and an ESP (Electronic Stability System) controller, and the EPS controller and the ESP controller are respectively connected to the MCU of the front camera module. The EPS controller is used to send the collected information such as EPS direction and driver's hand torque to the MCU; the ESP controller is used to send the collected information such as vehicle speed, lateral and longitudinal speed, lateral and longitudinal acceleration, yaw angle, etc. to the MCU.

[0046] In order to further improve the stability and rate of signal transmission, the front camera module of this embodiment is connected to the instrument cluster by a CAN bus, that is, the MCU is connected to the instrument cluster by a CAN bus. When the MCU determines that a reminder is needed for the current speed limit value, the corresponding speed limit value will be sent to the instrument cluster via a CAN signal. After receiving the speed limit value, the instrument cluster can remind the driver of the speed limit through the vehicle display and audio.

[0047] The present invention is described above by way of example in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-mentioned methods. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention; or the above concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A speed limit reminder method on a highway, characterized in that: The method comprises: Step S1: When a vehicle is traveling on a highway, a camera is used to identify the position and speed limit of a speed limit sign in front of the vehicle; Step S2, determining whether the speed limit value is a ramp speed limit, and when the speed limit value is not a ramp speed limit, reminding the driver of the corresponding speed limit value; Step S3: When the speed limit value is the ramp speed limit, further determine whether the driver intends to get off the ramp; when the driver intends to get off the ramp, remind the driver of the corresponding speed limit value; when the driver has no intention to get off the ramp, do not remind the driver of the corresponding speed limit value.

2. A method for speed limit reminder on a highway main road according to claim 1, characterized in that: In the step S2, when the speed limit value is less than or equal to 60 km / h, it indicates that the speed limit value is a ramp speed limit, otherwise, it is not a ramp speed limit.

3. The method for speed limit reminder on a highway according to claim 1, characterized in that: In step S3, the method for determining whether the driver intends to get off the ramp includes: Step S31, fitting the vehicle motion trajectory curve in real time through the vehicle sensor data; Step S32: based on the vehicle motion trajectory curve, calculating in real time the lateral distance from the vehicle motion trajectory curve to the speed limit sign; Step S33: When the lateral distance is less than or equal to the preset threshold and continues to decrease, it indicates that the driver intends to get off the ramp; otherwise, it indicates that the driver has no intention to get off the ramp.

4. A method for speed limit reminder on a highway main road according to claim 3, characterized in that: The sensor data in step S31 include EPS direction, driver's hand torque, vehicle speed, lateral and longitudinal speeds, lateral and longitudinal accelerations, and yaw angle.

5. A method for reminding a speed limit on a highway according to any one of claims 1 to 4, characterized in that: The reminder methods include display screen image display and voice reminder.

6. A speed limit reminder device on a highway, characterized in that: The device is configured according to a speed limit reminder method on a highway main road according to any one of claims 1 to 5, including a body sensor module, a front camera module, and a vehicle combination instrument, wherein the body sensor module is connected to the front camera module, and the front camera module is connected to the vehicle combination instrument; the body sensor module is used to collect body sensor data and send it to the front camera module; the front camera module is also used to identify the position and speed limit value of the speed limit sign in front through a camera, judge the driver's intention through the body sensor data, and finally judge whether to send the speed limit value to the combination instrument in combination with the speed limit value and the driver's intention; the combination instrument is used to remind the driver after receiving the speed limit value.

7. A speed limit reminder device on a highway main road according to claim 6, characterized in that: The front camera module includes a camera module, a SOC and an MCU, which are connected in sequence, wherein the road video collected by the camera module is directly input into the SOC, and the SOC is used to identify the speed limit sign position and the speed limit value from the road video and input them into the MCU, and the MCU is respectively connected to the body sensor module and the instrument cluster, and is used to determine the driver's intention through the body sensor data, and finally determine whether to send the speed limit value to the instrument cluster in combination with the speed limit value and the driver's intention.

8. The speed limit reminder device on a highway main road according to claim 6, characterized in that: The vehicle body sensor module includes an EPS controller and an ESP controller, and the EPS controller and the ESP controller are respectively connected to the front camera module.

9. The speed limit reminder device on a highway main road according to claim 6, characterized in that: The front camera module and the combined instrument are connected via a CAN bus.

10. A speed limit reminder device on a highway main road according to claim 6 or 7, characterized in that: The front camera module is arranged on the inner side of the front windshield of the vehicle.

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