Driving assistance prompting method and device, vehicle and electronic equipment

Abstract

The invention relates to the technical field of driving assistance, in particular to a driving assistance prompting method and device, a vehicle and electronic equipment. Whether the whistling intention of a driver behind the vehicle is to send the urging signal or not is judged through the sound signal behind the vehicle, and whether the external environment of the current vehicle meets the passing condition or not is judged according to the environment information in the vehicle driving direction; whether the vehicle and the driver have driving conditions is determined based on the vehicle fault information and the driver state information of the vehicle, and corresponding reminding is given to the driver in time when the driver behind whistles to prompt and the external environment and the internal condition of the vehicle meet the passing conditions. The sensitivity of a driving assistance strategy to traffic state changes in a complex scene is improved, corresponding reminding is given to a driver in time, meanwhile, further pressure on the psychology of the driver caused by mistaken reminding when the vehicle cannot move temporarily due to reasons such as vehicle faults is avoided, and therefore the flexibility of the driving assistance prompting method is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of driving assistance technology, and in particular to a driving assistance prompt method, device, vehicle and electronic equipment. Background Art

[0002] In daily driving, especially in urban traffic jams, drivers are faced with frequent stop and start operations.

[0003] When the driver is stuck in a long traffic jam or waiting at a red light, he may be distracted by the long waiting time. At this time, when the vehicle in front starts to move, if the driver fails to notice that the vehicle in front has moved forward in time and still stays in place waiting, it will affect the traffic efficiency and even cause dissatisfaction of the vehicles behind. In the prior art, the driver can know the congestion situation of the road ahead and the countdown of waiting for the red light by using navigation software, which can help the driver estimate the road conditions and start the vehicle in time.

[0004] However, navigation software has certain limitations in collecting information and providing feedback on road conditions ahead. For example, in a traffic jam scenario, the navigation software can only inform the user that there is congestion on the road ahead, but cannot promptly remind the user when the vehicle ahead has moved forward, which lacks flexibility. Summary of the invention

[0005] In order to solve the above technical problems, the present disclosure provides a driving assistance prompt method, device, vehicle and electronic equipment to improve the flexibility of the driving assistance prompt method.

[0006] In a first aspect, an embodiment of the present disclosure provides a driving assistance prompt method, comprising:

[0007] When the vehicle is in a slow-moving section, obtaining a sound signal behind the vehicle, environmental information in the direction of the vehicle's travel, and status information of the driver of the vehicle;

[0008] Determine whether the sound signal meets the preset prompt condition and whether the environment in the driving direction of the vehicle meets the traffic condition;

[0009] Determining whether the vehicle meets normal driving conditions according to the operating status information of the vehicle and / or the status information of the driver of the vehicle;

[0010] If the sound signal meets the preset prompt condition, the environment in the driving direction of the vehicle meets the traffic condition, and the vehicle meets the normal driving condition, a prompt message is generated.

[0011] In a second aspect, an embodiment of the present disclosure provides a driving assistance prompting device, comprising:

[0012] An acquisition module, used to acquire the sound signal behind the vehicle, the environmental information in the driving direction of the vehicle and the status information of the driver of the vehicle when the vehicle is in a slow-moving section;

[0013] A first determination module is used to determine whether the sound signal meets the preset prompt condition and whether the environment in the driving direction of the vehicle meets the traffic condition;

[0014] A second determination module is used to determine whether the vehicle meets normal driving conditions according to the running state information of the vehicle and / or the state information of the driver of the vehicle;

[0015] A generating module is used to generate a prompt message if the sound signal meets a preset prompt condition, the environment in the driving direction of the vehicle meets the traffic condition, and the vehicle meets the normal driving condition.

[0016] In a third aspect, an embodiment of the present disclosure provides a vehicle, including:

[0017] Memory;

[0018] processor;

[0019] The memory stores executable program code, and the processor is used to call and execute the executable program code to perform the method described in the first aspect.

[0020] In a fourth aspect, an embodiment of the present disclosure provides an electronic device, including:

[0021] Memory;

[0022] Processor; and

[0023] Computer programs;

[0024] The computer program is stored in the memory and is configured to be executed by the processor to implement the method as described in the first aspect.

[0025] The driving assistance prompt method, device, vehicle and electronic device provided by the embodiments of the present disclosure determine whether the rear driver's intention of honking the horn is to send an urging signal through the sound signal behind the vehicle, determine whether the current vehicle's external environment meets the conditions for passing based on the environmental information in the vehicle's driving direction, determine whether the vehicle itself and the driver have the conditions for driving based on vehicle fault information and the driver's status information of the vehicle, and give the driver corresponding reminders in time when the rear driver honks the horn to urge and the vehicle's external environment and internal conditions meet the conditions for passing, thereby improving the sensitivity of the driving assistance strategy to changes in traffic conditions in complex scenarios, giving the driver corresponding reminders in time, and avoiding false reminders when the vehicle is temporarily unable to move due to vehicle failures and other reasons, which causes further psychological pressure on the driver, thereby improving the flexibility of the driving assistance prompt method. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0028] Figure 1 A flowchart of a driving assistance prompt method provided by an embodiment of the present disclosure;

[0029] Figure 2 A schematic diagram of a road scene provided by an embodiment of the present disclosure;

[0030] Figure 3 A flowchart of a driving assistance prompt method provided by another embodiment of the present disclosure;

[0031] Figure 4 A schematic diagram of the structure of a driving assistance prompt device provided in an embodiment of the present disclosure;

[0032] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of the present disclosure;

[0033] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0034] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0035] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0036] When a driver is driving a vehicle, especially in an urban environment, traffic jams and waiting for traffic lights are common driving scenarios.

[0037] For example, due to severe congestion, long red lights, and long queues, vehicles may stop and wait for a long time. At this time, the driver may be distracted, such as operating the car display screen to switch the song being played, and fail to notice that the car in front has started to move forward. At this time, the driver of the following car will honk frequently due to impatience, which increases noise pollution and also brings pressure to the driver.

[0038] Some existing navigation software and other driving assistance software can already provide advance warnings of road conditions for a variety of scenarios, such as reminding drivers to drive carefully when entering a congested section of road ahead, or showing drivers a countdown for waiting at a red light. However, this method cannot specifically remind drivers to start in time in the above scenarios.

[0039] For example, in a traffic jam scenario, the driving assistance software cannot obtain the movement status of each vehicle, and therefore cannot determine whether the vehicle needs to start and follow the vehicle at this time; in a traffic light waiting scenario, the broadcast of the red light waiting countdown is only accurate for vehicles that are closer to the traffic light, while for vehicles that are farther away from the traffic light, they cannot pass immediately even after the green light. At this time, the broadcast of the red light waiting countdown has less reminder significance for the driver.

[0040] In view of the above problems, an embodiment of the present disclosure provides a driving assistance prompt method, which is introduced below in conjunction with a specific embodiment.

[0041] Figure 1 This is a flow chart of the driving assistance prompt method provided in the embodiment of the present disclosure. The method can be applied to an in-vehicle device, such as a vehicle computer. It is understandable that the driving assistance prompt method provided in the embodiment of the present disclosure can also be applied in other scenarios.

[0042] Below Figure 1 The driving assistance prompt method shown in the figure is introduced, and the specific steps of the method are as follows:

[0043] S101. When the vehicle is in a slow-moving section, obtain a sound signal behind the vehicle, environmental information in the direction of travel of the vehicle, and status information of the driver of the vehicle.

[0044] Specifically, the sound signal behind the vehicle refers to the horn sound from behind the vehicle, that is, the horn sound of the rear vehicle in the same lane.

[0045] Sound signals usually refer to various sounds generated in the environment around the vehicle, such as the horns of other vehicles, pedestrians talking, road construction sounds, etc. These sound signals can be collected and converted into electrical signals through sensors such as microphones, and then analyzed and processed by the system.

[0046] The vehicle is equipped with microphones to collect sound signals from the vehicle's external environment. Specifically, using multiple microphones to form an array can improve the accuracy and directionality of sound signal collection. Through beamforming technology, sound signals in a specific direction can be enhanced while suppressing noise in other directions. For example, installing a microphone array at the rear of the vehicle can more accurately capture the horn sound of the vehicle behind.

[0047] Optionally, the sound signal is obtained by specifically acquiring the horn sound from the rear of the vehicle through a microphone array.

[0048] The environmental information in the direction of the vehicle is the environmental information in front of the vehicle. The environmental information in the direction of the vehicle is obtained through environmental information acquisition devices such as cameras and laser radars carried by the vehicle. Alternatively, the environmental information in the direction of the vehicle is intercepted from the environmental information of the environment in which the vehicle is located according to the direction of the vehicle.

[0049] Optionally, when the vehicle is stopped, a sound signal from behind the vehicle and environmental information in the direction of travel of the vehicle are acquired.

[0050] The driver status information of this vehicle refers to a data set that determines whether the driver has the ability to drive safely by monitoring his physiological, behavioral and cognitive characteristics in real time, including physiological indicators, behavioral characteristics, operating performance, and emotional and health status.

[0051] Driver status information can be obtained by real-time capturing of the driver's facial features, eye movements and head posture through in-vehicle cameras (such as infrared or RGB cameras), or by collecting physiological data through sensors on the steering wheel, seat or wearable devices, or by combining on-board CAN bus data and analyzing driving operation modes.

[0052] S102: Determine whether the sound signal meets a preset prompt condition and whether the environment in the driving direction of the vehicle meets a traffic condition.

[0053] Among them, the sound signal meets the preset prompt conditions, which means that the vehicle behind is honking with an urging nature.

[0054] After the sound signal is acquired, the interactive information expressed by the sound signal is determined based on the basic characteristics of the sound signal, such as frequency, amplitude, wavelength and phase. When the sound signal meets the preset prompt conditions, it means that the rear vehicle emits a horn sound with an urging nature.

[0055] When in traffic jams or waiting for traffic lights, vehicle drivers may be distracted by the long waiting time and fail to notice that the vehicle in front has moved forward in time. The vehicle behind will honk due to impatience. At this time, the sound signal from the vehicle behind is different from the horn prompt during normal driving. It has certain characteristics. For example, its volume, duration, sound frequency and its changing frequency meet certain preset conditions. For example, if the duration is long or there are multiple rapid honks, the sound signal can be determined to meet the preset prompt conditions based on the characteristics of the sound signal.

[0056] Among them, obtaining the volume of the whistle can help determine the intensity or distance of the whistle. The volume information can be used to evaluate the urgency or distance of the whistle, so as to better understand the intention or source of the whistle.

[0057] Acquiring the sound frequency and its changing frequency can be used to more accurately identify the type or mode of the whistle. Different whistle sounds may have different frequency characteristics, which can be used to distinguish different types of whistles (such as warning whistles, emergency whistles, etc.). In addition, acquiring the changing frequency can be used to identify the mode of the whistle (such as continuous whistles, intermittent whistles, etc.), so as to better understand the intention of the whistle.

[0058] By acquiring the volume, sound frequency and its changing frequency, the present application can perform a more comprehensive acoustic feature analysis of the whistle sound. This analysis can not only determine the presence and frequency of the whistle, but also further identify the type, mode and urgency of the whistle, thereby improving the accuracy and intelligence level of whistle recognition.

[0059] In some embodiments, after acquiring the sound signal of the vehicle's external environment, the sound signal is preprocessed to improve the quality and usability of the sound signal.

[0060] Optionally, the sound signal is filtered in the frequency domain. The sound signal is converted from the time domain to the frequency domain through Fourier transform to remove high-frequency noise such as wind noise and low-frequency noise such as engine noise. Furthermore, the filter parameters are dynamically adjusted according to the characteristics of the ambient noise to achieve better noise reduction effect.

[0061] Optionally, the sound signal is gain-controlled. The gain is automatically adjusted according to the strength of the sound signal to ensure that the sound signal is controlled within an appropriate range to avoid excessive or weak sound signals affecting subsequent processing.

[0062] As to whether the environment in the direction of the vehicle satisfies the traffic conditions, optionally, an image of the road in front of the vehicle is captured by a vehicle-mounted camera, and the information in the image is analyzed to determine whether the environment in the direction of travel of the vehicle satisfies the traffic conditions.

[0063] The information in the image includes but is not limited to vehicles and obstacles ahead, traffic signs and signal lights, road conditions, etc.

[0064] The environmental information of the vehicle's driving direction reflects whether the road environment in front of the vehicle is suitable for passing. If the road environment in front of the vehicle is suitable for passing, it is determined that the environment in the vehicle's driving direction meets the passing conditions; if the road environment in front of the vehicle is not suitable for passing, it is determined that the environment in the vehicle's driving direction does not meet the passing conditions.

[0065] S103: Determine whether the vehicle meets normal driving conditions based on the operating status information of the vehicle and / or the status information of the driver of the vehicle.

[0066] Among them, the vehicle meets the normal driving conditions, including that the vehicle has no faults that affect driving and whether the driver of the vehicle has the driving ability.

[0067] The vehicle continuously collects real-time data streams from the on-board electronic control unit to obtain key parameters of the vehicle's power system, braking system and steering system for threshold analysis. For example, when it is detected that the brake pressure is continuously lower than the warning value for a preset time, or the power battery temperature exceeds the preset temperature, or there is a fault code for a serious fault, it is determined that the current vehicle has a fault that affects driving, causing the vehicle to be temporarily unable to move.

[0068] For less severe faults such as the inability to close the electric windows or the failure of the air conditioning temperature control system in the vehicle, it is judged that the current vehicle does not have any faults that affect the vehicle's driving.

[0069] At the same time, the driver's facial features are captured by the visual sensors in the vehicle's cabin. For example, based on the proportion of eyelid closure time per unit time and the proportion of line of sight deviation time per unit time, a comprehensive judgment is made as to whether the driver of the vehicle is fatigued driving or distracted. The biosensors on the seat and steering wheel are used to monitor the driver's physical condition and steering wheel grip force distribution in real time to determine whether the current driver of the vehicle is temporarily distracted or has a persistent lack of driving ability due to sudden illness or other reasons.

[0070] If the state of the driver of the vehicle is a persistent lack of driving ability, it is determined that the current driver of the vehicle does not have the driving ability.

[0071] S104: If the sound signal meets the preset prompt condition, the environment in the driving direction of the vehicle meets the traffic condition, and the vehicle meets the normal driving condition, a prompt message is generated.

[0072] Specifically, the environment in the direction of the vehicle's travel meets the traffic condition, which means that the road environment in the direction of the vehicle's travel allows the vehicle to pass. For example, the distance between the vehicle and the preceding vehicle is greater than a preset distance.

[0073] At the same time, the vehicle meets normal driving conditions means that the vehicle currently has no faults that affect driving, and the driver of the vehicle has the ability to drive and is not in a state of continuous lack of driving ability.

[0074] The sound signal meets the preset prompt conditions, which means that the following vehicle is urging the current vehicle (this vehicle); the environment in the direction of the vehicle's travel meets the traffic conditions, which means that the environmental conditions around the current vehicle meet the conditions for the vehicle to move forward; the vehicle meets the normal driving conditions, which means that the current vehicle has the ability to drive and the driver has the driving ability. At this time, it is judged that the driver may not have started the vehicle in time due to distraction or other reasons, causing unnecessary waiting for the following vehicle and causing dissatisfaction among the drivers of the following vehicles. The driver needs to be reminded through a prompt message.

[0075] The prompt message is used to remind the driver to start in time and / or remind the driver to pay attention to the road environment ahead.

[0076] Optionally, the prompt content of the prompt message is determined according to the current state of the vehicle. Specifically, if the vehicle is currently in a parked state, the prompt message is used to prompt the driver to start in time; if the vehicle is currently in a driving state, the prompt message is used to prompt the driver to pay attention to the road environment ahead.

[0077] For example, when the sound signal meets the preset prompt conditions, it means that the driver of the following vehicle sends an urging signal. If the environment in the direction of the vehicle's travel meets the passing conditions and the vehicle meets the normal driving conditions, it means that the road environment in the direction of the vehicle's travel allows the vehicle to pass. At this time, the driver of the vehicle should start driving in time, and a prompt message is generated to prompt the driver of the vehicle to start.

[0078] Alternatively, when the distance between a vehicle and the vehicle in front is too large due to its slow driving speed, the driver of the vehicle behind honks the horn to urge the vehicle ahead. At this time, if the sound signal meets the preset prompt conditions, the environment in the driving direction of the vehicle meets the traffic conditions, and the vehicle meets the normal driving conditions, a prompt message is generated to prompt the driver of the vehicle to pay attention to the road environment ahead and accelerate in time.

[0079] Optionally, the display method of the prompt message includes but is not limited to voice broadcast, image display on the central control screen, slight vibration of the steering wheel, automatic tightening of the seat belt, etc., which is not limited to the embodiments of the present disclosure.

[0080] Figure 2 A schematic diagram of a road scene provided by an embodiment of the present disclosure, such as Figure 2 As shown, the environment in front of the vehicle 21 meets the traffic conditions, and the vehicle 22 emits a horn sound that meets the preset prompt conditions. The sound signal of the vehicle's external environment acquired by the vehicle 21 includes the horn sound emitted by the vehicle 22 that meets the preset prompt conditions, and the vehicle 21 determines through visual detection that the environment in front meets the traffic conditions, and the vehicle meets the normal driving conditions, then generates a prompt message to prompt the driver.

[0081] The disclosed embodiment obtains the sound signal behind the vehicle, the environment information in the direction of the vehicle's travel, and the status information of the driver of the vehicle when the vehicle is in a slow-moving section; determines whether the sound signal meets the preset prompt condition and whether the environment in the direction of the vehicle's travel meets the pass condition; determines whether the vehicle meets the normal driving condition according to the vehicle's operating status information and / or the status information of the driver of the vehicle; generates a prompt message if the sound signal meets the preset prompt condition, the environment in the direction of the vehicle's travel meets the pass condition, and the vehicle meets the normal driving condition; determines whether the rear driver's intention to honk the horn is to make a sound based on the sound signal behind the vehicle. The system sends out an urging signal, determines whether the external environment of the current vehicle meets the conditions for passing according to the environmental information in the direction of vehicle travel, determines whether the vehicle itself and the driver meet the conditions for passing based on the vehicle fault information and the driver status information of the vehicle, and promptly gives the driver a corresponding reminder when the driver behind honks the horn to urge and the external environment and internal conditions of the vehicle meet the conditions for passing. This improves the sensitivity of the driving assistance strategy to changes in traffic conditions in complex scenarios, gives the driver corresponding reminders in a timely manner, and avoids false reminders when the vehicle is temporarily unable to move due to vehicle failures and other reasons, which causes further psychological pressure on the driver, thereby improving the flexibility of the driving assistance prompt method.

[0082] In addition, in long waiting scenarios such as traffic jams, the embodiments of the present disclosure can effectively reduce the risk of traffic accidents caused by driver negligence, while also alleviating the psychological pressure caused by long-term stagnation.

[0083] Based on the above embodiment, when the vehicle is in a slow-moving section, before obtaining the sound signal behind the vehicle, the environmental information in the direction of travel of the vehicle and the status information of the driver of the vehicle, the method also includes: determining whether the vehicle is in a slow-moving section based on the vehicle's operating status information and / or environmental information.

[0084] Wherein, the operating status information includes the vehicle's driving speed, the environmental information includes the driving speed of the following vehicle, and determining whether the vehicle is in a slow-moving section based on the vehicle's operating status information and / or environmental information includes: when the vehicle's operating status information and / or environmental information meets one or more of the following, determining whether the vehicle is in a slow-moving section.

[0085] Optionally, the vehicle's driving speed is lower than a preset speed threshold and the duration exceeds a preset time threshold.

[0086] In a section of road with traffic congestion or slow-moving vehicles, the vehicle maintains a low speed for a long time. When the vehicle's speed is lower than a certain preset speed threshold (for example, 20 kilometers per hour), and this low speed state lasts for more than a preset time threshold (for example, 5 minutes), it can be determined that the vehicle may be in a slow-moving section.

[0087] Alternatively, within a first preset time period, a change in the vehicle's driving speed is greater than a preset speed change threshold.

[0088] The sudden deceleration of the vehicle due to traffic congestion or an accident ahead may indicate that the vehicle is about to enter a slow-moving section. Within a first preset time period (e.g., 10 minutes), if the vehicle's speed changes too much, for example, from 50 km / h to 10 km / h, exceeding a preset speed change threshold (e.g., 30 km / h), it can be determined that the vehicle may be in a slow-moving section.

[0089] Alternatively, within the second preset time period, the relative speed between the vehicle's driving speed and the rear vehicle's driving speed is less than a relative speed threshold.

[0090] In a slow-moving section, the vehicle and the vehicle behind may maintain a similar speed. Within a second preset time period (e.g., 5 minutes), if the relative speed between the speed of the vehicle and the speed of the vehicle behind, that is, the speed difference between the two vehicles is less than a preset relative speed threshold (e.g., 5 km / h), it can be determined that the vehicle may be in a slow-moving section.

[0091] Alternatively, based on the environmental information, it is determined that the number of vehicles within a preset road section length is greater than a preset number threshold.

[0092] Slow-moving roads may occur on roads with dense vehicles due to traffic congestion or peak hours. Based on environmental information such as camera or sensor data, if the number of vehicles within a preset road section length exceeds a preset number threshold, it can be determined that the vehicle may be in a slow-moving road section.

[0093] Alternatively, it is determined, based on the environmental information, that the distance between two adjacent vehicles is less than a preset interval and the duration exceeds a preset time threshold.

[0094] The two adjacent vehicles may be the current vehicle and the following vehicle, or two other adjacent vehicles. When the distance between the two adjacent vehicles is less than a preset spacing, and this close distance state lasts for more than a preset time threshold, that is, the two adjacent vehicles are in a close following state for a long time, it can be determined that the vehicle may be in a slow-moving section.

[0095] The disclosed embodiment can comprehensively judge whether the vehicle is in a slow-moving section by combining the vehicle's operating status information (such as speed, speed change) and environmental information (such as the speed of the following vehicle and vehicle density). The setting of these conditions helps to more accurately identify traffic congestion or slow-moving conditions, so as to promptly give the driver corresponding reminders in slow-moving scenes, providing support for the driving assistance prompt method.

[0096] In some embodiments, determining whether the sound signal meets the preset prompt conditions includes: extracting sound features of the sound signal, the sound features including average volume, duration, and frequency of change of sound frequency; and determining whether the sound signal meets the preset prompt conditions based on the sound features.

[0097] Among them, volume refers to the loudness of the sound signal. The microphone array carried by the vehicle collects the sound signals of the surrounding environment. Through beamforming technology, the array can directionally enhance the sound in a specific direction (such as the horn sound from the car behind), while suppressing interference noise in other directions (such as side wind noise) to focus on the sound behind the vehicle. Sound is essentially a pressure fluctuation signal. The root mean square (RMS) of the acoustic emission signal amplitude is a statistic used to describe the strength of the sound signal. It represents the average energy of the sound signal over a period of time, that is, the average volume.

[0098] The duration is the duration of the sound signal. In the disclosed embodiment, the duration is used to determine the duration of the rear vehicle horn sound.

[0099] The frequency of sound frequency change refers to the frequency of sound signal frequency change. Sound frequency is one of the attributes of sound signals. The frequency of sound frequency change reflects the change trend of the sound signal, such as the ups and downs, and thus reflects the meaning map of the sound signal. For example, the driver of the rear car honks the horn several times in a short period of time to express his urging intention, which is manifested in the sound frequency dimension as a sound signal with frequent changes in high and low frequencies, where the high-frequency signal is the horn sound of the rear car, and the low-frequency signal is the environmental signal. The sound signal frequently switches between high-frequency and low-frequency signals in a short period of time.

[0100] Specifically, determining whether the sound signal meets the preset prompt conditions based on the sound characteristics includes: determining the average volume and duration of the sound signal; if the average volume is greater than a preset volume threshold and the duration is greater than a preset time threshold, determining that the sound signal meets the preset prompt conditions.

[0101] If the average volume of the sound signal is greater than the preset volume threshold and lasts for a period of time, reaching the preset time threshold, then the sound signal is considered to meet the preset prompt condition. For example, if the vehicle behind continues to honk to express the intention of urging, at this time the average volume of the sound signal over a period of time is large, greater than the preset volume threshold, and the duration of the sound signal also reaches the preset time threshold, then it is determined that the sound signal is a horn sound in the form of urging from the vehicle behind, which meets the preset prompt condition.

[0102] One possible scenario is that the following vehicle urges the driver by continuously honking the horn. In this case, the duration of the sound signal is greater than a preset time threshold, and the average volume is greater than a preset volume threshold, which meets the preset prompt conditions.

[0103] Another possible scenario is that the rear vehicle is a special vehicle that is performing a mission, such as a police car, ambulance, etc., and it continues to emit special alarm sounds. At this time, the duration of the sound signal is greater than the preset time threshold, and the average volume is greater than the preset volume threshold, which meets the preset prompt conditions.

[0104] Optionally, whether the duration meets the preset prompt condition is determined using a preset time interval. If the duration of the sound signal is less than the minimum value of the preset time interval, it means that the sound signal is too short; if the duration of the sound signal is greater than the maximum value of the preset time interval, it means that the sound signal is too long. In both cases, it is determined that the sound signal does not meet the preset prompt condition.

[0105] Specifically, determining whether the sound signal meets the preset prompt condition based on the sound feature includes: determining the change frequency of the sound frequency of the sound signal within a preset sound frequency range based on the sound frequency change information; if the sound frequency change frequency is greater than a preset change frequency threshold, determining that the sound signal meets the preset prompt condition.

[0106] Perform spectrum analysis on the sound signal to extract the main frequency components. Usually, the sound signal corresponding to the horn sound that indicates urging nature will have obvious frequency changes, such as frequent switching between high and low frequency signals.

[0107] At the same time, it is also necessary to determine the preset sound frequency range to remove frequency bands that are too high or too low. In actual situations, the sound of a car's horn is usually within a relatively fixed frequency range, and other interfering sounds can be effectively filtered through the sound frequency range. For example, the driver of the following car honks the horn several times in a short period of time, which can express his urging intention, which is manifested in the sound frequency dimension as a sound signal with frequent changes in high and low frequencies, where the high-frequency signal is the sound of the horn of the following car, and the low-frequency signal is the environmental signal. The sound signal frequently switches between high-frequency signals and low-frequency signals in a short period of time, which meets the preset prompt conditions.

[0108] The disclosed embodiment comprehensively determines the intention of the sound signal through sound characteristics such as the average volume, duration, and frequency of change of the sound frequency of the sound signal. When it is determined that the sound signal represents an urging intention based on the sound characteristics, it is determined that the sound signal meets the preset prompt conditions, which can cover a variety of sound scenes and ensure the comprehensiveness of sound signal detection.

[0109] On the basis of the above embodiment, a sound classification model is trained based on the above preset prompt conditions, and whether the collected sound signal meets the preset prompt conditions is determined by the trained sound classification model.

[0110] Specifically, the sound classification model to be trained is trained according to the sample sound signal and the pattern label of the sample sound signal, so that the sound classification model to be trained learns the sound characteristics of the sound signal to obtain a trained sound classification model, and the trained sound classification model includes a sound classification threshold, and the sound classification threshold is used to enable the trained sound classification model to determine whether the sound signal meets the preset prompt condition according to the sound characteristics of the sound signal.

[0111] A large number of sample sound signals with marked pattern labels are obtained, and the pattern label of each sample sound signal indicates whether the sample sound signal meets the preset prompt condition. The sample sound signal is input into the sound classification model to be trained, so that the sound classification model to be trained can analyze the sound features of the sample sound signal, including but not limited to the average volume, duration, frequency of change of sound frequency, etc.

[0112] The pattern label of the sample sound signal is used as the output of the sound classification model to be trained, so that the sound classification model to be trained can further learn the logical relationship of the pattern label of the sample sound signal based on the sound features learned by the sample sound signal, and finally obtain the trained sound classification model.

[0113] Among them, the trained sound classification model includes a sound classification threshold, which is used to distinguish sound signals that meet the preset prompt conditions and those that do not meet the preset prompt conditions. The sound classification threshold is optimized through cross-validation and other methods during the model training process. For example, when the sound feature evaluation value of the sound signal exceeds the sound classification threshold, the sound signal is considered to be a sound signal that meets the preset prompt conditions; correspondingly, when the sound feature evaluation value of the sound signal does not exceed the sound classification threshold, the sound signal is considered to be a sound signal that does not meet the preset prompt conditions.

[0114] The implementation method of optimizing the sound classification threshold by the cross-validation method is to divide the sample sound signal into a training set and a test set, train the sound classification model to be trained by the training set, and test the sound classification model to be trained by the test set to judge the classification effect of the sound classification model, and adjust the parameters of the training sound classification model (such as the sound classification threshold) according to the classification effect until the classification effect of the sound classification model meets the expected standards.

[0115] In actual application, the vehicle-mounted equipment is equipped with a trained sound classification model. After the microphone array collects the sound signal from the vehicle's external environment, it is input into the trained sound classification model to obtain a judgment result on whether the sound signal meets the preset prompt conditions, and further participates in subsequent logical decision-making.

[0116] The disclosed embodiment utilizes a pre-trained sound classification model to implement the judgment logic for whether the sound signal meets the preset prompt conditions. There is no need to execute a multi-dimensional complex algorithm every time the sound signal is judged, thereby improving the analysis and classification efficiency of the sound signal.

[0117] Based on any one of the above embodiments, determining whether the sound signal meets the preset prompt conditions includes: determining the size of the barrier-free space in the direction of travel of the vehicle based on the environmental information; if the barrier-free space in the direction of travel of the vehicle is larger than the preset space size, determining that the environment in the direction of travel of the vehicle meets the traffic conditions.

[0118] Specifically, visual recognition is performed on environmental information to determine whether the environment in the driving direction of the vehicle meets the traffic conditions.

[0119] For example, the environmental information in the direction of vehicle travel includes the size of the obstacle-free space in the direction of vehicle travel. When the size of the obstacle-free space in the direction of vehicle travel is greater than the preset space size, it means that the vehicle has the conditions to move forward, and it is determined that the environment in the direction of vehicle travel meets the traffic conditions.

[0120] Alternatively, the environmental information in the direction of vehicle travel includes the distance between the vehicle and the nearest obstacle in front. When the distance between the vehicle and the nearest obstacle in front is greater than a preset distance, it is determined that the environment in the direction of vehicle travel meets the traffic conditions.

[0121] Optionally, if the environmental information includes traffic indication information, whether the vehicle is allowed to pass is determined based on the traffic indication information, and the traffic indication information includes at least one of a traffic light, a traffic sign, and a lane-guiding arrow sign; if it is determined that the vehicle is allowed to pass, and there is an barrier-free space larger than a preset space size in the direction of travel of the vehicle, then it is determined that the environment in the direction of travel of the vehicle meets the conditions for passage.

[0122] Traffic instruction information can be obtained by visually identifying and analyzing the environmental information in the direction of vehicle travel. According to the traffic instruction information, it is determined whether the space in front of the vehicle allows passage. For example, when the environmental information in the direction of vehicle travel includes traffic light information, the traffic light is determined by distinguishing the color of the traffic light. When the traffic light is red, it means that the space in front of the current vehicle does not allow passage. Even if there is an unobstructed space larger than the preset space size in the direction of vehicle travel, it cannot be determined that the environment in the direction of vehicle travel meets the passage conditions.

[0123] For example, when a vehicle is waiting for a traffic light at an intersection and is the first in the waiting queue, when the countdown for the red light is about to end, the driver of the following vehicle may start honking the horn in advance to urge the vehicle to pass. At this time, there is an unobstructed space larger than the preset space size in the direction of the vehicle's travel, but the traffic sign information determines that the space in front of the vehicle currently does not allow passage, but it is still not certain that the environment in the direction of the vehicle's travel meets the passage conditions.

[0124] For another example, when the traffic instruction information includes traffic lights and lane guidance arrow signs, assuming that the current vehicle is located in the first position of the straight and right-turn lanes, and the traffic light in the straight direction ahead is red, at this time the vehicle behind honks urgently to urge, and the sound signal behind the vehicle meets the preset conditions; at this time, there is an unobstructed space larger than the preset space size in the direction of vehicle travel, but because the traffic instruction information determines that the space in front of the vehicle is currently not allowed to pass, even if the vehicle meets the normal driving conditions, it cannot pass. At this time, it is still impossible to determine that the environment in the direction of vehicle travel meets the passing conditions.

[0125] The disclosed embodiment determines whether passage is allowed in the direction of travel of the vehicle through visual information. When the driver fails to notice changes in traffic conditions ahead in time, the vehicle can give a determination result that passage conditions are met when the road conditions ahead are suitable for passage. The driver is then prompted together with a sound signal that meets preset prompt conditions, thereby improving the sensitivity of identifying changes in traffic conditions and giving corresponding prompts in a timely manner.

[0126] In addition, the embodiment of the present disclosure makes a more accurate judgment on whether the vehicle is allowed to pass in the direction of travel by combining the traffic instruction information ahead, and gives a judgment result that the passing conditions are met when the traffic instruction information allows the vehicle to pass, thereby preventing the driver from violating traffic rules due to psychological tension when being urged, thereby ensuring the driver's safety.

[0127] In some embodiments, the method further includes: obtaining lighting information of the rear vehicle; based on the lighting information, when the high and low beam switching frequency of the rear vehicle is greater than a preset lighting frequency threshold and the environment in the driving direction of the vehicle meets the traffic conditions, a prompt message is generated.

[0128] There may be sections of urban roads where honking is prohibited, or due to different driver habits, the urging signal from the driver of the following vehicle may be sent out by frequently switching between high and low beams.

[0129] The lighting information of the rear vehicle is obtained through devices such as cameras or light sensors installed at the rear of the vehicle. When it is determined based on the lighting information that the high and low beam switching frequency of the rear vehicle is greater than the preset lighting frequency threshold, it means that the rear vehicle is frequently switching between high and low beams, which is a potential urging signal.

[0130] At the same time, it is determined whether the environment in the direction of the vehicle's travel meets the traffic conditions, for example, it is determined whether the barrier-free space in the direction of the vehicle's travel is larger than a preset space size based on the environmental information in the direction of the vehicle's travel. When the high and low beam switching frequency of the rear vehicle is greater than the preset light frequency threshold, and the environment in the direction of the vehicle's travel meets the traffic conditions, it is considered that the rear vehicle has issued an urging signal, and a prompt message is generated to prompt the driver to pay attention to the traffic conditions ahead in time.

[0131] The disclosed embodiment determines whether the rear vehicle sends an urging signal by combining the lighting information of the rear vehicle and the road environment in front of the vehicle, and reminds the driver to pay attention to the traffic conditions ahead in a timely manner, thereby further improving the sensitivity of identifying changes in traffic conditions and giving corresponding prompts in a timely manner.

[0132] In some embodiments, the operating status information of the vehicle includes vehicle fault information and turn signal working information; determining whether the vehicle meets normal driving conditions based on the operating status information of the vehicle and / or the status information of the driver of the vehicle includes: determining whether the vehicle has a fault that affects driving based on the vehicle fault information; determining whether the vehicle has an intention to change lanes based on the turn signal working information; determining whether the driver of the vehicle has the ability to drive based on the status information of the driver of the vehicle; if the vehicle has a fault that affects driving, or the vehicle has an intention to change lanes, or the driver of the vehicle does not have the ability to drive, then it is determined that the vehicle does not meet normal driving conditions.

[0133] When determining whether the vehicle meets normal driving conditions, in addition to objective faults in the vehicle itself that affect the vehicle's driving, it is judged whether there is a temporary inability to move the vehicle due to the driver's subjective driving intention.

[0134] For example, when the driver intends to change lanes, he needs to observe the traffic conditions in the adjacent lanes to find a suitable time to change lanes, which may cause the vehicle to travel slowly and cause the vehicle behind to urge him. Based on the vehicle turn signal working information, it is determined whether the current vehicle intends to change lanes; if the vehicle intends to change lanes, it is determined that the vehicle does not meet normal driving conditions.

[0135] Optionally, determining whether the vehicle has an intention to change lanes based on the turn signal working information includes: when the vehicle turn signal is turned on, monitoring the working time of the vehicle turn signal; when the working time of the vehicle turn signal is less than a first preset time, determining that the vehicle has an intention to change lanes. In order to avoid the vehicle failing to change lanes for a long time, which affects traffic conditions, or the driver of the vehicle mistakenly turning on the turn signal and not turning it off for a long time, when the working time of the turn signal reaches the first preset time, it is determined that the vehicle has no intention to change lanes. At this time, when other conditions are met (such as the sound signal meets the preset prompt conditions, the environment in the direction of travel of the vehicle meets the traffic conditions, etc.), a prompt message is generated.

[0136] Optionally, determining whether the vehicle has an intention to change lanes based on the turn signal working information includes: when the vehicle turn signal is turned on, obtaining the traffic flow information of the adjacent lane on the side where the turn signal is located, and judging whether there is space for lane change in the adjacent lane; if there is no space for lane change in the adjacent lane, adjusting the first preset time to a second preset time, the second preset time being longer than the first preset time. When the current vehicle has an intention to change lanes, but the adjacent lane does not have the conditions for lane change, appropriately extending the first preset time so that the driver of the vehicle has more opportunities to change lanes.

[0137] Correspondingly, if there is no lane changing space in the adjacent lane, when the working time of the vehicle's turn signal is less than the second preset time, it is determined that the vehicle has the intention to change lanes; when the working time of the turn signal reaches the second preset time, it is determined that the vehicle has no intention to change lanes.

[0138] Optionally, the status information of the driver of the vehicle can be quantified by integrating biological signals and behavioral characteristics to achieve driving ability analysis. The driver's facial features are captured by visual sensors, and the proportion of eyelid closure time per unit time is calculated using improved PERCLOS and other algorithms. When this value exceeds a preset ratio and the head posture continues to deviate from the preset angle of the driving axis, a fatigue driving warning is triggered. At this time, if other conditions are met (such as the sound signal meets the preset prompt conditions, the environment in the driving direction of the vehicle meets the traffic conditions, etc.), a prompt message is generated.

[0139] The biosensor monitors heart rate variability and steering wheel grip force distribution in real time. If the heart rate is detected to be too low or suddenly dropped, and the standard deviation of grip force suddenly increases and exceeds the preset threshold, it is judged as a risk of sudden physiological disability.

[0140] Optionally, in order to distinguish between brief distraction and persistent inability to drive, the system introduces a temporal behavior model to analyze operational features within a window over a certain period of time (such as steering wheel entropy value and accelerator pedal fluctuation frequency) to confirm whether the driver of the vehicle has persistent inability to drive.

[0141] When it is determined that the driver of the vehicle is in a non-continuous driving ability loss state such as distraction, a reminder can be achieved by prompting the driver of the vehicle. If other conditions are met (such as the sound signal meets the preset prompt conditions, the environment in the direction of travel of the vehicle meets the traffic conditions, etc.), a prompt message is generated.

[0142] When it is determined that the driver of the vehicle is in a state of persistent driving ability loss, prompting the driver of the vehicle will not only fail to achieve the prompting effect, but may cause further stimulation to the driver of the vehicle. At this time, even if other conditions are met (such as the sound signal meets the preset prompt conditions, the environment in the direction of travel of the vehicle meets the traffic conditions, etc.), no prompt message is generated.

[0143] The disclosed embodiment determines whether the current vehicle and the driver of the vehicle meet normal driving conditions by jointly judging from the vehicle's operating status information and the status information of the driver of the vehicle, and then only considers generating a prompt message when the vehicle and the driver of the vehicle meet the normal driving conditions, thereby avoiding the generation of a prompt message that cannot achieve the prompt effect when the vehicle's driving is affected by objective factors such as vehicle failure, the intention to change lanes but has not yet succeeded, or an emergency situation of the driver of the vehicle, and at the same time avoiding the driver of the vehicle from becoming more emotionally nervous due to the generation of the prompt message while being affected by the above-mentioned objective factors, thereby improving the humanization of the driving assistance prompt method.

[0144] Figure 3 A flowchart of a driving assistance prompt method provided by another embodiment of the present disclosure is shown in FIG. Figure 3 As shown, the method includes:

[0145] S301. Determine whether the vehicle is in a slow-moving section based on the vehicle's operating status information and / or environmental information.

[0146] Wherein, the operating status information includes the vehicle's driving speed, the environmental information includes the rear vehicle's driving speed, and the determining whether the vehicle is in a slow-moving section based on the vehicle's operating status information and / or environmental information includes: determining whether the vehicle is in a slow-moving section when the vehicle's operating status information and / or environmental information meets one or more of the following: the vehicle's driving speed is lower than a preset speed threshold and the duration exceeds a preset time threshold; or, within a first preset time period, the change in the vehicle's driving speed is greater than a preset speed change threshold; or, within a second preset time period, the relative speed between the vehicle's driving speed and the rear vehicle's driving speed is less than a relative speed threshold; or, based on the environmental information, determining that the number of vehicles within a preset section length is greater than a preset number threshold.

[0147] S302: When the vehicle is in a slow-moving section, obtain a sound signal behind the vehicle, environmental information in the direction of travel of the vehicle, and status information of the driver of the vehicle.

[0148] S303: Extracting sound features of the sound signal, where the sound features include average volume, duration, and frequency of change of sound frequency.

[0149] S304: Determine whether the sound signal meets a preset prompt condition according to the sound feature.

[0150] Specifically, determining whether the sound signal meets the preset prompt conditions based on the sound characteristics includes: determining the average volume and duration of the sound signal; if the average volume is greater than a preset volume threshold and the duration is greater than a preset time threshold, determining that the sound signal meets the preset prompt conditions.

[0151] Specifically, determining whether the sound signal meets the preset prompt condition based on the sound feature includes: determining the change frequency of the sound frequency of the sound signal within a preset sound frequency range based on the sound frequency change information; if the sound frequency change frequency is greater than a preset change frequency threshold, determining that the sound signal meets the preset prompt condition.

[0152] S305: Determine the size of the barrier-free space in the driving direction of the vehicle according to the environmental information.

[0153] S306: If the barrier-free space in the direction of vehicle travel is larger than a preset space size, it is determined that the environment in the direction of vehicle travel meets the traffic conditions.

[0154] Specifically, if the environmental information includes traffic instruction information, whether the vehicle is allowed to pass is determined based on the traffic instruction information; if it is determined that the vehicle is allowed to pass, and there is an barrier-free space larger than a preset space size in the direction of travel of the vehicle, then it is determined that the environment in the direction of travel of the vehicle meets the conditions for passage.

[0155] S307: Determine whether the vehicle meets normal driving conditions based on the operating status information of the vehicle and / or the status information of the driver of the vehicle.

[0156] Specifically, the vehicle operation status information includes vehicle fault information and turn signal operation information.

[0157] Based on the vehicle fault information, determine whether the vehicle has a fault that affects driving; based on the turn signal working information, determine whether the vehicle has an intention to change lanes; based on the status information of the driver of the vehicle, determine whether the driver of the vehicle has the ability to drive; if the vehicle has a fault that affects driving, or the vehicle has an intention to change lanes, or the driver of the vehicle does not have the ability to drive, it is determined that the vehicle does not meet normal driving conditions.

[0158] S308: If the sound signal meets the preset prompt condition, the environment in the driving direction of the vehicle meets the traffic condition, and the vehicle meets the normal driving condition, a prompt message is generated.

[0159] The disclosed embodiment comprehensively evaluates the vehicle's current external environment through auditory information such as sound signals and visual information such as the environment in the direction of vehicle travel, and determines whether the vehicle itself has the conditions for driving based on vehicle fault information and the driver's status information of the vehicle. When the driver behind honks the horn to urge and the vehicle's external and internal environments both meet the conditions for passing, the driver is given corresponding reminders in a timely manner, thereby improving the sensitivity to changes in traffic conditions in complex scenarios, giving the driver corresponding reminders in a timely manner, and avoiding false reminders when the vehicle is temporarily unable to move due to vehicle failures, which causes further psychological pressure on the driver, thereby improving the flexibility of the driving assistance prompt method.

[0160] In addition, in long waiting scenarios such as traffic jams, the embodiments of the present disclosure can effectively reduce the risk of traffic accidents caused by driver negligence, while also alleviating the psychological pressure caused by long-term stagnation.

[0161] In some embodiments, the method combines visual perception (forward-looking camera) and auditory perception (analysis of rear vehicle horn sounds) to intelligently determine whether the current external environment is suitable for moving forward. At the same time, based on sensors such as in-vehicle cameras, vehicle control units, and bio-signal acquisition equipment, it determines whether the vehicle itself and the driver have the conditions for driving, and uses physical feedback (steering wheel vibration / seat belt tightening) at the appropriate time to remind the driver to pay attention to driving.

[0162] Among them, for the visual perception part, the front camera continuously monitors the road conditions ahead, and uses computer vision algorithms to identify the relative distance between the front and rear vehicles. If it is found that there is space for at least two vehicles ahead, it is considered that there is enough space for the vehicle to drive. That is, if there is space for at least two vehicles ahead of the vehicle, it is considered that the barrier-free space in the direction of the vehicle's travel is greater than the preset space size, and the environment in the direction of the vehicle's travel meets the traffic conditions.

[0163] For auditory perception, the microphone array on the vehicle collects ambient sound, especially the sound signal from the rear. The collected data is preprocessed, including noise reduction, gain control and other steps to ensure the accuracy of subsequent analysis. The sound signal is classified based on the sound characteristics of the sound signal (average volume, duration, frequency of change of sound frequency) to determine whether it is a horn sound of "urging" nature.

[0164] Specifically, the sound signals of the surrounding environment are collected through a microphone array. Then, the average volume of the sound is calculated using RMS. A preset volume threshold (such as 60 decibels) is defined. If the detected sound volume exceeds the preset volume threshold and lasts for a period of time (exceeding the preset time threshold), then the sound signal is considered to be a possible horn sound and meets the preset prompt conditions. It is understandable that the preset volume threshold and the preset time threshold can be adjusted according to actual conditions. For example, the preset volume threshold may be set higher in a city to clearly distinguish it from the ambient volume to avoid misjudgment.

[0165] The frequency of change of the sound frequency determines whether the sound signal has ups and downs. The sound signal will be subjected to spectrum analysis to extract the main frequency components. Normally, the sound of a car horn will have obvious frequency changes, such as from low frequency to high frequency or vice versa. Assuming that the preset sound frequency range is defined as 500 Hz (Hz) to 3000 Hz (Hz), if the detected sound signal has a significant frequency change within this range, and the frequency of change of its sound frequency is greater than the preset change frequency threshold, then it is considered to be a possible horn sound and meets the preset prompt conditions. Specifically, the preset sound frequency range and the preset change frequency threshold can be fine-tuned according to the actual test results.

[0166] For duration, the length of time that the average volume of the sound signal exceeds the preset volume threshold is recorded. For example, if the volume of a sound exceeds 60 decibels and lasts for at least 0.5 seconds, it will be marked as a potential horn sound that may meet the preset prompt conditions. Further, the preset time interval is defined as between 0.5 seconds and 2 seconds. If the detected sound signal continues to sound within this preset time interval, it is considered to be a horn sound that meets the preset prompt conditions. Sounds that are too short or too long do not meet the characteristics of horn sounds that meet the preset prompt conditions.

[0167] Based on the sound feature judgment logic of the above sound signal, a large number of known horn sound samples are trained using machine learning methods (such as support vector machine SVM, neural network, etc.) to learn to identify specific patterns of horn sounds that meet the preset prompt conditions. These patterns include the law of frequency changes, the law of volume changes, etc. During the training process, a classification threshold is automatically determined to distinguish between horn sounds that meet the preset prompt conditions and other sounds. This threshold is usually optimized through methods such as cross-validation and has no fixed value. In actual applications, the classification threshold is used to determine whether the current sound is a horn sound that meets the preset prompt conditions.

[0168] To determine whether the vehicle and its driver are ready to drive, the system continuously collects real-time data from the on-board electronic control unit to obtain key parameters of the vehicle's power system, braking system and steering system for threshold analysis. If the vehicle has a fault that affects driving, causing the vehicle to be temporarily unable to move, the vehicle is determined to be unavailable for driving.

[0169] The visual sensor in the cockpit of the vehicle captures the driver's facial features and analyzes the driving behavior pattern to determine that the current driver of the vehicle is temporarily distracted or has a persistent lack of driving ability due to sudden illness, etc. If the current driver of the vehicle has a persistent lack of driving ability, it is determined that the driver of the vehicle does not have the driving ability to meet normal driving conditions.

[0170] Furthermore, the above-mentioned multi-dimensional information such as hearing, vision, and biological signals are combined to comprehensively evaluate whether it is suitable to start the vehicle at the moment. If "there is enough space in front, there is a strong urging from behind, and the vehicle itself and the driver meet normal driving conditions" are met at the same time, the warning mechanism is triggered and a prompt message is generated to notify the driver.

[0171] Optionally, real-time position information is obtained directly from other vehicles to determine whether there is enough space in front of the vehicle.

[0172] Among them, the prompting method of the prompt information is determined according to the driver's preference settings, including slight vibration of the steering wheel, automatic tightening of the seat belt, etc.

[0173] The disclosed embodiment makes comprehensive use of different perception methods such as vision and hearing, and combines the external environment of the vehicle, the vehicle itself, and the condition of the driver to comprehensively evaluate whether it is necessary to remind the driver, thereby improving the system's sensitivity to changes in traffic conditions in complex scenarios and providing a variety of optional notification forms, so that users with different habits can find the most suitable alarm method for themselves, effectively reducing the risk of traffic accidents caused by driver negligence, and also alleviating the psychological pressure caused by long-term stagnation.

[0174] Figure 4 The schematic diagram of the structure of the driving assistance prompt device provided in the embodiment of the present disclosure. The driving assistance prompt device may be the vehicle-mounted device as described in the above embodiment, or the driving assistance prompt device may be a component or assembly in the vehicle-mounted device. The driving assistance prompt device provided in the embodiment of the present disclosure may execute the processing flow provided in the driving assistance prompt method embodiment, such as Figure 4 As shown, the driving assistance prompt device 40 includes: an acquisition module 41, a first determination module 42, a second determination module 43, and a generation module 44; the acquisition module 41 is used to acquire the sound signal behind the vehicle, the environmental information in the driving direction of the vehicle, and the status information of the driver of the vehicle when the vehicle is in a slow-moving section; the first determination module 42 is used to determine whether the sound signal meets the preset prompt condition and whether the environment in the driving direction of the vehicle meets the traffic condition; the second determination module 43 is used to determine whether the vehicle meets the normal driving condition based on the operating status information of the vehicle and / or the status information of the driver of the vehicle; the generation module 44 is used to generate a prompt message if the sound signal meets the preset prompt condition, the environment in the driving direction of the vehicle meets the traffic condition, and the vehicle meets the normal driving condition.

[0175] Optionally, the first determination module 42 includes a feature extraction unit 421 and a first determination unit 422; the feature extraction unit 421 is used to extract sound features of the sound signal, and the sound features include average volume, duration, and frequency of change of sound frequency; the first determination unit 422 is used to determine whether the sound signal meets preset prompt conditions based on the sound features.

[0176] Optionally, the first determination unit 422 is specifically used to determine the change frequency of the sound frequency of the sound signal within a preset sound frequency range based on the change information of the sound frequency; if the change frequency of the sound frequency is greater than a preset change frequency threshold, it is determined that the sound signal meets the preset prompt condition.

[0177] Optionally, the first determination module 42 includes a second determination unit 423 and a third determination unit 424; the second determination unit 423 is used to determine the size of the barrier-free space in the direction of travel of the vehicle based on the environmental information; the third determination unit 424 is used to determine that the environment in the direction of travel of the vehicle meets the traffic conditions if the barrier-free space in the direction of travel of the vehicle is larger than a preset space size.

[0178] Optionally, the second determination unit 423 is also used to determine whether the vehicle is allowed to pass based on the traffic indication information if the environmental information includes traffic indication information, and the traffic indication information includes at least one of a traffic light, a traffic sign, and a lane-guiding arrow sign; the third determination unit 424 is also used to determine that the environment in the direction of vehicle travel meets the passage conditions if it is determined that the vehicle is allowed to pass and there is an unobstructed space larger than a preset space size in the direction of vehicle travel.

[0179] Optionally, the operating status information of the vehicle includes vehicle fault information and turn signal operating information; the second determination module 43 is used to determine whether the vehicle has a fault that affects driving based on the vehicle fault information; determine whether the vehicle has an intention to change lanes based on the turn signal operating information; determine whether the driver of the vehicle has the ability to drive based on the status information of the driver of the vehicle; if the vehicle has a fault that affects driving, or the vehicle has an intention to change lanes, or the driver of the vehicle does not have the ability to drive, it is determined that the vehicle does not meet normal driving conditions.

[0180] Optionally, the driving assistance prompt device 40 also includes a third determination module 45, which is used to determine whether the vehicle is in a slow-moving section when the vehicle's operating status information and / or environmental information meets one or more of the following: the vehicle's driving speed is lower than a preset speed threshold and the duration exceeds a preset time threshold; or, within a first preset time period, the change in the vehicle's driving speed is greater than a preset speed change threshold; or, within a second preset time period, the relative speed between the vehicle's driving speed and the rear vehicle's driving speed is less than a relative speed threshold; or, based on the environmental information, it is determined that the number of vehicles within the preset section length is greater than a preset number threshold.

[0181] Figure 4 The driving assistance prompt device of the illustrated embodiment can be used to implement the technical solution of the above-mentioned method embodiment. Its implementation principle and technical effect are similar and will not be repeated here.

[0182] Figure 5 A schematic diagram of the structure of a vehicle provided by an embodiment of the present disclosure. For example, Figure 5As shown, the vehicle includes: a memory 501 and a processor 502, wherein the memory 501 stores an executable program code 5011, and the processor 502 is used to call and execute the executable program code 5011 to perform the driving assistance prompt method.

[0183] 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.

[0184] In the case of dividing each functional module according to each function, the vehicle may include: a first determination module, an acquisition module, a second determination module, a third determination module, a fourth determination module, a generation module, and the like.

[0185] The vehicle provided in this embodiment is used to execute the above-mentioned driving assistance prompt method, and thus can achieve the same effect as the above-mentioned implementation method.

[0186] 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.

[0187] 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.

[0188] Figure 6 The electronic device provided in the embodiment of the present disclosure can execute the processing flow provided in the embodiment of the driving assistance prompt method, such as Figure 6 As shown, the electronic device 60 includes: a memory 61, a processor 62, a computer program and a communication interface 63; wherein the computer program is stored in the memory 61 and is configured so that the processor 62 executes the driving assistance prompt method as described above.

[0189] The memory 61 is a non-transitory readable storage medium that can be used to store software programs, vehicle executable instructions and modules, such as program instructions / modules corresponding to the driving assistance prompt method in the embodiment of the present disclosure. The processor 62 executes various functional applications and data processing of the server by running the software programs, instructions and modules stored in the memory 61, that is, implementing the driving assistance prompt method in the above method embodiment.

[0190] The memory 61 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and applications required for at least one function; the data storage area may store data created according to the use of the vehicle, etc. In addition, the memory 61 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 61 may optionally include a memory remotely arranged relative to the processor 62, and these remote memories may be connected to the terminal device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0191] This embodiment also provides a computer-readable storage medium, which stores computer program code (including but not limited to disk storage, CD-ROM, optical storage, etc.). When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a driving assistance prompt method provided in the above embodiment.

[0192] In the present disclosure, a computer readable storage medium may be any tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0193] 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 a driving assistance prompt method provided by the above-mentioned embodiment.

[0194] The beneficial effects of the above embodiments can be referred to the beneficial effects of the corresponding methods provided above, which will not be repeated here.

[0195] 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.

[0196] 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.

[0197] In the description of the present disclosure, it should be understood that the terms "up", "down", "front", "back", "left" and "right" etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the positions or elements referred to must have specific directions, be constructed and operate in specific directions. Therefore, they should not be understood as limitations of the present disclosure.

[0198] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0199] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0200] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

[0201] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0202] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the name of a unit does not, in some cases, constitute a limitation on the unit itself.

[0203] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. It should also be noted that the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0204] The above are only embodiments of the present disclosure and are not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the scope of the claims of the present disclosure.

Claims

1. A driving assistance prompt method, characterized in that: The method comprises: When the vehicle is in a slow-moving section, obtaining a sound signal behind the vehicle, environmental information in the direction of the vehicle's travel, and status information of the driver of the vehicle; Determine whether the sound signal meets the preset prompt condition and whether the environment in the driving direction of the vehicle meets the traffic condition; Determining whether the vehicle meets normal driving conditions according to the operating status information of the vehicle and / or the status information of the driver of the vehicle; If the sound signal meets the preset prompt condition, the environment in the driving direction of the vehicle meets the traffic condition, and the vehicle meets the normal driving condition, a prompt message is generated.

2. The method according to claim 1, characterized in that The determining whether the sound signal meets a preset prompt condition includes: Extracting sound features of the sound signal, wherein the sound features include average volume, duration, and frequency of change of sound frequency; According to the sound feature, it is determined whether the sound signal meets a preset prompt condition.

3. The method according to claim 2, characterized in that The determining whether the sound signal meets a preset prompt condition includes: Determining the frequency of change of the sound frequency of the sound signal within a preset sound frequency range according to the change information of the sound frequency; If the change frequency of the sound frequency is greater than a preset change frequency threshold, it is determined that the sound signal meets the preset prompt condition.

4. The method according to claim 1, characterized in that: Whether the environment in the direction of the vehicle's travel meets the traffic conditions includes: Determining the size of the barrier-free space in the direction of travel of the vehicle according to the environmental information; If the barrier-free space in the direction of vehicle travel is larger than the preset space size, it is determined that the environment in the direction of vehicle travel meets the traffic conditions.

5. The method according to claim 1, characterized in that Whether the environment in the direction of the vehicle's travel meets the traffic conditions includes: If the environmental information includes traffic indication information, determining whether the vehicle is allowed to pass according to the traffic indication information, wherein the traffic indication information includes at least one of a traffic light, a traffic sign, and a lane guide arrow mark; If it is determined that the vehicle is allowed to pass, and there is an obstacle-free space larger than a preset space size in the driving direction of the vehicle, it is determined that the environment in the driving direction of the vehicle meets the passing conditions.

6. The method according to claim 1, characterized in that The running status information of the vehicle includes vehicle fault information and turn signal working information; the determining whether the vehicle meets normal driving conditions according to the running status information of the vehicle and / or the status information of the driver of the vehicle includes: Determining whether the vehicle has a fault that affects driving according to the vehicle fault information; determining whether the vehicle has an intention to change lanes according to the turn signal operation information; Determining whether the driver of the vehicle has driving ability according to the status information of the driver of the vehicle; If the vehicle has a fault that affects driving, or the vehicle has an intention to change lanes, or the driver of the vehicle does not have the driving ability, it is determined that the vehicle does not meet normal driving conditions.

7. The method according to claim 1, characterized in that When the vehicle is in a slow-moving section, before acquiring the sound signal behind the vehicle, the environmental information in the driving direction of the vehicle, and the status information of the driver of the vehicle, the method further includes: When the running state information and / or environmental information of the vehicle satisfies one or more of the following, it is determined that the vehicle is in a slow-moving section: The vehicle's driving speed is lower than a preset speed threshold and the duration exceeds a preset time threshold; or, In a first preset time period, the change in the vehicle's running speed is greater than a preset speed change threshold; or, In the second preset time period, the relative speed between the vehicle's driving speed and the rear vehicle's driving speed is less than a relative speed threshold; or, According to the environmental information, it is determined that the number of vehicles within a preset road section length is greater than a preset number threshold.

8. A driving assistance prompting device, characterized in that: include: An acquisition module, used to acquire the sound signal behind the vehicle, the environmental information in the driving direction of the vehicle and the status information of the driver of the vehicle when the vehicle is in a slow-moving section; A first determination module is used to determine whether the sound signal meets the preset prompt condition and whether the environment in the driving direction of the vehicle meets the traffic condition; A second determination module is used to determine whether the vehicle meets normal driving conditions according to the running state information of the vehicle and / or the state information of the driver of the vehicle; A generating module is used to generate a prompt message if the sound signal meets a preset prompt condition, the environment in the driving direction of the vehicle meets the traffic condition, and the vehicle meets the normal driving condition.

9. A vehicle, characterized in that: include: Memory; processor; The memory stores executable program code, and the processor is used to call and execute the executable program code to perform the method as described in any one of claims 1 to 7.

10. An electronic device, characterized in that: include: Memory; processor; as well as Computer programs; The computer program is stored in the memory and is configured to be executed by the processor to implement the method according to any one of claims 1 to 7.

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