Vehicle speed reminding method and device and vehicle

Abstract

The invention discloses a vehicle speed reminding method and device and a vehicle, and belongs to the technical field of vehicles. The method includes the steps that the current position and moving speed of pedestrians in front of a first vehicle and the current position of a second vehicle are obtained, and the second vehicle is a vehicle behind the first vehicle; determining a suggested vehicle speed of the second vehicle based on the current position and the moving speed of the pedestrian ahead and the current position of the second vehicle; and reminding the second vehicle of the target suggestion information, wherein the target suggestion information comprises the suggested vehicle speed of the second vehicle. According to the invention, the first vehicle determines the suggested vehicle speed of the second vehicle based on the current position and the moving speed of the pedestrian in front and the current position of the second vehicle, and then reminds the second vehicle of the suggested vehicle speed, so that the second vehicle can know the speed at which the second vehicle runs; therefore, the speed of the subsequent second vehicle can be adjusted according to the suggested speed, and the second vehicle can safely and stably pass through the road ahead.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle speed reminder method, device and vehicle. Background Art

[0002] With the development of science and technology, vehicles provide more and more functions, so more and more people choose to drive, resulting in more and more vehicles on the road. At the same time, this will also increase the safety issues between pedestrians and vehicles.

[0003] In some special scenarios, such as when vehicles pass through a road without traffic lights, there are more and more safety issues between vehicles and pedestrians. Generally in this case, the rear vehicle often adjusts its own driving state based on the driving condition of the front vehicle. For example, when the front vehicle brakes, the rear vehicle will also brake. When the front vehicle accelerates, the rear vehicle may also accelerate. In this case, the most obvious problem is that when there are pedestrians passing in front of the road, the rear vehicle often cannot judge the specific road conditions of the road ahead when it wants to cross the road, resulting in the vehicle not knowing at what speed to drive. Summary of the invention

[0004] The present application provides a vehicle speed reminder method, device, vehicle and storage medium, which can remind the rear vehicle of the corresponding recommended speed, so that the rear vehicle can adjust its own speed according to the recommended speed, thereby ensuring driving safety. The technical solution is as follows:

[0005] In a first aspect, a vehicle speed reminder method is provided, the method comprising:

[0006] Obtaining the current position and moving speed of a pedestrian in front of the first vehicle, and the current position of a second vehicle, where the second vehicle is a vehicle behind the first vehicle;

[0007] Determining a recommended speed for the second vehicle based on the current position of the pedestrian ahead, the moving speed, and the current position of the second vehicle;

[0008] The second vehicle is notified of target suggestion information, wherein the target suggestion information includes a suggested vehicle speed of the second vehicle.

[0009] In the present application, the current position and moving speed of the pedestrian in front of the first vehicle and the current position of the second vehicle are first obtained, that is, when the pedestrian in front crosses the road, the current position and moving speed of the pedestrian in front are obtained, and then the current position of the vehicle behind the first vehicle is obtained. Afterwards, based on the current position and moving speed of the pedestrian in front and the current position of the second vehicle, the recommended speed of the second vehicle can be determined, that is, the recommended speed of the vehicle behind the first vehicle is determined. Finally, the target recommendation information is reminded to the second vehicle, that is, the recommended speed of the second vehicle can be reminded to the second vehicle. In this way, the first vehicle first determines the recommended speed of the second vehicle based on the current position, moving speed and current position of the pedestrian in front, and then reminds the second vehicle of the target recommendation information, so that the second vehicle can know at what speed it should travel, so that the speed of the second vehicle can be adjusted according to the recommended speed, thereby ensuring that the second vehicle can pass the road ahead safely and smoothly.

[0010] Optionally, determining the recommended speed of the second vehicle based on the current position of the pedestrian ahead, the moving speed, and the current position of the second vehicle includes:

[0011] Based on the current position of the second vehicle and the current position of the pedestrian in front, determine the longitudinal distance between the second vehicle and the moving track of the pedestrian in front, where the longitudinal distance is the distance between the second vehicle and the moving track of the pedestrian in front in the driving direction of the second vehicle;

[0012] Determine a target duration based on the current position of the second vehicle, the current position of the front pedestrian, and the moving speed, wherein the target duration is the duration taken by the front pedestrian to move from the current position to the lane where the second vehicle is located;

[0013] Dividing the longitudinal distance by the target duration to obtain a critical speed;

[0014] A vehicle speed less than the critical speed is determined as a recommended vehicle speed for the second vehicle.

[0015] Optionally, the determining the target duration based on the current position of the second vehicle, the current position of the pedestrian in front, and the moving speed includes:

[0016] Determine, based on the current position of the second vehicle and the current position of the front pedestrian, a lateral distance between the second vehicle and the front pedestrian, the lateral distance being the distance between the second vehicle and the front pedestrian in the moving direction of the front pedestrian;

[0017] The target duration is obtained by dividing the horizontal distance by the moving speed.

[0018] Optionally, before determining the target duration based on the current position of the second vehicle, the current position of the pedestrian in front, and the moving speed, the method further includes:

[0019] Acquiring lane information of the road on which the first vehicle is traveling;

[0020] Acquire a first distance, where the first distance is the distance between the second vehicle and a left lane line of a current lane;

[0021] Acquire a second distance, where the second distance is the distance between the first vehicle and a left edge of the road on which the first vehicle is traveling;

[0022] The determining the target duration based on the current position of the second vehicle, the current position of the front pedestrian, and the moving speed includes:

[0023] Determine a third distance based on the current position of the pedestrian ahead and the second distance, the third distance being the distance between the pedestrian ahead and a left edge of the road on which the pedestrian is traveling;

[0024] The target duration is determined based on the lane information, the first distance, the third distance, and the moving speed.

[0025] Optionally, the lane information includes a lane width and a lane number, and determining the target duration based on the lane information, the first distance, the third distance, and the moving speed includes:

[0026] When the second vehicle is in the i-th lane from left to right on the driving road, determine the moving distance of the front pedestrian based on i-1 times the lane width, the first distance, and the third distance, where the moving distance is the distance that the front pedestrian moves from the current position to the lane where the second vehicle is located, and i is a positive integer;

[0027] The target duration is obtained by dividing the moving distance by the moving speed of the pedestrian in front.

[0028] Optionally, the first vehicle is equipped with a digital projection light, and the step of reminding the second vehicle of the target suggestion information includes:

[0029] Based on the current position of the second vehicle and the current position of the first vehicle, the target suggestion information is projected in front of the second vehicle through the digital projection light.

[0030] Optionally, the first vehicle is equipped with a plurality of digital projection lights, and based on the current position of the second vehicle, the target suggestion information is projected in front of the second vehicle through the digital projection lights, including:

[0031] Based on the current position of the second vehicle and the current position of the first vehicle, adjusting the projection angle of a target digital projection light in the first vehicle, the target digital projection light being the digital projection light closest to the second vehicle among the plurality of digital projection lights;

[0032] The target suggestion information is projected in front of the second vehicle according to the projection angle.

[0033] Optionally, the method further comprises:

[0034] Determining a recommended speed for the first vehicle based on the current position of the pedestrian ahead, the moving speed, lane information, and the current position of the first vehicle;

[0035] The vehicle speed reminder information is displayed or broadcasted, wherein the vehicle speed reminder information carries the recommended vehicle speed of the first vehicle, and the vehicle speed reminder information is used to instruct to adjust the vehicle speed of the first vehicle.

[0036] Optionally, the method further comprises:

[0037] Based on the current position of the front pedestrian, the current positions of the first vehicle and the second vehicle, determining whether the front pedestrian, the first vehicle and the second vehicle are in the same straight line;

[0038] In a case where the pedestrian in front, the first vehicle and the second vehicle are in the same straight line, the second vehicle is reminded of target suggestion information including a warning message, where the warning message is used to remind the second vehicle that there is a pedestrian in front.

[0039] In a second aspect, a vehicle speed reminder device is provided, the device comprising:

[0040] A first acquisition module, used to acquire the current position and moving speed of the pedestrian in front of the first vehicle, and the current position of a second vehicle, where the second vehicle is a vehicle behind the first vehicle;

[0041] A first determination module, configured to determine a recommended speed of the second vehicle based on the current position of the pedestrian ahead, the moving speed, and the current position of the second vehicle;

[0042] The first reminder module is used to remind the second vehicle of target suggestion information, where the target suggestion information includes a suggested vehicle speed of the second vehicle.

[0043] Optionally, the first determining module is used to:

[0044] Based on the current position of the second vehicle and the current position of the pedestrian in front, determine the longitudinal distance between the second vehicle and the moving track of the pedestrian in front, where the longitudinal distance is the distance between the second vehicle and the moving track of the pedestrian in front in the driving direction of the second vehicle;

[0045] Determine a target duration based on the current position of the second vehicle, the current position of the front pedestrian, and the moving speed, wherein the target duration is the duration taken by the front pedestrian to move from the current position to the lane where the second vehicle is located;

[0046] Dividing the longitudinal distance by the target duration to obtain a critical speed;

[0047] A vehicle speed less than the critical speed is determined as a recommended vehicle speed for the second vehicle.

[0048] Optionally, the first determining module is used to:

[0049] Determine, based on the current position of the second vehicle and the current position of the front pedestrian, a lateral distance between the second vehicle and the front pedestrian, the lateral distance being the distance between the second vehicle and the front pedestrian in the moving direction of the front pedestrian;

[0050] The target duration is obtained by dividing the horizontal distance by the moving speed.

[0051] Optionally, the device further comprises:

[0052] A second acquisition module, used to acquire lane information of the road on which the first vehicle is traveling;

[0053] A third acquisition module is used to acquire a first distance, where the first distance is the distance between the second vehicle and a left lane line of a current lane;

[0054] A fourth acquisition module, used to acquire a second distance, where the second distance is the distance between the first vehicle and a left edge of the road on which the first vehicle is traveling;

[0055] The first determining module is used for:

[0056] Determine a third distance based on the current position of the pedestrian ahead and the second distance, the third distance being the distance between the pedestrian ahead and a left edge of the road on which the pedestrian is traveling;

[0057] The target duration is determined based on the lane information, the first distance, the third distance, and the moving speed.

[0058] Optionally, the lane information includes lane width and lane number, and the first determining module is used to:

[0059] When the second vehicle is in the i-th lane from left to right on the driving road, determine the moving distance of the front pedestrian based on i-1 times the lane width, the first distance, and the third distance, where the moving distance is the distance that the front pedestrian moves from the current position to the lane where the second vehicle is located, and i is a positive integer;

[0060] The target duration is obtained by dividing the moving distance by the moving speed of the pedestrian in front.

[0061] Optionally, the first vehicle is equipped with a digital projection lamp, and the first reminder module is used for:

[0062] Based on the current position of the second vehicle and the current position of the first vehicle, the target suggestion information is projected in front of the second vehicle through the digital projection light.

[0063] Optionally, the first vehicle is equipped with a plurality of digital projection lights, and the first reminder module is used for:

[0064] Based on the current position of the second vehicle and the current position of the first vehicle, adjusting the projection angle of a target digital projection light in the first vehicle, the target digital projection light being the digital projection light closest to the second vehicle among the plurality of digital projection lights;

[0065] The target suggestion information is projected in front of the second vehicle according to the projection angle.

[0066] Optionally, the device further comprises:

[0067] a second determining module, configured to determine a recommended speed of the first vehicle based on the current position of the pedestrian ahead, the moving speed, lane information, and the current position of the first vehicle;

[0068] The second reminder module is used to display or broadcast vehicle speed reminder information, wherein the vehicle speed reminder information carries a recommended vehicle speed of the first vehicle, and the vehicle speed reminder information is used to instruct to adjust the vehicle speed of the first vehicle.

[0069] Optionally, the device further comprises:

[0070] a third determination module, configured to determine whether the front pedestrian, the first vehicle, and the second vehicle are in the same straight line based on the current position of the front pedestrian, the current positions of the first vehicle, and the second vehicle;

[0071] The third reminder module is used to remind the second vehicle of target suggestion information including a warning message when the pedestrian in front, the first vehicle and the second vehicle are in the same straight line, and the warning message is used to remind the second vehicle that there is a pedestrian in front.

[0072] In a third aspect, a vehicle is provided, the vehicle comprising:

[0073] A memory for storing executable program codes;

[0074] The processor is used to call and run the executable program code from the memory so that the vehicle executes the above-mentioned vehicle speed reminder method.

[0075] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned vehicle speed reminder method is implemented.

[0076] In a fifth aspect, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute the steps of the above-mentioned vehicle speed reminder method.

[0077] It can be understood that the beneficial effects of the second, third, fourth and fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0079] Figure 1 This is a schematic diagram of a scenario of a vehicle speed reminder method provided in an embodiment of the present application;

[0080] Figure 2 is a flow chart of a vehicle speed reminder method provided by an embodiment of the present application;

[0081] Figure 3 is a schematic diagram of determining a longitudinal distance provided by an embodiment of the present application;

[0082] Figure 4 This is a schematic diagram of determining a target duration provided by an embodiment of the present application;

[0083] Figure 5 is a projection schematic diagram of a recommended speed of a second vehicle provided in an embodiment of the present application;

[0084] Figure 6 is a schematic diagram of determining a recommended speed of a first vehicle provided by an embodiment of the present application;

[0085] Figure 7 is a flow chart of another vehicle speed reminder method provided by an embodiment of the present application;

[0086] Figure 8 It is a structural schematic diagram of a vehicle speed reminder device provided in an embodiment of the present application;

[0087] Fig. 9 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0088] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0089] It should be understood that the "multiple" mentioned in this application refers to two or more. In the description of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in order to facilitate the clear description of the technical solution of this application, the words "first" and "second" are used to distinguish between the same items or similar items with basically the same functions and effects. Those skilled in the art can understand that the words "first" and "second" do not limit the quantity and execution order, and the words "first" and "second" do not limit them to be different.

[0090] Before describing the vehicle speed reminder method provided in the embodiment of the present application, the application scenario of the embodiment of the present application is first described.

[0091] For example, Figure 1 A schematic diagram of a vehicle speed reminder method is shown in FIG. Figure 1 , Figure 1 The system includes a first vehicle 101 , a second vehicle 102 , and a pedestrian 103 , wherein the second vehicle 102 is located behind the first vehicle 101 .

[0092] like Figure 1 As shown, when pedestrian 103 is crossing the road, first vehicle 101 and second vehicle 102 are also driving over. In this case, first vehicle 101 and second vehicle 102 need to maintain corresponding speeds to ensure driving safety and driving stability, but there are many unexpected situations on the road ahead, and the drivers cannot determine at what speed to drive, so this will lead to failure to ensure driving safety.

[0093] In addition, the first vehicle 101 and the second vehicle 102 may slow down or stop to wait for the pedestrian 103 to cross the road, and the pedestrian 103 also stops to wait for the vehicles to pass. At this time, the driver may drive the vehicle to cross the road because the pedestrian 103 stops to pass, but if the pedestrian 103 suddenly accelerates to cross the road, this will cause the vehicle to brake suddenly, stall when starting, or cause traffic congestion, which is not conducive to the safe driving of the vehicle and the safe crossing of the pedestrian 103.

[0094] To this end, the embodiment of the present application provides a vehicle speed reminder method, which can be applied to a scene where there are pedestrians crossing the road in front of the vehicle, such as the above Figure 1 In the scene shown.

[0095] Specifically, when the first vehicle 101 detects that a pedestrian 103 is crossing the road ahead, the current position and moving speed of the pedestrian 103 may be obtained first, and the current position of the second vehicle 102 may also be obtained. Then, based on the current position and moving speed of the pedestrian 103 and the current position of the second vehicle 102, the recommended speed of the second vehicle 102 may be determined. After the recommended speed of the second vehicle 102 is determined, the second vehicle 102 may be notified of the recommended speed.

[0096] in addition, Figure 1 As shown, there are three second vehicles 102. In this case, when the first vehicle 101 detects that a pedestrian 103 is crossing the road ahead, the current position of each of the three second vehicles 102 can be obtained through the current position and moving speed of the pedestrian 103. Afterwards, for any second vehicle 102 among the three second vehicles 102, the recommended speed of the second vehicle 102 is determined based on the current position and moving speed of the pedestrian 103 and the current position of the second vehicle 102, so that the recommended speed of each of the three second vehicles 102 can be determined. Subsequently, the three second vehicles 102 can be reminded of their corresponding recommended speeds.

[0097] In this way, the first vehicle 101 first determines the recommended speed of the second vehicle 102 based on the current position and moving speed of the pedestrian 103 and the current position of the second vehicle 102, and then reminds the second vehicle 102 of the recommended speed, so that the second vehicle 102 can know at what speed it should travel, and the subsequent speed of the second vehicle 102 can be adjusted according to the recommended speed, thereby ensuring driving safety.

[0098] The vehicle speed reminder method provided in the embodiment of the present application is explained in detail below.

[0099] Figure 2 is a flow chart of a vehicle speed reminder method provided by an embodiment of the present application. The method can be applied to a first vehicle, and can be applied to a vehicle-mounted multimedia host (Head Unit, HUT) of the first vehicle. Figure 2 , the method comprises the following steps.

[0100] Step 201: Obtain the current position and moving speed of the pedestrian in front of the first vehicle, and the current position of the second vehicle, where the second vehicle is the vehicle behind the first vehicle.

[0101] The first vehicle, that is, this vehicle, is the executor of the vehicle speed reminder method provided in the embodiment of the present application.

[0102] The second vehicle is the vehicle behind the first vehicle, that is, the distance between the first vehicle and the sidewalk is less than the distance between the second vehicle and the sidewalk. In an embodiment of the present application, there may be multiple second vehicles, and the second vehicle may be vehicles in each lane on the road currently being traveled, that is, the second vehicle may be a vehicle located behind the first vehicle in the same lane and / or a different lane. In other words, the second vehicle may be a vehicle located behind the first vehicle in the same lane as the first vehicle, and the second vehicle may also be a vehicle behind the first vehicle in a different lane. For example, there are three lanes on the road on which the first vehicle is traveling, and the first vehicle is located in the second lane from left to right. Then the second vehicle may be a vehicle in the first lane, a vehicle in the second lane, or a vehicle in the third lane located behind the first vehicle.

[0103] In addition, it should be noted that in the embodiment of the present application, the second vehicle is the first vehicle behind the first vehicle. That is, when there are multiple vehicles in each lane behind the first vehicle, the first vehicle behind the first vehicle in the same lane is the second vehicle, and the first vehicle behind the first vehicle in a different lane is the second vehicle.

[0104] Optionally, the operation of obtaining the current position of the pedestrian in front may be: collecting a point cloud in front of the first vehicle by a radar of the first vehicle; and obtaining the current position of the pedestrian in front based on the point cloud in front of the first vehicle.

[0105] Optionally, the radar of the first vehicle may be a laser radar, a millimeter wave radar, etc., and this embodiment of the present application does not limit this. In addition, the first vehicle may be equipped with multiple radars, such as a radar may be installed in front of the first vehicle, and a radar may also be installed behind the first vehicle. In this embodiment of the present application, the point cloud in front of the first vehicle can be collected by the radar in front of the first vehicle.

[0106] The following description will be made by taking the radar of the first vehicle as a laser radar as an example.

[0107] LiDAR is a sensor that can obtain precise location information, which includes three parts: a transmitting system, a receiving system, and an information processing system. The process of the first vehicle's radar collecting point clouds is as follows: the first vehicle's LiDAR transmits a laser signal to the surrounding environment in front of the first vehicle through the transmitting system. The laser signal will be reflected when it reaches the surface of an object in the surrounding environment. Then, the LiDAR's receiving system will receive the laser signal reflected back from the surface of the object. Then, the information processing part of the LiDAR processes the transmitted laser signal and the received reflected signal, thereby determining the three-dimensional coordinates of multiple dense points on the surface of objects in the surrounding environment, that is, obtaining the point cloud in front of the first vehicle.

[0108] Optionally, the operation of obtaining the moving speed of the pedestrian ahead may be: obtaining the positions of the pedestrian ahead at multiple times; and determining the moving speed of the pedestrian ahead based on the positions of the pedestrian ahead at multiple times.

[0109] In this case, the radar of the first vehicle emits laser signals at multiple times to collect point clouds at multiple times in front of the first vehicle, and then obtains the positions of the pedestrian at multiple times from the point clouds at multiple times. The moving speed of the pedestrian is then determined based on the positions of the pedestrian at multiple times.

[0110] Among them, the operation of determining the moving speed of the pedestrian ahead based on the position of the pedestrian ahead at multiple moments can be: for the first moment and the second moment among the multiple moments, based on the position of the pedestrian ahead at the first moment and the position of the pedestrian ahead at the second moment, determine the moving distance of the pedestrian ahead from the first moment to the second moment; determine the difference between the first moment and the second moment to obtain the moving duration of the pedestrian ahead; divide the moving distance by the moving duration to obtain the moving speed of the pedestrian ahead.

[0111] The first moment may be a starting moment among multiple moments, and the second moment may be an ending moment among multiple moments. Of course, the first moment and the second moment may also be two randomly selected moments among multiple moments, which is not limited in the embodiments of the present application. It should be understood that in this case, the first moment and the second moment do not overlap, that is, the first moment and the second moment are two different moments.

[0112] In this case, it is equivalent to first determining the distance moved by the pedestrian in front from the first moment to the second moment, and determining the time difference between the first moment and the second moment as the moving duration of the pedestrian in front. The moving distance is divided by the moving duration to obtain the moving speed of the pedestrian in front.

[0113] Optionally, the operation of obtaining the current position of the second vehicle is similar to the operation of obtaining the current position of the pedestrian in front, which may be: collecting the point cloud behind the first vehicle through the radar of the first vehicle; and obtaining the current position of the second vehicle based on the point cloud behind the first vehicle.

[0114] In this case, the point cloud behind the first vehicle is collected by the radar installed at the rear of the first vehicle. That is, the laser radar behind the first vehicle transmits a laser signal to the surrounding environment behind the first vehicle through the transmitting system. The laser signal will be reflected when it reaches the surface of the object (including the second vehicle) in the surrounding environment. Then the receiving system of the laser radar will receive the laser signal reflected back from the surface of the object (including the second vehicle). Then the information processing part of the laser radar processes the emitted laser signal and the received reflected signal, so as to determine the three-dimensional coordinates of multiple dense points on the surface of the object (including the second vehicle) in the surrounding environment, that is, to obtain the point cloud behind the first vehicle. Therefore, the current position of the second vehicle can be obtained based on the point cloud behind the first vehicle.

[0115] In the embodiment of the present application, the moving direction of the pedestrian in front can also be obtained. When determining the moving speed of the pedestrian in front, a more accurate moving distance can be determined in combination with the moving direction of the pedestrian in front, and then a more accurate moving speed can be determined.

[0116] Step 202: Determine a recommended speed for the second vehicle based on the current position of the pedestrian ahead, the moving speed of the pedestrian ahead, and the current position of the second vehicle.

[0117] The recommended speed of the second vehicle is also the speed that can ensure the driving safety of the second vehicle. At the recommended speed, the second vehicle can smoothly and safely pass the road where the pedestrians are located ahead.

[0118] In this case, the recommended speed of the second vehicle is determined based on the current position of the pedestrian in front, the moving speed of the pedestrian in front, and the current position of the second vehicle, that is, the speed that can ensure the driving safety of the second vehicle is determined. Then, when the second vehicle subsequently drives to the pedestrian in front at the recommended speed, there is no need to brake suddenly, which will not cause the vehicle to stall, and the safety of the pedestrian can be guaranteed, so that the second vehicle can pass the road ahead smoothly and safely.

[0119] Optionally, the operation of step 202 can be implemented through the following steps (1) to (4).

[0120] (1) Based on the current position of the second vehicle and the current position of the pedestrian ahead, determine the longitudinal distance between the second vehicle and the moving trajectory of the pedestrian ahead.

[0121] The longitudinal distance is the vertical distance between the second vehicle and the moving track of the pedestrian in front. More specifically, the longitudinal distance is the distance between the second vehicle and the moving track of the pedestrian in front in the direction of travel of the second vehicle. In layman's terms, it is the distance from the current position of the second vehicle to the intersection of the road where the pedestrian in front is located and the pedestrian in front.

[0122] Since the recommended speed of the second vehicle needs to be calculated, the distance that the second vehicle needs to travel needs to be calculated. In addition, to ensure that the second vehicle passes the road ahead safely and smoothly, that is, to ensure that no unsafe accidents occur between the second vehicle and the pedestrian ahead, in this case, the recommended speed of the second vehicle is the speed of the second vehicle when it travels to the road ahead where the pedestrian is located. The second vehicle maintains the recommended speed to ensure safe and smooth passage through the road ahead. In this case, it is necessary to determine the distance from the second vehicle to the intersection with the pedestrian ahead, that is, the longitudinal distance between the second vehicle and the pedestrian ahead.

[0123] In this case, based on the current position of the second vehicle and the current position of the pedestrian ahead, the distance that the second vehicle needs to travel to the intersection with the pedestrian ahead can be known, so that the recommended speed of the second vehicle can be determined later.

[0124] For example, Figure 3 is a schematic diagram for determining the longitudinal distance between the second vehicle and the pedestrian ahead, see Figure 3 , Figure 3 The first vehicle 301, the second vehicle 302, and the pedestrian 303 are included. The second vehicle 302 is located at position A (x1, y1) of the lane, and the pedestrian is located at position B (x2, y2). The longitudinal distance L1 between the second vehicle and the pedestrian is |y2-y1|.

[0125] (2) Determine the target duration based on the current position of the second vehicle, the current position of the pedestrian in front, and the moving speed.

[0126] The target duration is the time it takes for the pedestrian ahead to move from the current position to the lane where the second vehicle is located.

[0127] Through the above step (1), the distance from the second vehicle to the intersection with the pedestrian in front can be determined. To calculate the recommended speed for the second vehicle to reach the intersection with the pedestrian in front, it is also necessary to determine the time it takes for the second vehicle to reach the intersection with the pedestrian in front. In the embodiment of the present application, the recommended speed for the second vehicle to reach the intersection with the pedestrian in front needs to be determined based on the movement state of the pedestrian in front. Then in this case, by determining the time it takes for the pedestrian in front to move to the intersection in front, the recommended speed that can ensure that the second vehicle can safely and smoothly pass the road ahead can be determined based on this. That is, the speed at which the second vehicle travels to the intersection in front based on the time it takes for the pedestrian in front to move to the intersection in front can be determined. In this way, the safety between the second vehicle and the pedestrian in front can be guaranteed, and the second vehicle can also be guaranteed without stopping or emergency braking during driving.

[0128] Optionally, the operation of step (2) can be implemented in the following two possible ways.

[0129] A first possible implementation method is to determine a lateral distance between the second vehicle and the front pedestrian based on the current position of the second vehicle and the current position of the front pedestrian; and divide the lateral distance by the moving speed of the front pedestrian to obtain a target duration.

[0130] The lateral distance between the second vehicle and the pedestrian in front is the horizontal distance between the second vehicle and the pedestrian in front. Specifically, the lateral distance is the distance between the second vehicle and the pedestrian in front in the moving direction of the pedestrian in front, that is, the distance from the pedestrian in front to the front intersection.

[0131] In this case, the lateral distance is divided by the moving speed of the pedestrian in front, that is, the distance the pedestrian in front moves to the front intersection is divided by the moving speed of the pedestrian in front, and the time it takes for the pedestrian in front to move to the front intersection can be obtained, that is, the target time.

[0132] Using the above example 3, the second vehicle 302 is located at position A (x1, y1) of the lane, and the pedestrian in front is located at position B (x2, y2). Then the lateral distance between the second vehicle and the pedestrian in front is |x2-x1|. Assuming that the speed of the pedestrian in front is V3, the target duration is: |x2-x1| / V3.

[0133] The first possible implementation method mentioned above only needs to combine the current positions of the second vehicle and the pedestrian in front, and the entire target duration determination process is relatively simple, without obtaining more parameters. When the first vehicle and the second vehicle are traveling on a road without lane divisions, the first possible implementation method mentioned above can be used to conveniently determine the target duration, thereby improving the efficiency of determining the target duration.

[0134] When the first vehicle and the second vehicle are traveling on a road with lane divisions, lane information of the road may be acquired first, and then the target duration may be determined through the following second possible implementation manner.

[0135] In the case of a road with lane divisions, the first distance and the second distance may also be acquired.

[0136] The first distance is the distance between the second vehicle and the left lane line of the current lane, and the second distance is the distance between the first vehicle and the left road edge of the driving road.

[0137] In the embodiment of the present application, the third distance can be determined based on the current position of the pedestrian in front and the second distance.

[0138] The third distance is the distance between the pedestrian in front and the left edge of the road on the road being traveled. That is, the distance that the pedestrian in front has passed when crossing the road.

[0139] A second possible implementation manner is to determine the target duration based on the lane information, the first distance, the third distance, and the moving speed.

[0140] The lane information is information related to the current road. Optionally, the lane information may include the number of lanes and lane width. The number of lanes refers to the number of lanes divided on the current road. For example, if the current road has three lanes, the number of lanes is 3. The lane width refers to the lane width of one lane on the current road.

[0141] When the current road is divided into lanes, the second vehicle may be located in a different lane, which has an impact on the moving distance of the pedestrian in front. The distances that the pedestrian in front moves to different lanes at the moving speed are different, so the time length is also different.

[0142] In this case, a more accurate target duration can be determined by combining lane information of the road being traveled.

[0143] Optionally, the specific operation of the second possible implementation method may be: when the second vehicle is in the i-th lane from left to right on the driving road, determine the moving distance of the pedestrian in front based on i-1 times the lane width, the first distance and the third distance, where i is a positive integer; divide the moving distance by the moving speed of the pedestrian in front to obtain the target duration.

[0144] The moving distance is the distance that the pedestrian in front moves from the current position to the lane where the second vehicle is located, specifically, the distance that the pedestrian in front moves from the current position to the front intersection.

[0145] For example, Figure 4 A schematic diagram for determining target duration. Figure 4 , Figure 4 Including the first vehicle 401, the second vehicle 402, and the pedestrian 403 in front. Among them, the first vehicle 401 is located at the O position (0, 0) of the second lane from left to right, the second vehicle 402 is located at the A position (x1, y1) of the first lane from left to right, and the pedestrian in front is located at the B position (x2, y2) of the road in front. Among them, L2 is the distance between the pedestrian in front and the left edge of the road on which it is traveling (the third distance), the lane width is L3, the first distance (the distance between the second vehicle and the left lane line on the current lane) is L5, and the speed of the pedestrian in front is V3.

[0146] Then the moving distance L4 of the pedestrian in front is 2×L3+L5-L2. Then the target duration is (2×L3+L5-L2) / V3.

[0147] It is worth noting that before determining the target duration, the first vehicle may also first determine whether there is a lane division on the road currently being traveled. If there is a lane division on the road currently being traveled, the target duration may be determined by the following second possible implementation method; if there is no lane division on the road currently being traveled, the target duration may be determined by the above first possible implementation method.

[0148] Thus, when there is lane division, the target duration can be accurately determined through the second possible implementation. When there is no lane division, the target duration can be quickly and conveniently determined through the first possible implementation, thereby improving the accuracy and flexibility of determining the target duration.

[0149] Specifically, the operation of determining whether there is any lane division on the road currently being traveled can be: obtaining a road image of the road currently being traveled; performing lane line recognition on the road image to obtain a recognition result; when the recognition result indicates that there is a lane line, determining that there is a lane division on the road currently being traveled; when the recognition result indicates that there is no lane line, determining that there is no lane division on the road currently being traveled.

[0150] The operation of performing lane line recognition on the road image to obtain the recognition result may be: inputting the road image into a lane line recognition model, recognizing the road image through the lane line recognition model, and outputting the recognition result.

[0151] The lane line recognition model is used to recognize lane lines on the road being traveled. The recognition result of the lane line recognition model may include the presence of lane lines or the absence of lane lines.

[0152] If the recognition result is that there is a lane line, it means that the lane line recognition model recognizes that there are lane line features in the road image, which means that there are lane lines on the current driving road. If the recognition result is that there is no lane line, it means that the lane line recognition model recognizes that there are no lane line features in the road image, which means that there are no lane lines on the current driving road.

[0153] It is worth noting that before the road image is input into the lane line recognition model, the road image is recognized by the lane line recognition model, and before the recognition result is output, the lane line recognition model needs to be trained first.

[0154] Specifically, the server may obtain multiple training samples, and use the multiple training samples to train the neural network model to obtain the lane line recognition model.

[0155] The server is a device specifically used to train the lane line recognition model.

[0156] The multiple training samples may be pre-set. Each of the multiple training samples includes a sample image and a sample tag, wherein the sample image is a road image, and the sample tag is a category of the road image (with lane lines, without lane lines). That is, the input data of each of the multiple training samples is a road image, and the sample tag is a category of the road image.

[0157] The neural network model may include multiple network layers, including an input layer, multiple hidden layers, and an output layer. The input layer is responsible for receiving input data; the output layer is responsible for outputting processed data; multiple hidden layers are located between the input layer and the output layer, responsible for processing data, and the multiple hidden layers are invisible to the outside. For example, the neural network model may be a deep neural network, and may be a convolutional neural network in a deep neural network.

[0158] When the server uses multiple training samples to train the neural network model, for each training sample in the multiple training samples, the input data in the training sample can be input into the neural network model to obtain output data; the loss value between the output data and the sample label in the training sample is determined by the loss function; and the parameters in the neural network model are adjusted according to the loss value. After the parameters in the neural network model are adjusted based on each training sample in the multiple training samples, the neural network model with the adjusted parameters is the lane line recognition model.

[0159] Among them, the operation of the server adjusting the parameters in the neural network model according to the loss value can refer to the relevant technology, and the embodiment of the present application will not elaborate on this in detail.

[0160] For example, a computer device can be To adjust any parameter in the neural network model. is the adjusted parameter. W is the parameter before adjustment. α is the learning rate, which can be preset, such as α can be 0.001, 0.000001, etc., and this embodiment of the present application does not make a sole limitation on this. dw is the derivative of the loss function with respect to W, which can be obtained based on the loss value.

[0161] (3) Divide the longitudinal distance by the target duration to obtain the critical speed.

[0162] The critical speed is a speed at which the second vehicle can meet the pedestrian ahead when traveling on the road ahead.

[0163] Since the longitudinal distance is the distance that the second vehicle needs to travel to the road where the pedestrian is located, and the target duration is the time it takes for the pedestrian to move from the current position to the lane where the second vehicle is located, the speed at which the second vehicle needs to travel to the road where the pedestrian is located can be obtained by dividing the longitudinal distance by the target duration, and when the second vehicle travels at the critical speed, it can meet the pedestrian on the road ahead.

[0164] (4) A vehicle speed less than the critical speed is determined as the recommended vehicle speed of the second vehicle.

[0165] Since the second vehicle may encounter the road ahead and the pedestrian ahead when traveling at the critical speed, in this case, the second vehicle is likely to have an unsafe accident with the pedestrian ahead, and may cause the second vehicle to brake suddenly, etc. Therefore, a speed less than the critical speed may be determined as the recommended speed of the second vehicle.

[0166] In this case, by determining a speed lower than the critical speed as the recommended speed of the second vehicle, pedestrians ahead can safely pass the lane where the second vehicle is located when the second vehicle arrives at the road ahead. This ensures driving safety and pedestrian safety, and further ensures that the second vehicle will not brake suddenly, etc., and can smoothly pass the road ahead, thereby ensuring the life of the second vehicle.

[0167] For example, if the critical speed is 20 km / h (kilometers per hour), 15 km / h can be determined as the recommended speed of the second vehicle, or 18 km / h can be determined as the recommended speed of the second vehicle. Of course, other speeds are also possible, as long as the speed is less than 20 km / h, it can be used as the recommended speed of the second vehicle.

[0168] Step 203: Prompt the second vehicle of target suggestion information, where the target suggestion information includes a suggested speed for the second vehicle.

[0169] The target suggestion information is suggestion information that can ensure the safe driving of the second vehicle. Optionally, the target suggestion information may include a suggested speed for the second vehicle, reminder information to pay attention to pedestrians, and the like.

[0170] In this case, after determining the recommended speed of the second vehicle, the recommended speed of the second vehicle is notified to the second vehicle, so that the driver of the second vehicle can know at what speed the second vehicle should travel in order to safely and smoothly pass the road ahead. The driver of the second vehicle can adjust the speed of the second vehicle to a suitable speed according to the recommended speed, thereby ensuring that when the second vehicle travels to the road ahead, pedestrians ahead can safely pass the lane where the second vehicle is located, and the second vehicle does not need to stop or emergency brake during driving, and at the same time ensures that the second vehicle can smoothly pass the road ahead.

[0171] Optionally, the first vehicle may be equipped with a digital projection light, and the operation of step 203 may be: based on the current position of the second vehicle and the current position of the first vehicle, projecting the target suggestion projection information to the front of the second vehicle through the digital projection light.

[0172] The digital projection lamp can be a DLP (Digital Light Processing) digital projection headlight. DLP is a digital projection lighting technology. The core features of DLP digital projection headlights are programmability and high resolution. Other features it brings are high brightness, fast image refresh, high light source compatibility, etc.

[0173] DLP digital projection headlights mainly include: light source, color management system, heat dissipation system, lighting and projection elements. The light source is filtered and cut before irradiating to the DMD (Digital Micromirror Devices) chip. The DMD chip is a semiconductor optical switch containing millions of reflective mirrors. It receives digital processing signals and reversely projects through millions of reflective mirrors, thereby achieving millions of pixel-level images. This provides a technical foundation for vehicle-to-person interaction and vehicle-to-vehicle interaction.

[0174] In this case, based on the current position of the second vehicle and the current position of the first vehicle, the target projection information is projected in front of the second vehicle through the digital projection lamp, so that the driver of the second vehicle can know the recommended speed through the projection. Therefore, the driver of the second vehicle can know the recommended speed more conveniently without affecting the normal driving of the second vehicle.

[0175] In addition, a plurality of digital projection lamps may be installed on the first vehicle, for example, digital projection lamps may be installed on the front part, the body part, and the rear part of the first vehicle.

[0176] The above-mentioned operation of projecting the target suggestion information to the front of the second vehicle through the digital projection light based on the current position of the second vehicle and the current position of the first vehicle can be: based on the current position of the second vehicle and the current position of the first vehicle, adjusting the projection angle of the target digital projection light in the first vehicle; and projecting the target suggestion information to the front of the second vehicle according to the projection angle.

[0177] The target digital projection lamp is a digital projection lamp closest to the second vehicle among the multiple digital projection lamps.

[0178] In this case, the projection angle of the target digital projection light can be determined based on the current position of the second vehicle and the current position of the first vehicle, and the projection angle can also ensure that the recommended speed can be projected in front of the second vehicle. In this way, according to the projection angle, the recommended speed of the second vehicle can always be projected in front of the second vehicle, so that the driver of the second vehicle can always see the target recommendation information, and then the speed of the second vehicle can be adjusted.

[0179] Specifically, the relative position of the second vehicle to the first vehicle may be determined based on the current positions of the second vehicle and the first vehicle, and then the projection angle may be determined according to the relative position.

[0180] The relative position refers to the relative position of the second vehicle relative to the first vehicle, wherein the relative position may include an angle and a distance, for example, the relative position may be that the second vehicle is 30 degrees to the left of the first vehicle and 5 meters away from the second vehicle. In order to ensure that the target suggestion information can be projected in front of the second vehicle, 35 degrees may be determined as the projection angle.

[0181] For example, Figure 5 is a projection diagram of the recommended speed of the second vehicle. Figure 5 , Figure 5 The first vehicle 501, the second vehicle 502, and the pedestrian 503 in front are included. The first vehicle 501 is located in the second lane from left to right, and the second vehicle 502 is located in the first lane from left to right. The first vehicle 501 has a digital projection light 504. Based on the current positions of the first vehicle 501 and the second vehicle 502, the projection angle of the digital projection light 504 on the first vehicle 501 is as follows: Figure 5 As shown, the digital projection light can project the recommended vehicle speed to the front of the second vehicle 502 according to the projection angle.

[0182] Optionally, in an embodiment of the present application, it is also possible to determine whether the pedestrian in front, the first vehicle and the second vehicle are in the same straight line based on the current position of the pedestrian in front, the current positions of the first vehicle and the second vehicle; when the pedestrian in front, the first vehicle and the second vehicle are in the same straight line, the second vehicle is reminded of target suggestion information including a warning message.

[0183] The warning message is used to remind the second vehicle that there is a pedestrian ahead, and the vehicle should slow down. For example, the warning message may be “There is a pedestrian ahead, please slow down.” In addition, in this case, the target suggestion information also includes a suggested speed for the second vehicle.

[0184] When the pedestrian in front, the first vehicle and the second vehicle are in the same straight line, that is, the pedestrian in front and the first vehicle are in a diagonal relationship, and the first vehicle and the second vehicle are in a diagonal relationship. In this case, the sight of the second vehicle is completely blocked by the first vehicle, so the second vehicle cannot see the pedestrian in front.

[0185] In this way, when the pedestrian, the first vehicle and the second vehicle are in the same straight line, the target suggestion information including the warning message is reminded to the second vehicle, so that the second vehicle can first know that there is a pedestrian passing in front, and then adjust the speed of the second vehicle according to the projected recommended speed. In this way, the second vehicle can make a response strategy (adjust the speed, etc.) more quickly and quickly.

[0186] Optionally, in the embodiment of the present application, the actual speed of the second vehicle may also be obtained. Specifically, the position of the second vehicle at multiple times is obtained, and the actual speed of the second vehicle is determined based on the position of the second vehicle at multiple times.

[0187] The operation of obtaining the actual speed of the second vehicle here is similar to the above-mentioned operation of obtaining the moving speed of the pedestrian in front, and will not be elaborated here.

[0188] Furthermore, after the recommended speed of the second vehicle is determined through the above steps 201-203, the recommended speed of the second vehicle can also be compared with the actual speed of the second vehicle; when the recommended speed of the second vehicle is greater than the actual speed of the second vehicle, the second vehicle may not be reminded of the recommended speed; when the recommended speed of the second vehicle is less than or equal to the actual speed of the second vehicle, the second vehicle will be reminded of the recommended speed.

[0189] In this case, if the recommended speed of the second vehicle is greater than the actual speed of the second vehicle, it means that the current speed of the second vehicle is not fast, that is, the current speed is within the recommended speed range, which means that the second vehicle can ensure safe and smooth passage through the road ahead at the current speed, so the second vehicle does not need to be reminded of the recommended speed. If the recommended speed of the second vehicle is greater than the actual speed of the second vehicle, it means that the current speed of the second vehicle is fast. That is to say, the second vehicle cannot ensure safe and smooth passage through the road ahead at the current speed, so the second vehicle needs to be reminded of the recommended speed.

[0190] In this way, the second vehicle is reminded of the recommended speed only when it is needed, so that the processing resources of the first vehicle can be reduced. When the digital projection lamp is used for reminder, the use frequency of the digital projection lamp can be reduced to ensure the life of the digital projection lamp.

[0191] In addition, in the embodiment of the present application, it is necessary not only to ensure that the second vehicle can pass the road ahead smoothly and safely, but also to ensure that the first vehicle itself can pass the road ahead safely and smoothly. In this case, the following steps (1) to (2) can also be performed.

[0192] (1) Determine a recommended speed for the first vehicle based on the current position of the pedestrian ahead, the moving speed, the lane information, and the current position of the first vehicle.

[0193] It should be understood that the current position of the first vehicle is (0, 0). When the first vehicle obtains the current position of the pedestrian in front, it determines the position of the pedestrian in front with itself as the origin of the coordinate system. Therefore, the current position of the first vehicle can be regarded as (0, 0). Then the current position of the pedestrian in front is actually the position relative to the first vehicle.

[0194] In this case, the recommended speed of the first vehicle can be determined based on the current position of the pedestrian ahead, the moving speed, the lane information and the current position of the first vehicle, so that when the first vehicle subsequently travels at the recommended speed, it can be ensured that the first vehicle can pass the road ahead safely and smoothly.

[0195] Optionally, after acquiring the lane information, the second distance and the fourth distance may also be acquired.

[0196] The fourth distance is the distance between the first vehicle and the left lane line of the current lane.

[0197] The third distance may be subsequently determined based on the second distance and the current position of the pedestrian in front.

[0198] The operation of step (1) may be: based on the current position of the first vehicle and the current position of the pedestrian in front, determine the longitudinal distance between the first vehicle and the pedestrian in front; based on the lane information, the third distance, the fourth distance and the moving speed, determine the target duration; based on the longitudinal distance and the target duration, determine the recommended speed of the first vehicle.

[0199] Among them, based on the lane information, the third distance, the fourth distance and the moving speed, the operation of determining the target duration can be: when the first vehicle is in the i-th lane from left to right on the driving road, based on i-1 times the lane width, the third distance and the fourth distance, determine the moving distance of the pedestrian in front; divide the moving distance by the moving speed of the pedestrian in front to obtain the target duration.

[0200] Among them, based on the longitudinal distance and the target duration, the operation of determining the recommended speed of the first vehicle can be: dividing the longitudinal distance by the target duration to obtain a critical speed; and determining a speed less than the critical speed as the recommended speed of the first vehicle.

[0201] Among them, the specific process of determining the recommended speed of the first vehicle is similar to the specific process of determining the recommended speed of the second vehicle mentioned above, and the embodiment of the present application will not be elaborated on this.

[0202] For example, Figure 6 A schematic diagram of determining a recommended speed for a first vehicle is shown in FIG. Figure 6 , Figure 6 Including the first vehicle 601 and the pedestrian 602 in front. The first vehicle 601 is located in the second lane from left to right. L3 is the lane width. The moving speed of the pedestrian in front is V3. The third distance (the distance between the pedestrian in front and the left edge of the road on which it is traveling) is L2, and L4 is the moving distance of the pedestrian in front. L6 is the longitudinal distance between the first vehicle and the pedestrian in front, and the fourth distance (the distance between the first vehicle and the left lane line on the current lane) is L7.

[0203] First, the target duration is determined to be (L3+L7-L2) / V3, and then the longitudinal distance L6 is divided by the target duration to obtain the critical speed: L6×V3 / (L3+L7-L2). Then, the vehicle speed less than the critical speed is determined as the recommended vehicle speed of the first vehicle.

[0204] (2) Displaying or broadcasting a vehicle speed reminder message, where the vehicle speed reminder message carries a recommended vehicle speed for the first vehicle.

[0205] The vehicle speed reminder information is used to remind the driver of the first vehicle of the recommended vehicle speed of the first vehicle and instruct the driver to adjust the vehicle speed of the first vehicle.

[0206] Optionally, the first vehicle may display the vehicle speed reminder information through a multimedia central control screen, or may display the vehicle speed reminder information through an instrument panel.

[0207] In addition, by voice broadcasting the vehicle speed reminder information, the driver can be informed of the recommended vehicle speed of the first vehicle while ensuring the driving safety of the first vehicle.

[0208] Furthermore, after seeing or hearing the speed reminder information, the driver of the first vehicle can adjust the speed of the first vehicle according to the recommended speed, so as to ensure that the first vehicle can pass the road ahead safely and smoothly afterwards.

[0209] Furthermore, the speed of the first vehicle can also be obtained after a preset time period; when the speed of the first vehicle is greater than a preset speed threshold and the distance between the first vehicle and the pedestrian in front is less than a preset distance threshold, the first vehicle is controlled to stop by the automatic emergency braking system of the first vehicle.

[0210] The preset time length can be set in advance, for example, the preset time length can be set to 5s (seconds).

[0211] The preset speed threshold and the preset distance threshold can be set in advance, and the preset speed threshold can be set lower, and the preset distance threshold can be set smaller. For example, the preset speed threshold can be set according to the recommended speed.

[0212] When the speed of the first vehicle is greater than the preset speed threshold, it means that the speed of the first vehicle has exceeded the recommended speed range. And when the distance between the first vehicle and the pedestrian in front is less than the preset distance threshold, it means that the distance between the first vehicle and the pedestrian in front is short. In this case, if the first vehicle continues to travel at this speed, it is very likely that an unsafe accident will occur between the first vehicle and the pedestrian in front. In this case, emergency braking is required, and the first vehicle can be controlled to stop by the automatic emergency braking system of the first vehicle.

[0213] In this case, it is equivalent to judging whether the speed of the first vehicle has been adjusted within a preset time after the speed reminder information is displayed or broadcasted. If the speed of the first vehicle has not been adjusted and the distance to the pedestrian in front is close, the automatic emergency braking system needs to be used to control the first vehicle to stop to avoid an unsafe accident. Of course, if the speed of the first vehicle has been adjusted to within the recommended speed range, no processing is required.

[0214] It is worth noting that in the application embodiment, during the driving of the first vehicle and the second vehicle, the first vehicle continuously obtains the current position and moving speed of the pedestrian in front and the current position of the second vehicle to determine the recommended speed of the second vehicle, and continuously issues reminders to the second vehicle based on the recommended speed determined each time. In layman's terms, the first vehicle obtains the current position and moving speed of the pedestrian in front and the current position of the second vehicle at the first moment to determine the recommended speed of the second vehicle at the first moment, and issues a reminder to the second vehicle based on the recommended speed at the first moment. The first vehicle obtains the current position and moving speed of the pedestrian in front and the current position of the second vehicle at the second moment to determine the recommended speed of the second vehicle at the second moment, and issues a reminder to the second vehicle based on the recommended speed at the second moment. That is, the first vehicle continuously executes the above steps 201-203 at different moments to realize reminding the second vehicle of the recommended speed. In the case where the recommended speed is different at each moment, the recommended speed reminded to the second vehicle each time is also different, that is, the recommended speed is constantly adjusted.

[0215] In this way, it can be ensured that the recommended speed of the second vehicle is determined based on the real-time status of the pedestrian in front and the real-time position of the second vehicle, that is, the recommended speed will be more accurate, and the subsequent speed of the second vehicle can also be adjusted more accurately.

[0216] It should be noted that, during the driving process of the first vehicle, the recommended speed of the first vehicle is also continuously determined, and the driver is continuously reminded.

[0217] In the embodiment of the present application, through the above steps 201 to 203, the recommended speeds of vehicles in each lane behind the first vehicle can be planned in advance, and the target recommended information (including the recommended speed) can be reminded to the vehicles in each lane, so that the speeds of vehicles in each lane can be adjusted in time, thereby ensuring that each vehicle can cross the road with pedestrians with a small acceleration change and without stopping. For example, when each vehicle encounters a pedestrian crossing the road in front of it during driving, it can adjust its own speed in advance according to the projection information in front, ensuring that there is no sudden braking or acceleration during the driving process of the vehicle, and at the same time allowing pedestrians to pass directly without hesitation.

[0218] For ease of understanding, now combined Figure 7 The vehicle speed reminder method provided in the embodiment of the present application is exemplarily described. Figure 7 , Figure 7The first vehicle 701, the second vehicle 702, and the pedestrian 703 are included. The first vehicle 701 is located at position O (0, 0) of the second lane from left to right, the second vehicle 701 is located at position A (x1, y1) of the first lane from left to right and position C (x3, y3) of the third lane, and the pedestrian is located at position B (x2, y2).

[0219] like Figure 7 As shown, the longitudinal distance between the first vehicle 701 and the pedestrian 703 in front is M1, the longitudinal distance between the second vehicle 702 in the first lane and the pedestrian 703 in front is M2, and the longitudinal distance between the second vehicle 702 in the third lane and the pedestrian 703 in front is M3. In addition, the third distance (the distance between the pedestrian in front and the left edge of the road on which the vehicle is traveling) is L2. The lane width is L3, and the moving speed of the pedestrian in front is V3. The distance between the vehicle 702 in the first lane and the left lane line on the lane is N2, the distance between the first vehicle 701 and the left lane line on the lane is N1, and the distance between the vehicle 703 in the third lane and the left lane line on the lane is N3.

[0220] Then, it can be determined that the recommended speed of the first vehicle 701 is: (M1×V3) / (L3+N1-L2). The recommended speed of the second vehicle 702 in the first lane is: (M2×V3) / (N2-L2). The recommended speed of the second vehicle 702 in the third lane is: (M3×V3) / (2×L3+N3-L2).

[0221] Afterwards, the first vehicle 701 may project the recommended speed of the second vehicle 702 in front of the second vehicle 702 in the first lane, and may project the recommended speed of the second vehicle 702 in front of the second vehicle 702 in the third lane. In addition, the first vehicle 701 may also display or play a speed reminder message to remind the driver of the first vehicle 701 of the recommended speed of the first vehicle.

[0222] In an embodiment of the present application, the first vehicle first obtains the current position and moving speed of the pedestrian in front of the first vehicle, as well as the current position of the second vehicle, that is, when the pedestrian in front is crossing the road, the first vehicle obtains the current position and moving speed of the pedestrian in front, and then obtains the current position of the vehicle behind the first vehicle. Afterwards, based on the current position and moving speed of the pedestrian in front, and the current position of the second vehicle, the recommended speed of the second vehicle can be determined, that is, the recommended speed of the vehicle behind the first vehicle is determined. Finally, the target recommendation information is reminded to the second vehicle. In this way, the first vehicle first determines the recommended speed of the second vehicle based on the current position, moving speed of the pedestrian in front, and the current position of the second vehicle, and then reminds the second vehicle of the recommended speed, so that the second vehicle can know at what speed it should travel, so that the speed of the second vehicle can be adjusted according to the recommended speed, thereby ensuring that the second vehicle can pass the road ahead safely and smoothly.

[0223] Figure 8 : is a schematic diagram of the structure of a vehicle speed reminder device provided in an embodiment of the present application. The vehicle speed reminder device can be implemented by software, hardware or a combination of both to form part or all of a vehicle, and the vehicle can be as follows Fig. 9 Vehicle shown. See Figure 8 The device includes: a first acquisition module 801, a first determination module 802 and a first reminder module 803.

[0224] A first acquisition module 801 is used to acquire the current position and moving speed of the pedestrian in front of the first vehicle, and the current position of the second vehicle, where the second vehicle is the vehicle behind the first vehicle;

[0225] A first determination module 802, configured to determine a recommended speed of the second vehicle based on the current position of the pedestrian ahead, the moving speed, and the current position of the second vehicle;

[0226] The first reminding module 803 is used to remind the second vehicle of target suggestion information, where the target suggestion information includes a suggested speed of the second vehicle.

[0227] Optionally, the first determining module 802 is used to:

[0228] Based on the current position of the second vehicle and the current position of the pedestrian ahead, determine the longitudinal distance between the second vehicle and the moving track of the pedestrian ahead, the longitudinal distance being the distance between the second vehicle and the moving track of the pedestrian ahead in the travel direction of the second vehicle;

[0229] Based on the current position of the second vehicle, the current position of the front pedestrian and the moving speed, determine the target duration, where the target duration is the duration it takes for the front pedestrian to move from the current position to the lane where the second vehicle is located;

[0230] Divide this longitudinal distance by the target duration to obtain the critical speed;

[0231] A vehicle speed less than the critical speed is determined as a recommended vehicle speed for the second vehicle.

[0232] Optionally, the first determining module 802 is used to:

[0233] Determine a lateral distance between the second vehicle and the pedestrian in front based on the current position of the second vehicle and the current position of the pedestrian in front, where the lateral distance is the distance between the second vehicle and the pedestrian in front in the moving direction of the pedestrian in front;

[0234] Divide the horizontal distance by the moving speed to obtain the target duration.

[0235] Optionally, the device further comprises:

[0236] A second acquisition module is used to acquire lane information of the road on which the first vehicle is traveling;

[0237] A third acquisition module is used to acquire a first distance, where the first distance is the distance between the second vehicle and the left lane line of the current lane;

[0238] A fourth acquisition module is used to acquire a second distance, where the second distance is the distance between the first vehicle and the left edge of the road on which the first vehicle is traveling;

[0239] The first determining module 802 is used for:

[0240] Based on the current position of the pedestrian ahead and the second distance, determining a third distance, the third distance being the distance between the pedestrian ahead and the left edge of the road being traveled;

[0241] A target duration is determined based on the lane information, the first distance, the third distance, and the moving speed.

[0242] Optionally, the lane information includes lane width and lane number, and the first determining module 802 is used to:

[0243] When the second vehicle is in the i-th lane from left to right on the driving road, determine the moving distance of the pedestrian ahead based on i-1 times the lane width, the first distance, and the third distance, where i is a positive integer; the moving distance is the distance that the pedestrian ahead moves from the current position to the lane where the second vehicle is located;

[0244] Divide the moving distance by the moving speed of the pedestrian in front to get the target duration.

[0245] Optionally, the first vehicle is equipped with a digital projection light, and the first reminder module 803 is used to:

[0246] Based on the current position of the second vehicle and the current position of the first vehicle, the target suggestion information is projected in front of the second vehicle through the digital projection light.

[0247] Optionally, the first vehicle is equipped with a plurality of digital projection lights, and the first reminder module 803 is used to:

[0248] Based on the current position of the second vehicle and the current position of the first vehicle, adjusting the projection angle of a target digital projection light in the first vehicle, the target digital projection light being the digital projection light closest to the second vehicle among the multiple digital projection lights;

[0249] According to the projection angle, the target suggestion information is projected in front of the second vehicle.

[0250] Optionally, the device further comprises:

[0251] A second determination module, configured to determine a recommended speed of the first vehicle based on the current position of the pedestrian ahead, the moving speed, the lane information, and the current position of the first vehicle;

[0252] The second reminder module is used to display or broadcast vehicle speed reminder information, where the vehicle speed reminder information carries a recommended vehicle speed for the first vehicle, and the vehicle speed reminder information is used to instruct to adjust the vehicle speed of the first vehicle.

[0253] Optionally, the device further comprises:

[0254] A third determination module, for determining whether the front pedestrian, the first vehicle and the second vehicle are in the same straight line based on the current position of the front pedestrian, the current positions of the first vehicle and the second vehicle;

[0255] The third reminder module is used to remind the second vehicle of target suggestion information including a warning message when the pedestrian in front, the first vehicle and the second vehicle are in the same straight line, and the warning message is used to remind the second vehicle that there is a pedestrian in front.

[0256] In an embodiment of the present application, the current position and moving speed of the pedestrian in front of the first vehicle and the current position of the second vehicle are first obtained, that is, when the pedestrian in front is crossing the road, the current position and moving speed of the pedestrian in front are obtained, and then the current position of the vehicle behind the first vehicle is obtained. Afterwards, based on the current position and moving speed of the pedestrian in front and the current position of the second vehicle, the recommended speed of the second vehicle can be determined, that is, the recommended speed of the vehicle behind the first vehicle is determined. Finally, the target recommendation information is reminded to the second vehicle. In this way, the first vehicle first determines the recommended speed of the second vehicle based on the current position, moving speed and current position of the pedestrian in front, and the second vehicle, and then reminds the second vehicle of the recommended speed, so that the second vehicle can know at what speed it should travel, so that the speed of the second vehicle can be adjusted according to the recommended speed, thereby ensuring that the second vehicle can pass the road ahead safely and smoothly.

[0257] It should be noted that: when the vehicle speed reminder device provided in the above embodiment reminds the second vehicle of the recommended speed, it only uses the division of the above-mentioned functional modules as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0258] The functional units and modules in the above embodiments may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit, and the above integrated units may be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the embodiments of the present application.

[0259] The vehicle speed reminder device and the vehicle speed reminder method embodiment provided in the above embodiments belong to the same concept. The specific working process of the units and modules in the above embodiments and the technical effects brought about can be found in the method embodiment part and will not be repeated here.

[0260] Fig. 9 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0261] For example, Fig. 9 As shown, the vehicle includes: a memory 91 and a processor 90, wherein the memory 91 stores an executable program code 92, and the processor 90 is used to call and execute the executable program code 92 to perform the above-mentioned vehicle speed reminder method.

[0262] In this embodiment, the functional modules of the vehicle can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0263] In the case of dividing each functional module according to each function, the vehicle may include: a first acquisition module, a first determination module and a first reminder module. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0264] The vehicle provided in this embodiment is used to execute the above-mentioned method of vehicle speed reminder, and thus can achieve the same effect as the above-mentioned implementation method.

[0265] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle to execute mutual program codes and data.

[0266] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits disclosed in the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0267] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement the above-mentioned vehicle speed reminder method in the above-mentioned embodiment.

[0268] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement the above-mentioned vehicle speed reminder method in the above-mentioned embodiment.

[0269] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above and will not be repeated here.

[0270] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0271] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0272] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle speed reminder method, characterized in that: The method is performed by a first vehicle, and includes: Obtaining the current position and moving speed of a pedestrian in front of the first vehicle, and the current position of a second vehicle, where the second vehicle is a vehicle behind the first vehicle; Determining a recommended speed for the second vehicle based on the current position of the pedestrian ahead, the moving speed, and the current position of the second vehicle; The second vehicle is notified of target suggestion information, wherein the target suggestion information includes a suggested vehicle speed of the second vehicle.

2. The method according to claim 1, characterized in that The determining the recommended speed of the second vehicle based on the current position of the pedestrian ahead, the moving speed, and the current position of the second vehicle includes: Based on the current position of the second vehicle and the current position of the pedestrian in front, determine the longitudinal distance between the second vehicle and the moving track of the pedestrian in front, where the longitudinal distance is the distance between the second vehicle and the moving track of the pedestrian in front in the driving direction of the second vehicle; Determine a target duration based on the current position of the second vehicle, the current position of the front pedestrian, and the moving speed, wherein the target duration is the duration taken by the front pedestrian to move from the current position to the lane where the second vehicle is located; Dividing the longitudinal distance by the target duration to obtain a critical speed; A vehicle speed less than the critical speed is determined as a recommended vehicle speed for the second vehicle.

3. The method according to claim 2, characterized in that The determining the target duration based on the current position of the second vehicle, the current position of the front pedestrian, and the moving speed includes: Determine, based on the current position of the second vehicle and the current position of the front pedestrian, a lateral distance between the second vehicle and the front pedestrian, the lateral distance being the distance between the second vehicle and the front pedestrian in the moving direction of the front pedestrian; The target duration is obtained by dividing the horizontal distance by the moving speed.

4. The method according to claim 2, characterized in that Before determining the target duration based on the current position of the second vehicle, the current position of the front pedestrian, and the moving speed, the method further includes: Acquiring lane information of the road on which the first vehicle is traveling; Acquire a first distance, where the first distance is the distance between the second vehicle and a left lane line of a current lane; Acquire a second distance, where the second distance is the distance between the first vehicle and a left edge of the road on which the first vehicle is traveling; The determining the target duration based on the current position of the second vehicle, the current position of the front pedestrian, and the moving speed includes: Determine a third distance based on the current position of the pedestrian ahead and the second distance, the third distance being the distance between the pedestrian ahead and a left edge of the road on which the pedestrian is traveling; The target duration is determined based on the lane information, the first distance, the third distance, and the moving speed.

5. The method according to claim 4, characterized in that The lane information includes a lane width and a lane number, and determining the target duration based on the lane information, the first distance, the third distance, and the moving speed includes: When the second vehicle is in the i-th lane from left to right on the driving road, determine the moving distance of the front pedestrian based on i-1 times the lane width, the first distance, and the third distance, where the moving distance is the distance that the front pedestrian moves from the current position to the lane where the second vehicle is located, and i is a positive integer; The target duration is obtained by dividing the moving distance by the moving speed of the pedestrian in front.

6. The method according to claim 1, characterized in that The first vehicle is equipped with a digital projection light, and the prompting of the target suggestion information to the second vehicle includes: Based on the current position of the second vehicle and the current position of the first vehicle, the target suggestion information is projected in front of the second vehicle through the digital projection light.

7. The method according to claim 6, characterized in that The first vehicle is equipped with a plurality of digital projection lights, and based on the current position of the second vehicle, the target suggestion information is projected in front of the second vehicle through the digital projection lights, including: Based on the current position of the second vehicle and the current position of the first vehicle, adjusting the projection angle of a target digital projection light in the first vehicle, the target digital projection light being the digital projection light closest to the second vehicle among the plurality of digital projection lights; The target suggestion information is projected in front of the second vehicle according to the projection angle.

8. The method according to claim 1, characterized in that The method further comprises: Determining a recommended speed for the first vehicle based on the current position of the pedestrian ahead, the moving speed, lane information, and the current position of the first vehicle; The vehicle speed reminder information is displayed or broadcasted, wherein the vehicle speed reminder information carries the recommended vehicle speed of the first vehicle, and the vehicle speed reminder information is used to instruct to adjust the vehicle speed of the first vehicle.

9. The method according to claim 1, characterized in that The method further comprises: Based on the current position of the front pedestrian, the current positions of the first vehicle and the second vehicle, determining whether the front pedestrian, the first vehicle and the second vehicle are in the same straight line; In a case where the pedestrian in front, the first vehicle and the second vehicle are in the same straight line, the second vehicle is reminded of target suggestion information including a warning message, where the warning message is used to remind the second vehicle that there is a pedestrian in front.

10. A vehicle speed reminder device, characterized in that: The device comprises: A first acquisition module, used to acquire the current position and moving speed of the pedestrian in front of the first vehicle, and the current position of a second vehicle, where the second vehicle is a vehicle behind the first vehicle; A first determination module, configured to determine a recommended speed of the second vehicle based on the current position of the pedestrian ahead, the moving speed, and the current position of the second vehicle; The first reminder module is used to remind the second vehicle of target suggestion information, where the target suggestion information includes a suggested vehicle speed of the second vehicle.

11. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory so that the vehicle executes the method according to any one of claims 1 to 9.

Images