Vehicle driving early warning method and device

Abstract

The invention provides a vehicle driving early warning method and device, and the method comprises the steps: obtaining path planning information, and transmitting the path planning information to a server; receiving lane solid line coordinates corresponding to a vehicle path issued by the server; when the vehicle meets a preset condition, performing coordinate conversion on the real-time coordinates of the vehicle to obtain real-time coordinates of the outer edge of each wheel; and according to the lane solid line coordinate and the real-time coordinate of the outer edge of each wheel, determining whether a vehicle line pressing early warning prompt is generated or not. According to the invention, whether the vehicle compacts the line or not is judged, a driver is reminded in time, and illegal and traffic accidents caused by the compaction of the line are reduced.

Description

Technical Field

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

[0002] At present, road traffic safety regulations stipulate that vehicles cannot cross special ground markings such as double yellow solid lines, single yellow solid lines, and solid white lines when driving on the road. However, when driving on the road, vehicles often cross the solid lane lines due to subjective reasons of the driver or objective reasons such as the influence of the external environment. Among them, subjective reasons include driver fatigue, distraction or careless observation; objective reasons include weather factors, road surface reflections, unclear lane lines, etc.

[0003] In terms of the degree of violation, most of the violations of crossing the line are of low degree, and in most cases the driver does not violate the law intentionally, but due to misjudgment or lack of awareness. Crossing the solid line may lead to traffic accidents, points deduction and fines, etc. Therefore, when the vehicle crosses the solid line, it is necessary to remind the driver in time. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a vehicle driving warning method and device to overcome at least one of the above-mentioned defects.

[0005] In a first aspect, an embodiment of the present application provides a vehicle driving warning method, the method comprising: obtaining path planning information, and sending the path planning information to a server; receiving lane solid line coordinates corresponding to the vehicle path issued by the server; when the vehicle meets preset conditions, converting the vehicle real-time coordinates to obtain the real-time coordinates of the outer edge of each wheel; determining whether to generate a vehicle crossing line warning prompt based on the lane solid line coordinates and the real-time coordinates of the outer edge of each wheel.

[0006] In an optional embodiment of the present application, the real-time coordinates of the outer edge of each wheel are obtained by: acquiring the real-time coordinates of the vehicle from a positioning satellite; performing coordinate conversion on the real-time coordinates of the vehicle to obtain the real-time coordinates of the outer edge of each wheel of the vehicle, wherein the real-time coordinates of the vehicle are located in the geodetic coordinate system.

[0007] In an optional embodiment of the present application, the real-time coordinates of the vehicle are converted to obtain the real-time coordinates of the outer edge of each wheel of the vehicle, including: obtaining the coordinates of the outer edge of each wheel in a vehicle coordinate system according to the center of mass of the vehicle and the size of the vehicle, wherein the vehicle coordinate system has the forward direction of the vehicle as the positive direction of the X-axis, the left side of the vehicle as the positive direction of the Y-axis, and the positive direction of the Z-axis perpendicular to the ground and upward; calculating the transformation matrix for coordinate transformation between the vehicle coordinate system and the geodetic coordinate system according to the posture of the vehicle and the real-time coordinates of the vehicle; and calculating the real-time coordinates of the outer edge of each wheel in the geodetic coordinate system according to the transformation matrix.

[0008] In an optional embodiment of the present application, whether the vehicle meets the preset conditions is determined in the following manner: a speed trigger threshold is pre-set for the vehicle; whether the real-time speed of the vehicle reaches the speed trigger threshold is determined; if the real-time speed of the vehicle does not reach the speed trigger threshold, it indicates that the vehicle does not meet the preset conditions; if the real-time speed of the vehicle reaches the speed trigger threshold, it indicates that the vehicle meets the preset conditions and receives the real-time coordinates of the vehicle sent by the positioning satellite.

[0009] In an optional embodiment of the present application, determining whether to generate a vehicle lane crossing warning prompt based on the lane solid line coordinates and the real-time coordinates of the outer edge of each wheel includes: receiving multiple lane solid line coordinates corresponding to the vehicle path, and grouping them according to the solid line segments on the lane, each group of solid line segments including a preset number of lane solid line coordinates located on the segment; when it is detected that the vehicle has traveled to a preset position of a target solid line segment on the lane, extracting the lane solid line coordinates from the target solid line segment to determine the target lane solid line coordinates; and issuing a vehicle warning based on the target lane solid line coordinates and the real-time coordinates of the outer edge of the wheel.

[0010] In an optional embodiment of the present application, the vehicle warning based on the solid line coordinates of the target lane and the real-time coordinates of the outer edge of the wheel includes: calculating the distance between the real-time coordinates of the outer edge of the wheel and the solid line coordinates of the lane; judging whether the distance is greater than a distance threshold; if the distance is greater than the distance threshold, it indicates that there is no risk of the outer edge of the preset wheel pressing the solid line of the lane, and detection continues; if the distance is not greater than the distance threshold, it indicates that there is a risk of the outer edge of the preset wheel pressing the solid line of the lane, and a warning signal is generated to warn the vehicle of pressing the line.

[0011] In an optional embodiment of the present application, an early warning prompt is given for a vehicle crossing the lane in the following manner: a early warning message is generated based on a warning signal, the early warning message including an early warning type and an early warning level; the early warning message is sent to an alarm system control unit of the vehicle via a CAN bus, so that the alarm system control unit issues an early warning based on the early warning message to prompt the driver to pay attention to the distance between the vehicle and the solid line of the lane.

[0012] In the second aspect, an embodiment of the present application also provides a vehicle driving warning device, which includes: a path planning information acquisition module, used to obtain path planning information and send the path planning information to a server; a lane solid line coordinate receiving module, used to receive the lane solid line coordinates corresponding to the vehicle path issued by the server; a wheel outer edge real-time coordinate determination module, used to convert the vehicle real-time coordinates when the vehicle meets preset conditions to obtain the real-time coordinates of the outer edge of each wheel; a warning prompt generation module, used to determine whether to generate a vehicle crossing line warning prompt based on the lane solid line coordinates and the real-time coordinates of the outer edge of each wheel.

[0013] In a third aspect, an embodiment of the present application further provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the steps of the method described above are performed.

[0014] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described above are executed.

[0015] The vehicle driving warning method and device provided in the embodiment of the present application obtain path planning information and send the path planning information to a server; receive the lane solid line coordinates corresponding to the vehicle path issued by the server; when the vehicle meets the preset conditions, the vehicle real-time coordinates are converted to obtain the real-time coordinates of the outer edge of each wheel; according to the lane solid line coordinates and the real-time coordinates of the outer edge of each wheel, it is determined whether to generate a vehicle crossing line warning prompt, which can pre-prompt the driver of the violation of crossing the line, so that the driver is aware of the risk of crossing the line, which is convenient for the driver to adjust the vehicle's running trajectory in time during driving, and reduce or avoid the occurrence of crossing the line.

[0016] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 One of the flow charts of the vehicle driving warning method provided in the embodiment of the present application;

[0019] Figure 2 A flow chart for determining the real-time coordinates of the outer edge of a wheel provided in an embodiment of the present application;

[0020] Figure 3 The second flowchart of the vehicle driving warning method provided in the embodiment of the present application;

[0021] Figure 4 A schematic diagram of a vehicle driving provided in an embodiment of the present application;

[0022] Figure 5 A schematic diagram of the structure of a vehicle driving warning device provided in an embodiment of the present application;

[0023] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0025] First, the application scenarios to which the present application is applicable are introduced. The present application can be applied in the field of vehicles.

[0026] Research has found that road traffic safety regulations stipulate that vehicles cannot cross special ground markings such as double yellow solid lines, single yellow solid lines, and solid white lines when driving on the road. However, due to subjective reasons (driver fatigue, distraction) and objective reasons (weather, road surface reflections), vehicles often cross solid lines.

[0027] In addition, real-time monitoring of lane lines with the help of front-mounted sensors on the vehicle relies on pre-installation and calibration before the vehicle leaves the factory and cannot be used for vehicles that have already been sold. The driver cannot completely avoid crossing the solid line due to subjective and objective factors while the vehicle is driving. In most cases, the driver does not violate traffic rules intentionally, but due to misjudgment or lack of awareness. Crossing the solid line due to the inability to perceive the distance between the vehicle and the solid line of the lane may lead to traffic accidents, points deduction and fines, etc.

[0028] Based on this, the embodiment of the present application provides a vehicle driving warning method and device, which obtains path planning information and sends the path planning information to a server; receives the lane solid line coordinates corresponding to the vehicle path issued by the server; when the vehicle meets the preset conditions, the vehicle real-time coordinates are converted to obtain the real-time coordinates of the outer edge of each wheel; based on the lane solid line coordinates and the real-time coordinates of the outer edge of each wheel, it is determined whether to generate a vehicle crossing the line warning prompt. Through this application, the driver can be pre-prompted for crossing the line violation, so that the driver is aware of the risk of crossing the line, which is convenient for the driver to adjust the vehicle's running trajectory in time during driving to reduce or avoid the occurrence of crossing the line.

[0029] The executor of this application is the ECU (Electronic Control Unit), which receives data from the server and positioning satellite, and parses, identifies and judges the data to determine whether a vehicle crossing the line warning prompt is required.

[0030] See also Figure 1 , Figure 1 This is one of the flow charts of the vehicle driving warning method provided in the embodiment of the present application. Figure 1 As shown in , the vehicle driving warning method provided by the embodiment of the present application includes:

[0031] S101. Obtain path planning information, and send the path planning information to a server.

[0032] This step ensures that the vehicle receives accurate lane information based on its planned path.

[0033] Route planning information usually comes from the vehicle navigation system or user input. Users can trigger route planning by entering the destination address, selecting a point of interest (POI), or directly selecting a route on a map.

[0034] The path planning algorithm will take into account multiple factors, such as road conditions, traffic conditions, driving time, fuel efficiency, etc., to provide the optimal or suboptimal driving path. The path planning algorithm should be able to be updated in real time to reflect the latest traffic conditions and road changes to ensure that the vehicle can receive the most accurate path information.

[0035] Path planning information needs to be sent to the server through specific communication protocols (such as TCP / IP, HTTPS, etc.). These protocols ensure the reliable transmission and security of data. Path planning information is usually encoded in a specific data format (such as JSON, XML, etc.) so that the server can correctly parse and process it. In order to ensure the security and integrity of the data, the path planning information may need to be encrypted before sending and verified at the receiving end.

[0036] S102: Receive the lane solid line coordinates corresponding to the vehicle path sent by the server.

[0037] After receiving the path planning information, the server will parse it to extract key path elements (such as starting point, end point, waypoints, etc.). Based on the parsed path elements, the server will query its internal database or external data source to obtain lane-level information that matches the path. This information may include lane solid line coordinates, lane width, lane type, etc. The server will send the matched lane-level information (especially lane solid line coordinates) back to the vehicle through the communication protocol so that the vehicle can obtain the lane information on its driving path in real time.

[0038] After the vehicle receives the lane solid line coordinates sent by the server, it will parse and process them to display the lane information on the navigation interface.

[0039] The real-time coordinates of the outer edge of each wheel are obtained by:

[0040] Acquire the real-time coordinates of the vehicle from the positioning satellite;

[0041] The real-time coordinates of the vehicle are transformed to obtain the real-time coordinates of the outer edge of each wheel of the vehicle. The real-time coordinates of the vehicle are located in the geodetic coordinate system.

[0042] Here, the real-time coordinates of the vehicle obtained from the positioning satellite are geodetic coordinates (latitude and longitude). The real-time coordinates of the vehicle are converted into the real-time coordinates of the outer edge of each wheel. The real-time coordinates of the outer edge of the wheel are located in the vehicle coordinate system. At this time, the real-time coordinates of the outer edge of the wheel located in the vehicle coordinate system need to be converted into the real-time coordinates of the outer edge of the wheel in the geodetic coordinate system.

[0043] Specifically, see Figure 2 , Figure 2 This is a flow chart for determining the real-time coordinates of the outer edge of a wheel provided in an embodiment of the present application. Figure 2 As shown in , the vehicle driving warning method provided by the embodiment of the present application includes:

[0044] S201. Obtain the outer edge coordinates of each wheel in the vehicle coordinate system according to the center of mass of the vehicle and the size of the vehicle.

[0045] The vehicle coordinate system takes the center of mass of the vehicle as the origin, the vehicle's forward direction as the positive direction of the X axis, the left side of the vehicle as the positive direction of the Y axis, and the vertical direction upward from the ground as the positive direction of the Z axis. In this way, we have established a three-dimensional vehicle coordinate system. Preferably, the center of mass of the vehicle can be any fixed point of the vehicle, which is not specifically limited here.

[0046] Among them, the three-dimensional vehicle coordinate system takes the vehicle's forward direction as the positive direction of the X-axis, the left side of the vehicle as the positive direction of the Y-axis, and the vertical direction to the ground and upward as the positive direction of the Z-axis. This coordinate system is relative to the vehicle itself and will change with the movement and posture of the vehicle.

[0047] The GPS or other satellite positioning receiver installed on the vehicle receives signals from positioning satellites. These signals contain information such as the vehicle's current longitude, latitude, altitude (elevation), and timestamp.

[0048] Through coordinate transformation, according to the geometric characteristics of the vehicle (such as track width, wheelbase, etc.) and the position of the wheel relative to the center of mass of the vehicle (or a fixed point) (set when the vehicle leaves the factory), the outer edge coordinates of each wheel in the vehicle coordinate system are calculated.

[0049] Here, the wheel outer edge coordinates are fixed coordinates in the vehicle coordinate system that are calculated based on the center of mass of the vehicle and the size of the vehicle.

[0050] S202, calculating a conversion matrix for coordinate conversion between a vehicle coordinate system and a geodetic coordinate system according to the posture of the vehicle and the real-time coordinates of the vehicle;

[0051] The vehicle's attitude can be measured in real time by sensors installed on the vehicle (such as gyroscopes, accelerometers, magnetometers, etc.), which can provide the vehicle's attitude information relative to the Earth's gravity field and geomagnetic field.

[0052] Based on the vehicle's posture information (including pitch angle, yaw angle and roll angle), the transformation matrix between the vehicle coordinate system and the earth coordinate system is calculated. This matrix can transform the wheel outer edge coordinates in the vehicle coordinate system into the earth coordinate system.

[0053] Since the vehicle's posture changes continuously as it drives, the transformation matrix also needs to be updated in real time. This is usually achieved through a closed-loop control system that continuously measures the vehicle's posture and updates the transformation matrix.

[0054] S203. Calculate the real-time coordinates of the outer edge of each wheel in the geodetic coordinate system according to the conversion matrix.

[0055] In order to calculate the coordinates of the outer edge of each wheel in the geodetic coordinate system, it is necessary to know the vehicle's size information, including the wheel diameter, wheelbase (the distance between the front and rear wheels), wheel width (the distance between the left and right wheels), and the offset of the wheel relative to the center of the vehicle. These parameters have been determined when the vehicle leaves the factory and are known quantities.

[0056] By converting the coordinates of each wheel outer edge in the vehicle coordinate system into the earth coordinate system through the conversion matrix, the real-time coordinates of each wheel outer edge in the earth coordinate system can be obtained.

[0057] Since the vehicle's movement and posture changes will cause changes in the wheel coordinates, these coordinates need to be updated in real time. This is usually achieved through a periodic task that continuously calculates and updates the real-time coordinates of the outer edge of the wheel.

[0058] S103: When the vehicle meets the preset conditions, the real-time coordinates of the vehicle are converted to obtain the real-time coordinates of the outer edge of each wheel.

[0059] Specifically, whether the vehicle meets the preset conditions is determined in the following manner:

[0060] For vehicles, pre-set the speed trigger threshold;

[0061] Here, in order to determine when to perform coordinate conversion, a speed trigger threshold is set for the vehicle, and this threshold can be set based on various factors such as the type, purpose, and driving environment of the vehicle.

[0062] For example, for long-distance transport vehicles on highways, the speed trigger threshold may be set higher; while for short-distance transport or public transportation vehicles in cities, the speed trigger threshold may be set lower, preferably, 5 km / h.

[0063] Determine whether the real-time speed of the vehicle reaches the speed trigger threshold;

[0064] If the real-time speed of the vehicle does not reach the speed trigger threshold, it means that the vehicle does not meet the preset conditions; if the real-time speed of the vehicle reaches the speed trigger threshold, it means that the vehicle meets the preset conditions and receives the real-time coordinates of the vehicle sent by the positioning satellite.

[0065] Vehicles are usually equipped with speed sensors to monitor the vehicle's speed in real time. This speed data is updated in real time and can be accessed by the vehicle control system or related algorithms.

[0066] Furthermore, the real-time monitored vehicle speed is compared with a preset speed trigger threshold. If the vehicle speed does not reach the threshold, it is considered that the current state of the vehicle does not meet the preset conditions for coordinate conversion; if the vehicle speed reaches or exceeds the threshold, it is considered that the current state of the vehicle meets the preset conditions for coordinate conversion. At this time, the vehicle control system or related algorithm will trigger the next operation, that is, receiving the real-time coordinates of the vehicle sent by the positioning satellite.

[0067] When the vehicle meets the preset conditions, the GPS or other satellite positioning receiver on the vehicle will receive signals from the positioning satellite and calculate the real-time coordinates of the vehicle.

[0068] The received real-time coordinates of the vehicle are usually in the geodetic coordinate system. In order to obtain the real-time coordinates of each wheel, we need to convert the vehicle coordinate system (the vehicle's forward direction is the positive direction of the X-axis, the left side of the vehicle is the positive direction of the Y-axis, and the vertical direction of the Z-axis is the positive direction of the Z-axis) into the geodetic coordinate system, and calculate the coordinates of each wheel in the geodetic coordinate system based on the vehicle's size, posture, and transformation matrix.

[0069] Since the vehicle's speed and position are constantly changing, the real-time coordinates of the wheels also need to be constantly updated. This is usually achieved through a periodic task that constantly monitors the vehicle speed, receives satellite positioning data, performs coordinate conversion, and updates the real-time coordinates of the wheels.

[0070] The real-time coordinates of the outer edge of the wheel can be used in a variety of application scenarios, such as vehicle navigation, path planning, collision warning, autonomous driving, etc. These application scenarios require accurate knowledge of the position information of the vehicle and its various parts in three-dimensional space.

[0071] Specifically, the setting of the speed trigger threshold needs to take into account multiple factors to ensure that the coordinate conversion is performed at the appropriate time. If the threshold is set too high, it may result in the inability to obtain the real-time coordinates of the wheel in some cases; if the threshold is set too low, it may increase unnecessary calculation and resource consumption.

[0072] In summary, this step determines when to convert the vehicle's real-time coordinates into the real-time coordinates of each wheel. By reasonably setting preset conditions, monitoring the vehicle speed in real time, performing coordinate conversion and updating, etc., accurate location information can be provided for a variety of application scenarios.

[0073] S104: Determine whether to generate a vehicle crossing lane warning prompt based on the lane solid line coordinates and the real-time coordinates of the outer edge of each wheel.

[0074] When it is determined that the vehicle meets the preset conditions, the necessary configuration files and parameters are loaded, such as the accuracy requirements of the lane solid line coordinates, the sampling frequency of the real-time coordinates of the outer edge of the wheel, the triggering conditions of the lane crossing warning, etc., and the connectivity, stability and bandwidth requirements between the vehicle and the positioning satellite and server are determined to ensure that the real-time coordinates of the outer edge of the wheel and the lane information can be obtained in real time.

[0075] Specifically, see Figure 3 , Figure 3 This is the second flow chart of the vehicle driving warning method provided in the embodiment of the present application. Figure 3 As shown in , the vehicle driving warning method provided by the embodiment of the present application includes:

[0076] S301, receiving a plurality of lane solid line coordinates corresponding to a vehicle path, and grouping them according to the solid line segments on the lanes, each group of solid line segments including a preset number of lane solid line coordinates located on the road segment;

[0077] The solid line coordinates of lanes corresponding to multiple vehicle paths are received through on-board sensors or external data sources (such as a traffic management system), and the received solid line coordinates of lanes are preprocessed, such as denoising and smoothing, to improve the accuracy and reliability of the data. The solid line segments on the lanes are grouped, and each group of solid line segments includes a preset number of solid line coordinates of lanes located on the segment. These preset numbers can be flexibly set according to the length and width of the lane and the complexity of the traffic rules.

[0078] S302: When it is detected that the vehicle has traveled to a preset position of a target solid line segment on the lane, the solid line coordinates of the lane are extracted from the target solid line segment to determine the solid line coordinates of the target lane.

[0079] Here, the vehicle's driving status, including speed, direction, etc., is detected in real time, and it is determined whether the vehicle has driven to a preset position of a target solid line segment on the lane. Once it is detected that the vehicle has driven to the preset position of the target solid line segment, a certain number of lane solid line coordinates are extracted from the target solid line segment as the target lane solid line coordinates. These coordinates will be used for subsequent line crossing judgments. According to the vehicle's driving direction and speed, the selection range of the target lane solid line coordinates is dynamically adjusted to ensure the accuracy and real-time nature of the warning.

[0080] In an optional embodiment, the preset position may be located one kilometer behind the target solid line segment in the direction of vehicle travel. The preset position may be set according to actual conditions and is not specifically limited in this application.

[0081] S303, issuing a vehicle warning according to the solid line coordinates of the target lane and the real-time coordinates of the outer edge of the wheel.

[0082] Specifically, whether to issue an early warning for a vehicle crossing the line is determined by the following methods:

[0083] Calculate the distance between the real-time coordinates of the outer edge of the wheel and the coordinates of the solid line of the lane;

[0084] Determine whether the distance is greater than a distance threshold;

[0085] If the distance is greater than the distance threshold, it means that there is no risk of the preset outer edge of the wheel pressing the solid line of the lane, and detection continues; if the distance is not greater than the distance threshold, it means that there is a risk of the preset outer edge of the wheel pressing the solid line of the lane, and a warning signal is generated to warn the vehicle of pressing the line.

[0086] See also Figure 4 , Figure 4 This is a schematic diagram of a vehicle driving provided in an embodiment of the present application. Figure 4 As shown in L mn represents the coordinates of the nth point on the mth continuous solid line in the left lane, C R mn represents the coordinates corresponding to the nth coordinate point on the mth continuous solid line of the right lane solid line. When the vehicle is detected to be traveling to the preset position of the target solid line segment on the lane, the distance is calculated based on the real-time coordinates of the outer edge of the wheel and the coordinates in the target solid line segment. FLi represents the distance from the left front wheel to the i-th point on the solid line of the left lane, d RLi represents the distance from the left rear wheel to the i-th point on the solid line of the left lane, d FRi represents the distance from the right front wheel to the i-th point on the solid line of the right lane, d RRi Represents the distance from the right rear wheel to the i-th point on the solid line of the right lane.

[0087] From these four distances d FLi d RLi d Fri and RRi A distance with the smallest distance is selected, and the distance is compared with the distance threshold. When it is detected that the distance is less than or equal to the distance threshold, the wheel position corresponding to the distance is determined, and a vehicle warning is issued. Preferably, the distance threshold can be 0.5m.

[0088] The coordinate information of the wheel is obtained in real time, which is usually achieved through on-board sensors (such as wheel speed sensors, GPS, etc.). The real-time coordinates of the outer edge of the wheel are compared with the coordinates of the solid line of the target lane to determine whether the wheel is away from the solid line of the lane or is close to crossing the line. If it is detected that the wheel is about to cross the line or has already crossed the line, the system immediately triggers a crossing warning prompt, such as issuing a sound alarm, displaying a visual prompt, etc.

[0089] At the same time, record relevant information of the line-crossing incident, such as time, location, vehicle speed, etc., for subsequent analysis and improvement.

[0090] In an optional embodiment, according to the triggering of the line crossing warning, driving suggestions can be provided to the driver, such as adjusting the direction, slowing down, etc., to avoid crossing the line. If the driver fails to respond in time after receiving the warning, further measures can be taken, such as automatically adjusting the vehicle posture, slowing down, etc., to ensure driving safety. The driver's feedback on the warning prompts can also be collected, such as whether the response is timely and the accuracy of the warning prompts, so as to continuously optimize and improve the warning algorithm and prompt method.

[0091] Specifically, the following methods are used to warn vehicles that cross the line:

[0092] Generate a warning message based on the warning signal, which includes the warning type and warning level;

[0093] For example, when it is detected based on positioning satellite and server data that the wheel is approaching or has pressed against the solid line of the lane, a warning signal will be triggered.

[0094] Based on the detected warning signal, the system will generate a warning message. This message contains two key pieces of information: warning type and warning level. Here, the warning type indicates the type of warning, such as "lane departure warning", "lane crossing warning", etc. The warning level is divided into different levels according to the proximity of the vehicle to the lane line or the actual crossing situation, such as "minor", "medium", "serious", etc. The classification of warning levels helps drivers respond accordingly according to the degree of urgency.

[0095] After the early warning message is generated, it is sent to the alarm system control unit via the vehicle's CAN (Controller Area Network) bus. The CAN bus is a protocol used for communication between control units within the vehicle, and has high reliability and real-time performance.

[0096] The warning message is sent to the vehicle's alarm system control unit via the CAN bus, so that the alarm system control unit issues an early warning based on the warning message to remind the driver to pay attention to the distance between the vehicle and the solid line of the lane.

[0097] Among them, after the alarm system control unit receives the warning message, it will parse the message content and trigger the corresponding alarm strategy according to the warning type and warning level. If the warning level is high, the alarm system may issue a sound alarm through the speaker in the car, such as continuous beeps or voice prompts, to attract the driver's attention.

[0098] At the same time, the alarm system may display corresponding alarm icons or text prompts on the vehicle's dashboard or central control display screen, such as flashing warning lights or red crossing warning signs. Some vehicles may also be equipped with a steering wheel vibration device to remind the driver by vibrating the steering wheel.

[0099] In some cases, the alarm system may activate both the audible and visual alarms to provide a stronger warning effect.

[0100] When the driver hears the sound alarm, sees the light alarm or feels the steering wheel vibrate, he should immediately pay attention to the distance between the vehicle and the solid line of the lane and take appropriate driving operations, such as adjusting the steering wheel, slowing down, etc., to avoid crossing the line.

[0101] If the driver responds to the warning in time and takes correct driving action, this behavior is recorded and the driver is given positive feedback or rewards during subsequent driving.

[0102] If the driver fails to respond to the warning in time, further measures may be taken, such as automatically adjusting the vehicle posture, slowing down, etc., to ensure driving safety. At the same time, this behavior will be recorded and corresponding reminders or suggestions will be given in subsequent driving training or evaluations.

[0103] Through the above detailed warning process, the vehicle crossing line warning system can effectively remind the driver to pay attention to the distance between the vehicle and the solid line of the lane, thereby avoiding potential traffic violations or accidents and improving driving safety and driving experience.

[0104] The vehicle driving warning method and device provided in the embodiment of the present application obtain path planning information and send the path planning information to a server; receive the lane solid line coordinates corresponding to the vehicle path issued by the server; when the vehicle meets the preset conditions, the vehicle real-time coordinates are converted to obtain the real-time coordinates of the outer edge of each wheel; according to the lane solid line coordinates and the real-time coordinates of the outer edge of each wheel, it is determined whether to generate a vehicle crossing the line warning prompt. Through this application, the driver's violation of crossing the line can be pre-prompted, so that the driver is aware of the risk of crossing the line, which is convenient for the driver to adjust the vehicle's running trajectory in time during driving to reduce or avoid the occurrence of crossing the line.

[0105] The present application calculates the real-time distance from the outer edge of the four wheels of the vehicle to the solid line coordinates of the lane based on the real-time coordinates of the outer edge of the wheel converted from the real-time coordinates of the vehicle and the solid line coordinates of the lane on the navigation route (a point can be collected at certain intervals). When the distance is less than a certain value (such as 0), the driver is reminded that the solid line has been crossed through a sound and / or light alarm in the vehicle, the distance between the wheel and the solid line is judged in real time, and the driver is reminded before and after the line is crossed, which can reduce violations and traffic accidents caused by crossing the solid line.

[0106] Based on the same inventive concept, a vehicle driving warning device corresponding to the vehicle driving warning method is also provided in the embodiment of the present application. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned vehicle driving warning method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0107] See also Figure 5 , Figure 5 This is a schematic diagram of the structure of the vehicle driving warning device provided in the embodiment of the present application. Figure 5 As shown in , the vehicle driving warning device 400 includes:

[0108] A path planning information acquisition module 401 is used to acquire path planning information and send the path planning information to a server;

[0109] A lane solid line coordinate receiving module 402 is used to receive the lane solid line coordinates corresponding to the vehicle path sent by the server;

[0110] The wheel outer edge real-time coordinate determination module 403 is used to convert the vehicle real-time coordinates to obtain the real-time coordinates of each wheel outer edge when the vehicle meets the preset conditions;

[0111] The warning prompt generating module 404 is used to determine whether to generate a vehicle crossing lane warning prompt based on the lane solid line coordinates and the real-time coordinates of the outer edge of each wheel.

[0112] See also Figure 6 , Figure 6 This is a schematic diagram of the structure of the electronic device provided in the embodiment of the present application. Figure 6 As shown in , the electronic device 500 includes a processor 510 , a memory 520 and a bus 530 .

[0113] The memory 520 stores machine-readable instructions executable by the processor 510. When the electronic device 500 is running, the processor 510 communicates with the memory 520 via the bus 530. When the machine-readable instructions are executed by the processor 510, the above-mentioned Figure 1 The specific implementation of the steps of the vehicle driving warning method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0114] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 The specific implementation of the steps of the vehicle driving warning method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0115] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0116] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, 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 communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0117] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0118] In addition, each functional unit in each embodiment of the present application 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.

[0119] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0120] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A vehicle driving warning method, characterized in that: include: Acquire path planning information, and send the path planning information to a server; Receiving the lane solid line coordinates corresponding to the vehicle path sent by the server; When the vehicle meets the preset conditions, the real-time coordinates of the vehicle are converted to obtain the real-time coordinates of the outer edge of each wheel; Whether to generate a vehicle crossing lane warning prompt is determined based on the lane solid line coordinates and the real-time coordinates of the outer edge of each wheel.

2. The method according to claim 1, characterized in that The real-time coordinates of the outer edge of each wheel are obtained by: Acquire the real-time coordinates of the vehicle from the positioning satellite; The real-time coordinates of the vehicle are transformed to obtain the real-time coordinates of the outer edge of each wheel of the vehicle, and the real-time coordinates of the vehicle are located in the geodetic coordinate system.

3. The method according to claim 2, characterized in that The real-time coordinates of the vehicle are converted to obtain the real-time coordinates of the outer edge of each wheel of the vehicle, including: According to the center of mass of the vehicle and the size of the vehicle, the outer edge coordinates of each wheel in the vehicle coordinate system are obtained, wherein the vehicle's forward direction is the positive direction of the X axis, the left side of the vehicle is the positive direction of the Y axis, and the direction perpendicular to the ground and upward is the positive direction of the Z axis; Calculating a conversion matrix for coordinate conversion between a vehicle coordinate system and a geodetic coordinate system according to the posture of the vehicle and the real-time coordinates of the vehicle; The real-time coordinates of the outer edge of each wheel in the earth coordinate system are calculated according to the conversion matrix.

4. The method according to claim 2, characterized in that: Determine whether the vehicle meets the preset conditions by: For the vehicle, a speed trigger threshold is pre-set; Determine whether the real-time speed of the vehicle reaches the speed trigger threshold; If the real-time speed of the vehicle does not reach the speed trigger threshold, it means that the vehicle does not meet the preset condition; If the real-time speed of the vehicle reaches the speed trigger threshold, it means that the vehicle meets the preset conditions and receives the real-time coordinates of the vehicle sent by the positioning satellite.

5. The method according to claim 1, characterized in that The determining whether to generate a vehicle crossing lane warning prompt according to the lane solid line coordinates and the real-time coordinates of the outer edge of each wheel includes: receiving a plurality of lane solid line coordinates corresponding to a vehicle path, and grouping them according to the solid line segments on the lanes, each group of solid line segments including a preset number of lane solid line coordinates located on the road segment; When it is detected that the vehicle has traveled to a preset position of a target solid line segment on the lane, the solid line coordinates of the lane are extracted from the target solid line segment to determine the solid line coordinates of the target lane; Vehicle warning is performed according to the solid line coordinates of the target lane and the real-time coordinates of the outer edge of the wheel.

6. The method according to claim 5, characterized in that The vehicle early warning is performed according to the solid line coordinates of the target lane and the real-time coordinates of the outer edge of the wheel, including: Calculating the distance between the real-time coordinates of the outer edge of the wheel and the coordinates of the solid line of the lane; Determining whether the distance is greater than a distance threshold; If the distance is greater than the distance threshold, it means that there is no risk of the outer edge of the preset wheel pressing the solid line of the lane, and detection continues; If the distance is not greater than the distance threshold, it indicates that there is a risk that the outer edge of the preset wheel will cross the solid line of the lane, and a warning signal is generated to warn the vehicle of crossing the line.

7. The method according to claim 6, characterized in that The following methods are used to provide early warning of vehicles crossing the line: Generate a warning message according to the warning signal, wherein the warning message includes a warning type and a warning level; The early warning message is sent to the alarm system control unit of the vehicle through the CAN bus, so that the alarm system control unit issues an early warning according to the early warning message to remind the driver to pay attention to the distance between the vehicle and the solid line of the lane.

8. A vehicle driving warning device, characterized in that: include: A path planning information acquisition module is used to acquire path planning information and send the path planning information to a server; A lane solid line coordinate receiving module, used to receive the lane solid line coordinates corresponding to the vehicle path sent by the server; The wheel outer edge real-time coordinate determination module is used to convert the vehicle real-time coordinates to obtain the real-time coordinates of each wheel outer edge when the vehicle meets the preset conditions; The warning prompt generating module is used to determine whether to generate a vehicle crossing line warning prompt based on the lane solid line coordinates and the real-time coordinates of the outer edge of each wheel.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and the processor executes the machine-readable instructions to perform the steps of any method as claimed in claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are executed.

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