Information generation method and device, vehicle, storage medium and program product

Abstract

The embodiment of the invention relates to an information generation method and device, a vehicle, a storage medium and a program product. The method is applied to a vehicle, and the vehicle comprises a color sensor and a laser sensor. The method comprises the steps that color information, collected by the color sensor, of an object in the vehicle driving environment and echo information collected by the laser sensor are obtained; and generating prompt information according to the vehicle speed of the vehicle under the condition of determining that the red light exists in the driving environment of the vehicle according to the color information and the echo information. By adopting the method, the detection cost of traffic tool red light running can be reduced.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of vehicle technology, and in particular, to an information generation method, device, vehicle, storage medium, and program product. Background Art

[0002] When vehicles are driving on the road, they may run red lights, which can easily lead to traffic safety accidents. Therefore, the red light running detection and reminder functions can be added to vehicles to reduce the number of vehicles violating traffic rules.

[0003] In traditional technology, vehicles use their own high-definition cameras to obtain traffic light images, use machine learning models to identify and detect the acquired traffic light images, and combine the speed of the vehicle to obtain the detection result of whether the vehicle runs a red light.

[0004] However, conventional technologies have the problem of high detection costs. Summary of the invention

[0005] The embodiments of the present disclosure provide an information generation method, device, vehicle, storage medium and program product, which can reduce the detection cost of vehicles running red lights.

[0006] In a first aspect, an embodiment of the present disclosure provides an information generation method, the method being applied to a vehicle, the vehicle comprising a color sensor and a laser sensor; the method comprising:

[0007] Acquire color information of objects in the driving environment of the vehicle collected by the color sensor and echo information collected by the laser sensor;

[0008] When it is determined that there is a red light in the driving environment of the vehicle according to the color information and the echo information, prompt information is generated according to the speed of the vehicle.

[0009] In a second aspect, an embodiment of the present disclosure provides an information generating device, the device is applied to a vehicle, the vehicle includes a color sensor and a laser sensor; the device includes:

[0010] An acquisition module, used to acquire color information of objects in the driving environment of the vehicle collected by the color sensor, and echo information collected by the laser sensor;

[0011] A generating module is used to generate prompt information according to the speed of the vehicle when it is determined that there is a red light in the driving environment of the vehicle according to the color information and the echo information.

[0012] In a third aspect, an embodiment of the present disclosure provides a vehicle, including a color sensor, a laser sensor, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect when executing the computer program.

[0013] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method described in the first aspect above.

[0014] In a fifth aspect, an embodiment of the present disclosure provides a computer program product, including a computer program, which implements the method described in the first aspect when executed by a processor.

[0015] The information generating method, device, vehicle, storage medium and program product provided by the embodiments of the present disclosure can determine whether there is a red light in the driving environment of the vehicle based on the color information and the echo information by acquiring color information of objects in the driving environment of the vehicle collected by the color sensor and echo information collected by the laser sensor. Since the cost of the color sensor and the laser sensor is relatively low, the cost of determining whether there is a red light in the driving environment of the vehicle is reduced. Therefore, when there is a red light in the driving environment of the vehicle, prompt information can be quickly generated according to the speed of the vehicle. Compared with traditional technologies, not only the cost of determining whether there is a red light in the driving environment of the vehicle is reduced, but also since the data volume of the color information collected by the color sensor and the echo information collected by the laser sensor is relatively small, a processing chip with a smaller capacity can be used for data processing, thereby reducing the cost of the processing chip, and further reducing the cost of detecting vehicles running red lights. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 An application environment diagram of an information generation method in an embodiment;

[0017] Figure 2 is a flow chart of an information generating method in one embodiment;

[0018] Figure 3 is a flow chart of an information generating method in another embodiment;

[0019] Figure 4 is a flow chart of an information generating method in another embodiment;

[0020] Figure 5 is a flow chart of an information generating method in another embodiment;

[0021] Figure 6 is a flow chart of an information generating method in another embodiment;

[0022] Figure 7 A schematic diagram of a laser sensor acquiring echo information in one embodiment;

[0023] Figure 8 is a flow chart of an information generating method in another embodiment;

[0024] Fig. 9 is a flow chart of an information generating method in another embodiment;

[0025] Fig.10 A schematic diagram of a color sensor acquiring color information in one embodiment;

[0026] Fig.11 is a structural block diagram of an information generating device in one embodiment;

[0027] Fig.12 is a structural block diagram of an information generating device in another embodiment;

[0028] Fig.13 FIG. 4 is a diagram showing the internal structure of an electronic device in one embodiment. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure more clear, the embodiments of the present disclosure are further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the embodiments of the present disclosure and are not used to limit the embodiments of the present disclosure.

[0030] First of all, before specifically introducing the technical solutions of the embodiments of the present disclosure, the technical background or technical evolution context on which the embodiments of the present disclosure are based is introduced. Generally, in the field of vehicle red light running detection, the current technical background is: when determining whether a vehicle has run a red light by obtaining traffic light information and the speed of the vehicle, there is a problem of high cost of vehicle red light running detection. Based on this background, the applicant discovered through long-term model simulation research and development as well as the collection, demonstration and verification of experimental data that the high cost of high-definition cameras and machine learning processing chips for obtaining traffic light information leads to the high cost of vehicle red light running detection. The problem of how to reduce the cost of vehicle red light running detection has become a difficult problem that needs to be solved urgently. In addition, it should be noted that the applicant has put in a lot of creative work in determining the high cost of high-definition cameras and machine learning processing chips and the technical solutions introduced in the following embodiments.

[0031] The technical solutions involved in the embodiments of the present disclosure are introduced below in combination with the scenarios to which the embodiments of the present disclosure are applied.

[0032] The information generation method provided by the embodiment of the present disclosure can be applied to Figure 1 In the application environment shown. The figure includes a vehicle 100, on which a color sensor 102, a laser sensor 104 and a processor 106 are provided. The vehicle 100 may be a non-motorized or motorized vehicle such as a pedal bicycle, an electric bicycle, a scooter, a motorcycle, etc. equipped with a processing chip. The processor 106 may transmit data with the color sensor 102 and the laser sensor 104 in a wireless or wired manner. The color sensor 102 is used to obtain the color information of objects in the driving environment of the vehicle, and the laser sensor 104 is used to obtain the height, area, and reflection intensity of objects suspected of being red lights, so as to determine whether the vehicle runs a red light in the driving environment of the vehicle in combination with the driving speed of the vehicle 100 when it is determined that there is a red light.

[0033] In one embodiment, Figure 2 As shown, a method for generating information is provided, which is applied to Figure 1 Taking the transportation in the example as an example, the following steps are included:

[0034] S201, obtaining color information of objects in a vehicle driving environment collected by a color sensor and echo information collected by a laser sensor.

[0035] Among them, the color sensor is a sensor that can measure the color of an object. It transmits a light signal to the object through the color sensor. The object absorbs part of the light signal and reflects part of the light signal according to the received light signal. The color sensor calculates the color attribute of the object according to the reflectivity of the light signal reflected by the object, and compares the calculated color attribute with the reference color attribute. When the difference between the two colors is within a certain error range, the color corresponding to the object is determined. Usually, the color sensor uses the intensity values ​​of the three colors of red, green, and blue to represent the color of the object. For example, pure red can be represented as (255, 0, 0), pure green can be represented as (0, 255, 0), and pure blue can be represented as (0, 0, 255). It should be noted that different areas of an object have different absorption and reflection intensities for the light emitted by the color sensor, and the corresponding color intensity values ​​are different. In this embodiment, the color information of the object can be determined based on the color intensity value corresponding to the object. For example, if the intensity value of red corresponding to a certain area of ​​the object is greater than 50, and the intensity value of green and the intensity value of blue are both less than 50, then it can be determined that the area is red, thereby determining the colors corresponding to each object in the object. It can be understood that an object may contain one color or multiple colors.

[0036] Among them, the laser sensor is a sensor that uses a laser beam to measure or detect a target object. The laser sensor may include multiple lasers, and each laser can be set to emit a laser beam at a different emission angle and emission intensity. The laser sensor emits multiple laser beams to the object, and after the object reflects the laser beam, the reflected light signal returned by the object is received. The time of receiving the reflected light signal and the reflection intensity of the reflected light signal can be obtained, so that the time of receiving the reflected light signal and the reflection intensity of the reflected light signal can be determined as echo information.

[0037] It should be noted that the driving environment of a vehicle may include various objects. Optionally, the objects may include traffic lights, billboards, other vehicles, obstacles, and the like.

[0038] In this embodiment, the color sensor can be controlled to emit light signals to objects in the driving environment of the vehicle at preset time intervals, so as to obtain the color information of the object according to the received light signals, and the laser sensor can be controlled to emit laser beams to objects in the driving environment of the vehicle at preset time intervals, so as to obtain the echo information corresponding to the object according to the received reflected light signals. It can be understood that the time interval for the color sensor to emit light signals and the time interval for the laser sensor to emit laser beams can be the same or different, and the time difference between the two can satisfy the preset time difference range. For example, the time interval for the color sensor to emit light signals and the time interval for the laser sensor to emit laser beams can differ by 0.05s.

[0039] S202, when it is determined based on the color information and the echo information that there is a red light in the driving environment of the vehicle, generate prompt information based on the speed of the vehicle.

[0040] It should be noted that since the vehicle's driving environment includes various objects, when performing vehicle red light detection, it is necessary to determine whether there is a traffic light in the vehicle's driving environment and that the current state of the traffic light is red. Then, based on the vehicle's speed, it is determined whether the vehicle has run a red light. In the event that the vehicle has run a red light, a prompt message is generated. Optionally, the prompt message may be in the form of a voice broadcast, or the prompt message may be in the form of a light.

[0041] In this embodiment, objects with red color can be determined based on the color information of each object obtained. At the same time, the reflectivity of each object can be determined based on the reflection intensity in the acquired echo information, the height of each object can be determined based on the time of receiving the reflected light signal and the emission time in the echo information, and the area of ​​each object can be determined based on the reflected light signal corresponding to each laser beam. Thus, objects with red color and whose height, reflectivity and area are consistent with the set height, reflectivity and area of ​​the traffic light are determined as red lights. Furthermore, the current speed of the vehicle can be obtained to determine whether the speed is greater than a preset speed range threshold. If so, it can be determined that the vehicle has run a red light, and a red light running prompt message can be generated.

[0042] It is understandable that the reflectivity of the red light will change due to the actual setting height of the traffic light and the different lengths of use. Therefore, when determining whether the object is a traffic light based on the height, reflectivity and area of ​​the object, if the height of the object is within the setting height range of the traffic light, the reflectivity of the object is within the reflectivity range of the traffic light, and the area of ​​the object is within the area range of the traffic light, then it can be determined that the object is a traffic light.

[0043] In the above information generation method, by acquiring the color information of objects in the vehicle's driving environment collected by the color sensor and the echo information collected by the laser sensor, it is possible to determine whether there is a red light in the vehicle's driving environment based on the color information and the echo information. Since the cost of the color sensor and the laser sensor is relatively low, the cost of determining whether there is a red light in the vehicle's driving environment is reduced. Therefore, when there is a red light in the vehicle's driving environment, prompt information can be quickly generated based on the vehicle's speed. Compared with traditional technologies, not only is the cost of determining whether there is a red light in the vehicle's driving environment reduced, but also since the amount of data of the color information collected by the color sensor and the echo information collected by the laser sensor is relatively small, a processing chip with a smaller capacity can be used for data processing, thereby reducing the cost of the processing chip, and further reducing the cost of detecting vehicles running red lights.

[0044] In the above scenario where the presence of a red light in the driving environment of a vehicle is determined based on color information and echo information, the presence of a red light can be determined based on the echo information when the target object in the driving environment of the vehicle is determined based on color information. In one embodiment, the above method further includes: when the presence of a target object in the driving environment of the vehicle is determined based on color information, determining whether there is a red light in the driving environment of the vehicle based on the echo information collected by the laser sensor; wherein the color of the target object is red and the shape of the target object is round.

[0045] In this embodiment, from among the objects existing in the driving environment of the vehicle, an object with red color information can be determined as a target object. Thus, when it is determined that there is a target object in the driving environment, the height, reflection intensity, and area of ​​the target object can be determined based on the echo information of the target object collected by the laser sensor. When the height of the target object meets the height range of the traffic light, the emission intensity of the target object meets the reflection intensity range of the traffic light, and the area of ​​the target object meets the area of ​​the traffic light, the target object can be determined as a traffic light, thereby determining that there is a red light in the driving environment of the vehicle.

[0046] In the present embodiment, when it is determined based on color information that there is a target object whose color is red and whose shape is round in the driving environment of the vehicle, it is possible to determine whether there is a red light in the driving environment of the vehicle based on the echo information collected by the laser sensor. Since when there is a target object in the driving environment of the vehicle, whether there is a red light in the driving environment of the vehicle is further determined based on the echo information, there is no need to calculate the echo information of all objects, thereby reducing the amount of calculation for determining whether there is a red light in the driving environment of the vehicle based on the echo information, thereby improving the efficiency of determining whether there is a red light in the driving environment of the vehicle.

[0047] In the above scenario of acquiring color information of an object in the driving environment of a vehicle collected by a color sensor and echo information collected by a laser sensor, when it is determined that there is a target object in the driving environment of the vehicle based on the color information, the laser sensor can be controlled to acquire the echo information of the target object. Figure 3 As shown, the above S201 includes:

[0048] S301, controlling a color sensor to collect color information of objects in a driving environment of a vehicle.

[0049] In this embodiment, the color sensor can be controlled to emit light signals to each object in the driving environment of the vehicle at a preset time interval, so as to determine the color information corresponding to each object according to the reflected light signals returned by each object. It can be understood that the color information of the object may be one color or multiple colors. Optionally, the color information of the object may only include any one of red, green, and blue; or, it may include any two colors, or, it may include three colors: red, green, and blue.

[0050] S302, when it is determined based on the color information that there is a target object in the driving environment of the vehicle, control the laser sensor to obtain echo information of the target object.

[0051] In this embodiment, when it is determined that there is a target object in the driving environment of the vehicle based on color information, the laser sensor can be controlled to emit multiple laser beams with different emission angles to the target object, and the echo information of the target object can be obtained based on the multiple reflected light signals returned by the object. For example, the time of receiving the transmitted light signal and the reflection intensity of the reflected light signal can be obtained, so that the time of receiving the transmitted light signal and the reflection intensity of the reflected light signal can be determined as the echo information of the target object.

[0052] In this embodiment, the color information of objects in the driving environment of the vehicle is collected by controlling the color sensor, so that when it is determined that there is a target object in the driving environment of the vehicle based on the color information, the laser sensor is controlled to obtain the echo information of the target object. Since the laser sensor is controlled to obtain the echo information of the target object only when it is determined that there is a target object in the driving environment of the vehicle, the frequency of the laser sensor emitting the laser beam is reduced, and the consumption cost of the laser sensor is reduced, thereby further reducing the cost of detecting red light running of vehicles.

[0053] In the above scenario of determining whether there is a red light in the driving environment of a vehicle based on the echo information collected by the laser sensor, the target object can be determined to be a red light if the echo information meets the preset judgment conditions. Figure 4 As shown, the above “determining whether there is a red light in the driving environment of the vehicle based on the echo information collected by the laser sensor” includes:

[0054] S401, determining target information according to the echo information of the target object; the target information includes the target height between the target object and the ground, the reflection intensity of the target object and the area of ​​the target object.

[0055] Among them, the target information refers to the information corresponding to the target object and the relevant information of the traffic light. For example, the relevant information of the traffic light may include height, reflection intensity and area, then the target information may include the target height of the target object, the reflection intensity of the target object and the area of ​​the target object, wherein the target height refers to the height between the target object and the ground.

[0056] In this embodiment, the target height between the target object and the ground can be determined based on the reception time and the transmission time of the reflected light signal in the echo information, the reflection intensity of the target object can be determined based on the energy of the reflected light signal in the echo information, and the area of ​​the target object can be determined based on the position information corresponding to each reflected light signal in the echo information.

[0057] S402: When the target information meets a preset judgment condition, determine that the target object is a red light.

[0058] Among them, the preset judgment conditions can be determined according to the actual setting of the traffic light, for example, the setting height of the traffic light, the emissivity of the traffic light, and the area of ​​the traffic light. Optionally, the judgment conditions include all of the following conditions: the target height between the target object and the ground is within a preset height value range; the reflectivity corresponding to the reflection intensity of the target object is within a preset reflectivity range; the area of ​​the target object is within a preset area range.

[0059] In this embodiment, the target height in the determined echo information can be compared with a preset height value range to determine whether the target height is within the preset height value range, and the reflectivity of the target object is calculated according to the reflection intensity in the determined echo information, and the reflectivity of the target object is compared with the preset reflectivity range to determine whether the reflectivity corresponding to the reflection intensity of the target object is within the preset reflectivity range, and the area of ​​the target object is calculated according to the echo information, and the area of ​​the target object is compared with the preset area range to determine whether the target area is within the preset area range. Exemplarily, the preset height value range can be 2.5 meters to 3.5 meters, the preset reflectivity range can be 65% to 85% at a wavelength of 400nm to 450nm, and the preset area range can be 200mm*200mm-300mm*300mm.

[0060] In this embodiment, the target height between the target object and the ground, the reflection intensity of the target object and the area of ​​the target object are determined according to the echo information of the target object. Since the determination process is relatively simple, the height, reflection intensity and area of ​​the target object can be determined quickly and accurately, so that when the target information meets the preset judgment conditions, the target object can be quickly and accurately determined to be a red light, thereby improving the efficiency and accuracy of determining that the target object is a red light; in addition, since the process of determining that the target object is a red light is relatively simple and the amount of data is small, a processing chip with a smaller capacity is required to complete the data processing process, thereby reducing the cost of the processing chip and thus reducing the cost of determining that the target object is a red light.

[0061] In the above scenario of determining the target height of the target object, the height between the target object and the ground can be determined based on the height between the target object and the laser sensor and the height between the ground and the laser sensor. Figure 5 As shown, the above S401 includes:

[0062] S501, determining a first height between the laser sensor and the target object based on the echo information of the target object.

[0063] In this embodiment, the reception time of the reflected light signal of the target object can be determined based on the echo information of the target object, and the time difference between the reception time and the transmission time can be calculated. The distance between the target object and the laser sensor can be obtained according to l1=(t1-t2)*c / 2, and then combined with the coordinate system, the coordinates of the laser sensor are set as the coordinate origin, and the coordinates of the target object are determined according to the distance between the target object and the laser sensor, so as to determine the first height between the laser sensor and the target object according to the two coordinates. In the above formula, l1 is the distance between the target object and the laser sensor, t1 is the reception time in the echo information of the target object, t2 is the transmission time when the laser sensor transmits the laser beam to the target object, and c is the speed of light.

[0064] S502, acquiring echo information of the ground, and determining a second height between the laser sensor and the ground based on the echo information of the ground.

[0065] The ground echo information refers to the echo information corresponding to the reflected light signal returned from the ground after the laser sensor transmits a laser beam to the ground. The ground echo information may include the reception time of the reflected light signal returned from the ground by the laser sensor.

[0066] Optional, such as Figure 6 As shown, obtaining the echo information of the ground may include:

[0067] S601, controlling the laser sensor to emit a laser beam toward the ground.

[0068] It should be noted that, in this embodiment, it is necessary to control the laser sensor to emit a laser beam of preset intensity toward the ground while the laser sensor emits a laser beam toward the target object. Optionally, the laser sensor can emit a laser beam toward the ground at an angle perpendicular to the ground, or can also emit a laser beam toward the ground at other angles.

[0069] S602, acquiring ground echo information based on the laser beam.

[0070] It is understandable that after receiving the laser beam, the ground can emit the laser beam, and the laser sensor can receive the reflected light signal of the ground based on the reflection of the laser beam, so that the echo information of the ground can be obtained according to the reflected light signal of the ground based on the reflection of the laser beam.

[0071] In this embodiment, the reception time of the reflected light signal of the ground can be determined based on the echo information of the ground, so as to calculate the time difference between the reception time and the transmission time, and the distance between the ground and the laser sensor can be obtained according to l2=(t3-t2)*c / 2, so as to determine the second height between the ground and the target object according to the distance between the ground and the laser sensor, where l2 is the distance between the ground and the laser sensor, t3 is the reception time in the echo information of the ground, t2 is the transmission time of the laser sensor transmitting the laser beam to the ground, and c is the speed of light. It should be noted that in this embodiment, the laser sensor can be controlled to transmit a laser beam to the ground at an angle perpendicular to the ground, and the distance between the ground and the laser sensor can be determined as the second height.

[0072] S503: Determine a target height according to the first height and the second height.

[0073] In this embodiment, the sum of the first height and the second height may be determined as the target height of the target object relative to the ground.

[0074] For example, a schematic diagram of obtaining echo information through a laser sensor and determining the target height according to the echo information can be as follows: Figure 7 As shown in the figure, the laser sensor can emit a laser beam to the target object and the ground, and determine the echo information of the target object according to the emitted light signal returned by the target object, and determine the echo information of the ground according to the emitted light signal returned by the ground.

[0075] In this embodiment, the first height between the laser sensor and the target object can be accurately determined based on the echo information of the target object, and the second height between the laser sensor and the ground can be accurately determined by obtaining the echo information of the ground and based on the echo information of the ground, so that the target height can be accurately determined based on the first height and the second height, thereby improving the accuracy of determining whether the target object is a red light based on the target height; in addition, the calculation process of determining the height based on the echo information is relatively simple, the utilization rate of the processing chip is low, and data processing can be completed using a processing chip with a smaller capacity, thereby reducing the cost of the processing chip and reducing the cost of determining the target height.

[0076] The specific process of determining the area of ​​the target object is described in detail below. Figure 8 As shown, the above S401 includes:

[0077] S701, determining radius information of a virtual circle formed based on echo information of a target object.

[0078] It should be noted that, when a target object is determined to be red and circular in shape based on color information, the laser sensor can be controlled to emit multiple laser beams at different emission angles to the target object, and each laser beam can be emitted to a different position of the target object. For example, laser beam A can be emitted to the center of the target object, laser beam B can be emitted to the leftmost edge of the target object, and laser beam C can be emitted to the rightmost edge of the target object. Therefore, a virtual circle can be formed based on the received echo information. In this embodiment, a virtual circle can be formed based on the position corresponding to the echo information of the target object, so that the radius information of the virtual circle can be determined based on the coordinates of any edge of the virtual circle and the coordinates of the center of the circle.

[0079] S702: Determine the area of ​​the target object according to the radius information.

[0080] In this embodiment, according to the determined radius information, the area of ​​the circle can be calculated according to the formula s=2πr 2 , determine the area of ​​the target object, where s is the area of ​​the target object and r is the radius of the virtual circle.

[0081] In this embodiment, by determining the radius information of a virtual circle formed based on the echo information of the target object, the area of ​​the target object can be determined based on the radius information. Since the area of ​​the target object can be quickly obtained based on the radius information, the efficiency of determining whether the target object is a red light based on the area of ​​the target object can be improved.

[0082] The specific process of determining the target object based on color information is described in detail below. Fig. 9 As shown, the above method also includes:

[0083] S801, determining contour information of the candidate object based on color information of the candidate object.

[0084] Among them, the contour information of the candidate object refers to the edge information that can characterize the shape of the candidate object. Optionally, in this embodiment, the color that meets the preset red color information range can be screened out from the color information corresponding to the candidate object, so as to determine the contour information of the candidate object according to the screened color using the contour recognition algorithm; or, based on the echo information of the candidate object, a virtual object corresponding to the candidate object can be established, and the red color information can be used as a condition to separate the color information in the virtual object to obtain the red area and the area of ​​other colors, so as to determine the contour information of the obtained red area as the contour information of the candidate object.

[0085] S802: Determine the candidate object whose contour information is a circle as the target object.

[0086] In this embodiment, the shape of the target object may be determined based on the determined contour information using a shape matching algorithm, thereby determining a candidate object with a circular shape as the target object.

[0087] For example, the schematic diagram of obtaining color information through a color sensor and determining the target object according to the color information can be as follows: Fig.10 As shown in the figure, the color sensor can emit light signals to various objects in the driving environment of the vehicle, obtain color information corresponding to each object according to the reflected light signals returned by the object, and determine the shape of each object based on the color information.

[0088] In this embodiment, the contour information of the candidate object can be determined based on the color information of the candidate object, so that the candidate object corresponding to the contour information of a circle can be determined as the target object. Since the process of determining the target object based on the contour information is relatively simple, a processing chip with a smaller capacity can be used for data processing, thereby reducing the cost of the processing chip and further reducing the cost of determining the target object.

[0089] An embodiment of the present disclosure is introduced below in conjunction with a specific travel scenario. The method includes the following steps:

[0090] S1, controlling the color sensor to collect color information of objects in the driving environment of the vehicle.

[0091] S2, determining a candidate object based on color information of objects in the vehicle driving environment collected by a color sensor; the color of the candidate object is red.

[0092] S3, determining contour information of the candidate object based on the color information of the candidate object.

[0093] S4, determining the candidate object corresponding to a circle whose contour information is a target object.

[0094] S5, controlling the laser sensor to obtain the echo information of the target object.

[0095] S6, determining a first height between the laser sensor and the target object based on the echo information of the target object.

[0096] S7, controls the laser sensor to emit a laser beam toward the ground.

[0097] S8, acquiring ground echo information based on the laser beam emitted by the laser sensor to the ground.

[0098] S9, determining a second height between the laser sensor and the ground based on the echo information of the ground.

[0099] S10, determining a target height according to the first height and the second height.

[0100] S11, determining the radius information of a virtual circle formed based on the echo information of the target object.

[0101] S12, determining the area of ​​the target object according to the radius information.

[0102] S13, determining the reflection intensity of the target object according to the echo information of the target object.

[0103] S14, when the target information meets the preset judgment conditions, determine that the target object is a red light, wherein the judgment conditions include all of the following conditions: the target height between the target object and the ground is within a preset height value range; the reflectivity corresponding to the reflection intensity of the target object is within a preset reflectivity range; the area of ​​the target object is within a preset area range.

[0104] S15, generating prompt information according to the speed of the vehicle.

[0105] It should be noted that for the descriptions in the above S1-S15, reference may be made to the relevant descriptions in the above embodiments, and the effects are similar, so this embodiment will not be repeated here.

[0106] It should be understood that, although the various steps in the above flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear description in this article, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowchart may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0107] In one embodiment, Fig.11 As shown, an information generating device is provided, comprising: an acquisition module 11 and a generation module 12, wherein:

[0108] The acquisition module 11 is used to acquire the color information of objects in the driving environment of the vehicle collected by the color sensor and the echo information collected by the laser sensor.

[0109] The generating module 12 is used to generate prompt information according to the speed of the vehicle when it is determined that there is a red light in the driving environment of the vehicle according to the color information and the echo information.

[0110] The information generating device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0111] In one embodiment, Fig.12 As shown, the above device also includes: a first determination module 13, wherein:

[0112] The first determination module 13 is used to determine whether there is a red light in the driving environment of the vehicle based on the echo information collected by the laser sensor when the target object exists in the driving environment based on the color information; wherein the color of the target object is red and the shape of the target object is round.

[0113] The information generating device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0114] In one embodiment, please continue to refer to Fig.12 The acquisition module 11 includes: a first acquisition unit 111 and a second acquisition unit 112, wherein:

[0115] The first acquisition unit 111 is used to control the color sensor to collect color information of objects in the driving environment of the vehicle.

[0116] The second acquisition unit 112 is used to control the laser sensor to acquire the echo information of the target object when it is determined that there is a target object in the driving environment of the vehicle according to the color information.

[0117] The information generating device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0118] In one embodiment, please continue to refer to Fig.12 The first determination module 13 includes: a first determination unit 131 and a second determination unit 132, wherein:

[0119] The first determining unit 131 is used to determine target information according to the echo information of the target object; the target information includes the target height between the target object and the ground, the reflection intensity of the target object and the area of ​​the target object.

[0120] The second determining unit 132 is configured to determine that the target object is a red light when the target information satisfies a preset judgment condition.

[0121] Optionally, the judgment conditions include all of the following conditions: the target height between the target object and the ground is within a preset height value range; the reflectivity corresponding to the reflection intensity of the target object is within a preset reflectivity range; the area of ​​the target object is within a preset area range.

[0122] The information generating device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0123] In one embodiment, please continue to refer to Fig.12 The first determination unit 131 is specifically used to: determine target information according to the echo information of the target object; the target information includes the target height between the target object and the ground, the reflection intensity of the target object and the area of ​​the target object; when the target information meets the preset judgment conditions, determine that the target object is a red light.

[0124] The information generating device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0125] In one embodiment, please continue to refer to Fig.12 The first determination unit 131 is specifically used to: control the laser sensor to emit a laser beam to the ground; and obtain echo information of the ground based on the laser beam.

[0126] The information generating device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0127] In one embodiment, please continue to refer to Fig.12 The first determining unit 131 is specifically used to: determine the radius information of a virtual circle formed based on the echo information of the target object; and determine the area of ​​the target object according to the radius information.

[0128] The information generating device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0129] In one embodiment, please continue to refer to Fig.12 The above device further includes: a second determination module 14, a third determination module 15 and a fourth determination module 16, wherein:

[0130] The second determination module 14 is used to determine the candidate object based on the color information of the object in the vehicle driving environment collected by the color sensor; the color of the candidate object is red.

[0131] The third determining module 15 is used to determine the contour information of the candidate object based on the color information of the candidate object.

[0132] The fourth determination module 16 is configured to determine the candidate object whose contour information is a circle as the target object.

[0133] The information generating device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0134] For the specific definition of the information generating device, please refer to the definition of the information generating method above, which will not be repeated here. Each module in the above-mentioned information generating device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the electronic device in the form of hardware, or can be stored in the memory of the electronic device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0135] Fig.13 is a block diagram of an electronic device 1400 according to an exemplary embodiment. Fig.13 , the electronic device 1400 includes a processing component 1420, which further includes one or more processors, and a memory resource represented by a memory 1422 for storing instructions or computer programs, such as applications, that can be executed by the processing component 1420. The application stored in the memory 1422 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component 1420 is configured to execute instructions to perform the above-mentioned information generation method.

[0136] The electronic device 1400 may also include a power supply component 1424 configured to perform power management of the device 1400, a wired or wireless network interface 1426 configured to connect the device 1400 to a network, and an input / output (I / O) interface 1428. The server 1400 may operate based on an operating system stored in the memory 1422, such as Windows 1414ServerTM, Mac O14XTM, UnixTM, LinuxTM, FreeB14DTM or the like.

[0137] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 1304 including instructions, and the instructions can be executed by a processor 1320 of the electronic device 1300 to perform the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0138] In an exemplary embodiment, a storage medium including instructions is also provided, such as a memory 1422 including instructions, which can be executed by a processor of the server 1400 to perform the above method. The storage medium can be a non-transitory computer-readable storage medium, for example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0139] In an exemplary embodiment, a computer program product is also provided, and when the computer program is executed by a processor, the above method can be implemented. The computer program product includes one or more computer instructions. When these computer instructions are loaded and executed on a computer, part or all of the above method can be implemented in whole or in part according to the process or function described in the embodiment of the present disclosure.

[0140] It should be noted that the solutions described in this specification and the embodiments, if they involve the processing of personal information, will be processed on the premise of having a legal basis (such as obtaining the consent of the subject of personal information, or being necessary for the performance of a contract, etc.), and will only be processed within the scope of regulations or agreements. If a user refuses to process personal information other than the necessary information for basic functions, it will not affect the user's use of basic functions.

[0141] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in the embodiments of the present disclosure can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0142] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0143] The above-described embodiments only express several implementation methods of the embodiments of the present disclosure, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the embodiments of the present disclosure, and these all belong to the protection scope of the embodiments of the present disclosure. Therefore, the protection scope of the patent of the embodiments of the present disclosure shall be subject to the attached claims.

Claims

1. A method for generating information, characterized in that: The method is applied to a vehicle, wherein the vehicle comprises a color sensor and a laser sensor; the method comprises: Acquire color information of objects in the driving environment of the vehicle collected by the color sensor and echo information collected by the laser sensor; When it is determined that there is a red light in the driving environment of the vehicle according to the color information and the echo information, prompt information is generated according to the speed of the vehicle.

2. The method according to claim 1, characterized in that The method further comprises: In the case where it is determined based on the color information that there is a target object in the vehicle's driving environment, it is determined whether there is a red light in the vehicle's driving environment based on the echo information collected by the laser sensor; wherein the color of the target object is red and the shape of the target object is round.

3. The method according to claim 2, characterized in that The step of acquiring the color information of the object in the driving environment of the vehicle collected by the color sensor and the echo information collected by the laser sensor includes: Controlling the color sensor to collect color information of objects in the driving environment of the vehicle; When it is determined according to the color information that the target object exists in the driving environment of the vehicle, the laser sensor is controlled to acquire the echo information of the target object.

4. The method according to claim 3, characterized in that The determining whether there is a red light in the driving environment of the vehicle according to the echo information collected by the laser sensor includes: Determining target information according to the echo information of the target object; the target information includes the target height between the target object and the ground, the reflection intensity of the target object and the area of ​​the target object; When the target information meets the preset judgment condition, it is determined that the target object is a red light.

5. The method according to claim 4, characterized in that The judgment conditions include all of the following conditions: The target height between the target object and the ground is within a preset height value range; The reflectivity corresponding to the reflection intensity of the target object is within a preset reflectivity range; The area of ​​the target object is within a preset area range.

6. The method according to claim 4, characterized in that Determining the target height between the target object and the ground according to the echo information of the target object includes: Determining a first height between the laser sensor and the target object based on the echo information of the target object; Acquiring echo information of the ground, and determining a second height between the laser sensor and the ground based on the echo information of the ground; The target height is determined according to the first height and the second height.

7. The method according to claim 6, characterized in that The obtaining of the echo information of the ground includes: Controlling the laser sensor to emit a laser beam toward the ground; The echo information of the ground is acquired based on the laser beam.

8. The method according to claim 4, characterized in that The determining the area of ​​the target object according to the echo information of the target object comprises: Determining radius information of a virtual circle formed based on the echo information of the target object; The area of ​​the target object is determined according to the radius information.

9. The method according to claim 2, characterized in that: The method further comprises: Determine a candidate object based on the color information of the object in the vehicle driving environment collected by the color sensor; the color of the candidate object is red; Determining contour information of the candidate object based on the color information of the candidate object; The candidate object corresponding to the circular contour information is determined as the target object.

10. An information generating device, characterized in that: The device is applied to a vehicle, and the vehicle comprises a color sensor and a laser sensor; the device comprises: An acquisition module, used to acquire color information of objects in the driving environment of the vehicle collected by the color sensor, and echo information collected by the laser sensor; A generating module is used to generate prompt information according to the speed of the vehicle when it is determined that there is a red light in the driving environment of the vehicle according to the color information and the echo information.

11. A vehicle, comprising a color sensor, a laser sensor, a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

12. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

13. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

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