Traffic light reminding method, electronic equipment, storage medium and computer program product

Abstract

The invention discloses a traffic light reminding method, electronic equipment, a storage medium and a computer program product. The method comprises: identifying traffic light information of an intersection where a vehicle is located; identifying a vehicle advancing direction; executing deceleration reminding operation according to the traffic light information in the vehicle advancing direction; or executing red light running early warning operation according to the traffic light information in the vehicle advancing direction; or starting reminding operation is executed according to the traffic light information in the vehicle advancing direction. Whether a driver needs to be reminded of running the red light or starting the green light is judged according to the traffic light information in the vehicle advancing direction by recognizing the traffic light information and the vehicle advancing direction, traffic accidents or traffic jams caused by fatigue or distraction of the driver can be effectively reduced through acoustic and optical modes, and driving safety is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle-related technologies, and in particular to a traffic light reminder method, electronic equipment, storage medium and computer program product. Background Art

[0002] The two most common problems at traffic light intersections are: drivers unconsciously running red lights and forgetting to start when the light turns green. Drivers running red lights can lead to serious traffic accidents, while drivers forgetting to start when the light turns green can lead to traffic jams or be honked by other drivers, giving drivers a bad driving experience.

[0003] However, the prior art lacks a method of reminding the driver at a traffic light intersection. Summary of the invention

[0004] Based on this, it is necessary to provide a traffic light reminder method, electronic device, storage medium and computer program product to address the technical problem that the prior art lacks a way to remind drivers at traffic light intersections.

[0005] The present invention provides a traffic light reminder method, comprising:

[0006] Identify the traffic light information at the intersection where the vehicle is located;

[0007] Identify the direction of vehicle travel;

[0008] According to the traffic light information in the direction of the vehicle's travel, a slow-down reminder operation is performed; or

[0009] Execute red light running warning operation according to the traffic light information in the direction of vehicle travel; or

[0010] According to the traffic light information in the direction of vehicle travel, the reminder start operation is performed.

[0011] Furthermore, the identifying of traffic light information at the intersection where the vehicle is located includes:

[0012] Obtain high-precision map information, vehicle perception information, and general map information;

[0013] If the high-precision map information includes the traffic light information of the intersection where the vehicle is located, the traffic light information of the intersection where the vehicle is located in the high-precision map information is used; otherwise

[0014] The traffic light information of the intersection where the vehicle is located is identified through the perception information. If the identification is successful, the traffic light information identified by the perception information is used as the traffic light information of the intersection where the vehicle is located; otherwise

[0015] If the general map information includes the traffic light information of the intersection where the vehicle is located, the traffic light information of the intersection where the vehicle is located in the general map information is used.

[0016] Further, the identifying the direction of travel of the vehicle includes:

[0017] Access multiple sources of information;

[0018] According to each information source, determine the corresponding original vehicle travel direction;

[0019] A comprehensive judgment is made on the multiple original vehicle travel directions to determine the final vehicle travel direction.

[0020] Furthermore, the information source includes: a navigation source, a road information source, a turn signal source, a yaw angle source, a traffic sign source, and / or a historical habit source, and the determining of the corresponding original vehicle travel direction according to each information source includes:

[0021] Obtaining navigation information, and determining the original vehicle travel direction corresponding to the navigation source based on the navigation information; and / or

[0022] Acquire the perception information of the vehicle, and determine the direction of the lane where the vehicle is located according to the road arrow or lane direction indicator at the intersection where the vehicle is located as the original vehicle direction corresponding to the road information source; and / or

[0023] Obtaining the vehicle's turn signal information, and determining the original vehicle travel direction corresponding to the turn signal source according to the vehicle's turn signal information; and / or

[0024] Obtaining the yaw angle of the vehicle, and determining the original vehicle travel direction corresponding to the source of the yaw angle according to the yaw angle of the vehicle; and / or

[0025] Obtaining road information, and determining the original vehicle travel direction of the traffic sign according to the traffic sign at the intersection where the vehicle is located in the road information; and / or

[0026] The driver's historical driving behavior data is obtained, and the original vehicle travel direction of the historical habit source is determined based on the driver's historical driving behavior data.

[0027] Furthermore, including multiple vehicle traveling directions, the comprehensive judgment of the multiple original vehicle traveling directions to determine the final vehicle traveling direction includes:

[0028] Calculate the score of each vehicle's direction of travel, where the score of the j-th vehicle's direction of travel is: Among them, w i is the weight of the i-th information source, k ij is the Boolean value of the i-th information source regarding the j-th vehicle's traveling direction. When the i-th information source determines the j-th vehicle's traveling direction, k ijis 1, when the i-th information source is not determined as the j-th vehicle's direction of travel, k ij is 0;

[0029] The vehicle travel direction with a score greater than the effective score threshold and the highest score is selected as the final vehicle travel direction.

[0030] Furthermore, the step of performing a deceleration reminder operation according to traffic light information in the direction of vehicle travel includes:

[0031] If the traffic light information in the direction of the vehicle's travel includes green light countdown information or yellow light countdown information, when the green light countdown is less than or equal to the first green light countdown threshold, or when the yellow light countdown is less than or equal to the first yellow light countdown threshold, a reminder deceleration operation is performed;

[0032] If the traffic light information in the direction of vehicle travel does not include green light countdown information and does not include yellow light countdown information, then when the traffic light information in the direction of vehicle travel is green light flashing or yellow light flashing, a reminder deceleration operation is performed.

[0033] Furthermore, the red light running warning operation is performed according to the traffic light information of the vehicle's traveling direction, including:

[0034] If the traffic light information in the direction of the vehicle's travel is a steady yellow light or a steady red light, the collision time between the vehicle and the stop line or the vehicle in front is calculated. When the collision time is less than or equal to the collision time threshold, the red light running warning operation is performed.

[0035] Further, the step of executing the starting reminder operation according to the traffic light information of the vehicle's traveling direction includes:

[0036] If the traffic light information in the direction of the vehicle's travel includes countdown information, the reminder to start operation is performed when the red light countdown of the traffic light information in the direction of the vehicle's travel is less than or equal to the red light countdown threshold; if the traffic light information in the direction of the vehicle's travel does not include countdown information, the reminder to start operation is performed when the traffic light information in the direction of the vehicle's travel is a flashing red light; or

[0037] If the traffic light in the direction of the vehicle's travel is always green, and no obstacle is detected within the distance threshold in front of the vehicle, and the vehicle speed is 0 or the gear is in the parking gear, the reminder start operation is performed; or

[0038] Obtain traffic light information of straight traffic lights on both sides of the vehicle's direction of travel; if the traffic light information of the straight traffic lights on both sides of the vehicle's direction of travel includes countdown information, then when the green light countdown of the straight traffic lights on both sides of the vehicle's direction of travel is less than or equal to a second green light countdown threshold, or when the yellow light countdown of the straight traffic lights on both sides of the vehicle's direction of travel is less than or equal to the second yellow light countdown threshold, perform a reminder start operation; if the traffic light information of the straight traffic lights on both sides of the vehicle's direction of travel does not include countdown information, then when the traffic light information of the straight traffic lights on both sides of the vehicle's direction of travel is flashing green light or flashing yellow light, perform a reminder start operation.

[0039] Furthermore, it also includes:

[0040] When a first traffic light is captured, the first traffic light is displayed on the vehicle, and if the absolute value of the difference between the end heading angle when the disappearance of the first traffic light is detected and the initial heading angle when the appearance of the first traffic light is detected is greater than a heading angle threshold, then when a second traffic light after the first traffic light is captured, the second traffic light is not displayed on the vehicle.

[0041] The present invention provides an electronic device, comprising:

[0042] at least one processor; and,

[0043] a memory communicatively connected to at least one of the processors; wherein,

[0044] The memory stores instructions that can be executed by at least one of the processors, and the instructions are executed by at least one of the processors to enable at least one of the processors to execute the traffic light reminder method as described above.

[0045] The present invention provides a storage medium, wherein the storage medium stores computer instructions. When a computer executes the computer instructions, the storage medium is used to execute all steps of the traffic light reminder method as described above.

[0046] The present invention provides a computer program product, comprising a computer program / instruction, which implements the traffic light reminder method as described above when executed by a processor.

[0047] The present invention identifies traffic light information and the direction of vehicle travel, and determines whether it is necessary to remind the driver to run a red light or start at a green light based on the traffic light information in the direction of vehicle travel. Through acoustic and optical methods, the present invention can effectively reduce traffic accidents or traffic congestion caused by driver fatigue or distraction, and improve driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a workflow diagram of a traffic light reminder method according to an embodiment of the present invention;

[0049] Figure 2 This is a workflow diagram of a traffic light reminder method according to another embodiment of the present invention;

[0050] Figure 3 This is a schematic diagram of vehicle steering;

[0051] Figure 4 This is a schematic diagram of a vehicle turning around;

[0052] Figure 5 This is a schematic diagram of a multi-directional traffic light;

[0053] Figure 6 A system schematic diagram of a traffic light reminder system according to a preferred embodiment of the present invention;

[0054] Figure 7 A schematic diagram of an information fusion system according to a preferred embodiment of the present invention;

[0055] Figure 8 A schematic diagram of the recognition and judgment logic of the traffic light reminder of the best embodiment of the present invention;

[0056] Fig. 9 The figure is a schematic diagram of the hardware structure of an electronic device of the present invention. DETAILED DESCRIPTION

[0057] The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings. The same components are represented by the same reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the accompanying drawings, and the words "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0058] like Figure 1 The flowchart of a traffic light reminder method according to an embodiment of the present invention includes:

[0059] Step S101, identifying the traffic light information at the intersection where the vehicle is located;

[0060] Step S102, identifying the direction of vehicle travel;

[0061] Step S103, executing a deceleration reminder operation according to the traffic light information in the direction of the vehicle's travel; or

[0062] Step S104, performing a red light running warning operation according to the traffic light information in the direction of the vehicle's travel; or

[0063] Step S105, executing a reminder to start operation according to the traffic light information in the direction of vehicle travel.

[0064] Specifically, the present invention can be applied to electronic devices with processing capabilities, such as a controller of a vehicle, such as an electronic control unit (ECU) of a vehicle.

[0065] Preferably, the present invention is applied to an intelligent driving domain controller (ADASDomain Control Unit, ADCU).

[0066] First, step S101 is executed to identify the traffic light information at the intersection where the vehicle is located.

[0067] Specifically, the traffic light information at the intersection where the vehicle is located can be obtained from a high-precision map or a common map, or can be obtained through the visual perception recognition technology of the existing technology, for example, by shooting a video in front of the vehicle and extracting the traffic light information from it.

[0068] The traffic light information at the intersection where the vehicle is located is the traffic light information of a group of traffic lights (i.e., traffic lights) at the intersection where the vehicle is located in the vehicle's forward direction. A group of traffic lights includes multiple traffic lights, and the traffic light information at the intersection where the vehicle is located includes the traffic light information of each traffic light in the entire group of traffic lights. The traffic light information includes the color of the traffic light, countdown, whether it is flashing, whether it is always on, etc.

[0069] Then, step S102 is executed to identify the vehicle's traveling direction.

[0070] Specifically, the vehicle's travel direction is the direction in which the vehicle passes through the intersection. The vehicle's travel direction includes but is not limited to: forward, left turn, right turn, or U-turn.

[0071] Then, according to the traffic light information in the direction of the vehicle's travel, step S103 is respectively executed to perform a deceleration reminder operation according to the traffic light information in the direction of the vehicle's travel; or

[0072] Execute step S104 to perform a red light running warning operation according to the traffic light information in the direction of the vehicle's travel; or

[0073] Execute step S105 to execute a start reminder operation according to the traffic light information in the direction of vehicle travel.

[0074] Among them, the reminder to slow down, the warning operation for running a red light, and the reminder to start can be carried out by means of sound, light, text, etc. The traffic light information in the direction of the vehicle's travel is the traffic light information of the traffic lights in the direction of the vehicle's travel in the entire group of traffic lights.

[0075] The present invention identifies traffic light information and the direction of vehicle travel, and determines whether it is necessary to remind the driver to run a red light or start at a green light based on the traffic light information in the direction of vehicle travel. Through acoustic and optical methods, the present invention can effectively reduce traffic accidents or traffic congestion caused by driver fatigue or distraction, and improve driving safety.

[0076] like Figure 2 The flowchart of a traffic light reminder method according to another embodiment of the present invention includes:

[0077] Step S201, obtaining high-precision map information, vehicle perception information and general map information.

[0078] Step S202: If the high-precision map information includes the traffic light information of the intersection where the vehicle is located, the traffic light information of the intersection where the vehicle is located in the high-precision map information is used; otherwise

[0079] Step S203, identifying the traffic light information of the intersection where the vehicle is located through the perception information, if the identification is successful, using the traffic light information identified by the perception information as the traffic light information of the intersection where the vehicle is located; otherwise

[0080] Step S204: If the general map information includes the traffic light information of the intersection where the vehicle is located, the traffic light information of the intersection where the vehicle is located in the general map information is used.

[0081] Step S205, obtaining multiple information sources.

[0082] Step S206, determining the corresponding original vehicle travel direction according to each information source.

[0083] In one embodiment, the information source includes: a navigation source, a road information source, a turn signal source, a yaw angle source, a traffic sign source, and / or a historical habit source, and the determining of the corresponding original vehicle travel direction according to each information source includes:

[0084] Obtaining navigation information, and determining the original vehicle travel direction corresponding to the navigation source based on the navigation information; and / or

[0085] Acquire the perception information of the vehicle, and determine the direction of the lane where the vehicle is located according to the road arrow or lane direction indicator at the intersection where the vehicle is located as the original vehicle direction corresponding to the road information source; and / or

[0086] Obtaining the vehicle's turn signal information, and determining the original vehicle travel direction corresponding to the turn signal source according to the vehicle's turn signal information; and / or

[0087] Obtaining the yaw angle of the vehicle, and determining the original vehicle travel direction corresponding to the source of the yaw angle according to the yaw angle of the vehicle; and / or

[0088] Obtaining road information, and determining the original vehicle travel direction of the traffic sign according to the traffic sign at the intersection where the vehicle is located in the road information; and / or

[0089] The driver's historical driving behavior data is obtained, and the original vehicle travel direction of the historical habit source is determined based on the driver's historical driving behavior data.

[0090] Step S207, comprehensively judge the multiple original vehicle traveling directions to determine the final vehicle traveling direction.

[0091] In one embodiment, a plurality of vehicle traveling directions are included, and the comprehensive judgment of the plurality of original vehicle traveling directions to determine the final vehicle traveling direction includes:

[0092] Calculate the score of each vehicle's direction of travel, where the score of the j-th vehicle's direction of travel is: Among them, w i is the weight of the i-th information source, k ij is the Boolean value of the i-th information source regarding the j-th vehicle's traveling direction. When the i-th information source determines the j-th vehicle's traveling direction, k ij is 1, when the i-th information source is not determined as the j-th vehicle's direction of travel, k ij is 0;

[0093] The vehicle travel direction with a score greater than the effective score threshold and the highest score is selected as the final vehicle travel direction.

[0094] Step S208, if the traffic light information in the direction of the vehicle includes green light countdown information or yellow light countdown information, when the green light countdown is less than or equal to the first green light countdown threshold, or when the yellow light countdown is less than or equal to the first yellow light countdown threshold, a reminder to slow down is performed;

[0095] If the traffic light information in the direction of vehicle travel does not include green light countdown information and does not include yellow light countdown information, then when the traffic light information in the direction of vehicle travel is green light flashing or yellow light flashing, a reminder deceleration operation is performed.

[0096] Step S209: If the traffic light information in the direction of the vehicle's travel is a steady yellow light or a steady red light, calculate the collision time between the vehicle and the stop line or the vehicle in front, and execute a red light running warning operation when the collision time is less than or equal to the collision time threshold.

[0097] Step S210, if the traffic light information in the direction of the vehicle's travel includes countdown information, then when the red light countdown of the traffic light information in the direction of the vehicle's travel is less than or equal to the red light countdown threshold, the reminder start operation is performed; if the traffic light information in the direction of the vehicle's travel does not include countdown information, then when the traffic light information in the direction of the vehicle's travel is a flashing red light, the reminder start operation is performed; or

[0098] If the traffic light in the direction of the vehicle's travel is always green, and no obstacle is detected within the distance threshold in front of the vehicle, and the vehicle speed is 0 or the gear is in the parking gear, the reminder start operation is performed; or

[0099] Obtain traffic light information of straight traffic lights on both sides of the vehicle's direction of travel; if the traffic light information of the straight traffic lights on both sides of the vehicle's direction of travel includes countdown information, then when the green light countdown of the straight traffic lights on both sides of the vehicle's direction of travel is less than or equal to a second green light countdown threshold, or when the yellow light countdown of the straight traffic lights on both sides of the vehicle's direction of travel is less than or equal to the second yellow light countdown threshold, perform a reminder start operation; if the traffic light information of the straight traffic lights on both sides of the vehicle's direction of travel does not include countdown information, then when the traffic light information of the straight traffic lights on both sides of the vehicle's direction of travel is flashing green light or flashing yellow light, perform a reminder start operation.

[0100] Specifically, first execute step S201 to obtain high-precision map information, vehicle perception information and general map information.

[0101] For traffic light recognition, most of the existing technologies use existing perception algorithms to obtain information by shooting videos in front of the vehicle and extracting traffic light information from them.

[0102] However, the perception algorithm has a certain upper limit and cannot guarantee accurate output of the correct recognition results every time. Therefore, this embodiment uses high-precision maps (HD maps) and ordinary maps (SD maps) to improve the accuracy. Because the accuracy of SD Map is only below 90%, and the information update frequency is slow, it cannot cope with the real-time nature of traffic lights. Therefore, according to the accuracy of each data source, the priority logic is: HD Map>Perception>SD Map.

[0103] Therefore, step S202 is first performed. If the high-precision map information includes the traffic light information of the intersection where the vehicle is located, the traffic light information of the intersection where the vehicle is located in the high-precision map information is used;

[0104] Otherwise, if the high-precision map information does not include the traffic light information at the intersection where the vehicle is located, step S203 is executed to identify the traffic light information at the intersection where the vehicle is located through the perception information, and if the identification is successful, the traffic light information identified by the perception information is used as the traffic light information at the intersection where the vehicle is located. The existing perception recognition algorithm is used to identify the traffic light information at the intersection where the vehicle is located through the perception information.

[0105] Among them, the perception recognition algorithm includes but is not limited to:

[0106] A visual perception recognition method that extracts traffic light information by shooting a video in front of the vehicle;

[0107] Through vehicle-road cooperative technology, traffic light information is obtained from the road side unit (RSU) at the intersection where the vehicle is located.

[0108] If the traffic light information at the intersection where the vehicle is located cannot be identified through the perception information, for example, the video is not clear and the traffic light information at the intersection cannot be extracted from the video, then execute step S204. If the ordinary map information includes the traffic light information at the intersection where the vehicle is located, then the traffic light information at the intersection where the vehicle is located in the ordinary map information is used.

[0109] Finally, if the general map information does not include the traffic light information of the intersection where the vehicle is located, the process ends and the subsequent steps are not executed.

[0110] In one embodiment, it also includes:

[0111] When a first traffic light is captured, the first traffic light is displayed on the vehicle, and if the absolute value of the difference between the end heading angle when the disappearance of the first traffic light is detected and the initial heading angle when the appearance of the first traffic light is detected is greater than a heading angle threshold, then when a second traffic light after the first traffic light is captured, the second traffic light is not displayed on the vehicle.

[0112] Specifically, the traffic light information at the intersection where the vehicle is located is identified through perception information, and the traffic light information will be displayed on the instrument panel and central control screen on the vehicle.

[0113] However, there may be a situation where Figure 3 and Figure 4As shown, when the vehicle 1 (i.e., the vehicle) turns or makes a U-turn at an intersection, the traffic light 2 for turning or the traffic light 3 for the U-turn direction may also be displayed on the instrument panel and the central control screen, which is actually useless information for the driver and is misleading. Although the turn signal or the vehicle's own six-axis posture can be used to determine whether the vehicle is turning or making a U-turn, the driver may not turn on the turn signal, and the vehicle's own six-axis posture may be inaccurate (such as continuous lane changes at the intersection, and the intersection is shaking left and right), so this embodiment adds a method for ignoring the traffic lights in the corresponding direction, specifically:

[0114] By sensing the change in the heading angle (Yaw angle), for the scene of passing a traffic light, if the absolute value of the Yaw angle difference between the last frame and the first frame of the first traffic light is greater than 30° (calibrable), the second traffic light captured next can be ignored and not displayed.

[0115] like Figure 3 As shown, vehicle 1 turns left at the intersection. Before turning left, the first traffic light captured is traffic light 4 in the straight direction, and its traffic light information will be displayed on the vehicle's instrument panel and central control screen. The vehicle's Yaw angle when recording the first frame of the first traffic light is the initial heading angle. When vehicle 1 turns left at the intersection, the first traffic light gradually disappears from the shooting screen. The vehicle's Yaw angle when recording the last frame when the first traffic light disappears is the ending heading angle. The absolute value of the difference between the calculated ending heading angle and the initial heading angle is greater than 30°. Therefore, the second traffic light captured after the left turn, that is, traffic light 2 in the left turn direction, will be ignored and will not be displayed on the vehicle's instrument panel and central control screen.

[0116] Similarly, if Figure 4 As shown, vehicle 1 makes a U-turn at the intersection. Before the U-turn, the first traffic light photographed is the traffic light 4 in the straight direction, and its traffic light information will be displayed on the vehicle's instrument panel and central control screen. The Yaw angle of the vehicle when recording the first frame of the first traffic light is the initial heading angle. When vehicle 1 makes a U-turn at the intersection, the first traffic light gradually disappears from the shooting screen. The Yaw angle of the vehicle when recording the last frame when the first traffic light disappears is the ending heading angle. The absolute value of the difference between the calculated ending heading angle and the initial heading angle is greater than 30°. Therefore, the second traffic light photographed after the U-turn, that is, the traffic light 3 in the U-turn direction, will be ignored and will not be displayed on the vehicle's instrument panel and central control screen.

[0117] After the traffic light information is determined, step S205 is executed to obtain multiple information sources.

[0118] Specifically, the vehicle's direction of travel is determined by fusing multiple information sources.

[0119] Then, step S206 is executed to determine the corresponding original vehicle travel direction according to each information source.

[0120] In one embodiment, the information source includes: a navigation source, a road information source, a turn signal source, a yaw angle source, a traffic sign source, and / or a historical habit source, and the determining of the corresponding original vehicle travel direction according to each information source includes:

[0121] Obtaining navigation information, and determining the original vehicle travel direction corresponding to the navigation source based on the navigation information; and / or

[0122] Acquire the perception information of the vehicle, and determine the direction of the lane where the vehicle is located according to the road arrow or lane direction indicator at the intersection where the vehicle is located as the original vehicle direction corresponding to the road information source; and / or

[0123] Obtaining the vehicle's turn signal information, and determining the original vehicle travel direction corresponding to the turn signal source according to the vehicle's turn signal information; and / or

[0124] Obtaining the yaw angle of the vehicle, and determining the original vehicle travel direction corresponding to the source of the yaw angle according to the yaw angle of the vehicle; and / or

[0125] Obtaining road information, and determining the original vehicle travel direction of the traffic sign according to the traffic sign at the intersection where the vehicle is located in the road information; and / or

[0126] The driver's historical driving behavior data is obtained, and the original vehicle travel direction of the historical habit source is determined based on the driver's historical driving behavior data.

[0127] Specifically, the information source includes, but is not limited to: a navigation source, a road information source, a turn signal source, a yaw angle source, a traffic sign source, and / or a historical habit source.

[0128] Navigation source: If there is navigation, confirm the direction of travel according to the navigation, which will serve as the original vehicle direction of travel corresponding to the navigation source.

[0129] Road information source: If there is no navigation, identify whether there are road arrows or lane direction signs, determine the lane the vehicle is in, and determine the direction of the lane the vehicle is in as the original vehicle direction corresponding to the road information source. The lane the vehicle is in, the road arrows or the lane direction signs can be captured by the on-board camera and determined from the image through image recognition. Lane-level information can also be extracted from the HD Map.

[0130] Turn signal source: The original vehicle direction corresponding to the turn signal source is determined based on the turn signal signal. If the driver does not turn on the turn signal, the original vehicle direction corresponding to the turn signal source is determined to be forward. For example, if the driver turns on the left turn signal, it can be inferred that the driver intends to turn left or turn around. If the driver turns on the right turn signal, it may be the intention to turn right. However, this method is not completely reliable because the driver may forget to turn on the turn signal or use the turn signal incorrectly.

[0131] Heading angle source: The vehicle's six-axis attitude sensor can detect changes in the vehicle's yaw angle. If the vehicle has a significant yaw angle change when approaching an intersection, this may indicate that the vehicle is turning or making a U-turn. According to the change in the heading angle, the original vehicle direction of travel corresponding to the yaw angle source is determined. However, this method may be affected by continuous lane changes at intersections or the left and right shaking of the vehicle, resulting in inaccurate readings of the attitude sensor. Specifically, when the yaw angle change is greater than a preset angle threshold, it can be judged as turning, and when the yaw angle change is less than or equal to the preset angle threshold, it is judged as straight driving. In addition, the heading angle source can also include judging the direction of travel based on the lateral acceleration. When the vehicle is driving in the center, the lateral acceleration is approximately equal to 0, and the lateral acceleration of the lane change operation will exceed the lane change lateral acceleration threshold. In the scene of turning and U-turning, the lateral acceleration will exceed the turning lateral acceleration threshold. By calibrating the lane change lateral acceleration threshold and the turning lateral acceleration threshold, and then when the actually detected lateral acceleration threshold is greater than or equal to the turning lateral acceleration threshold, it can be judged as turning or U-turning. When the lateral acceleration threshold actually detected is less than the turning lateral acceleration threshold but greater than or equal to the lane changing lateral acceleration threshold, it is determined as lane changing. When the lateral acceleration threshold actually detected is less than the lane changing lateral acceleration threshold, it is determined as centering and going straight. Alternatively, when the lateral acceleration threshold actually detected is greater than or equal to the turning lateral acceleration threshold, it can be determined as turning or U-turning, otherwise it is directly determined as going straight.

[0132] Road information source: By identifying traffic signs, such as left turn signs and U-turn signs, the driver's intention can be judged. If the intersection the vehicle is approaching has a clear left turn or U-turn sign, the driver's driving intention can be inferred based on this, and the direction of travel indicated by the traffic sign is used as the original vehicle travel direction of the traffic sign source.

[0133] Source of historical habits: By analyzing the driver's historical driving behavior data, we can learn the driver's driving habits in similar situations, thereby assisting in judging the current driving intention. Specifically, the ADCU intelligent driving domain controller can record the data when the intelligent driving function is activated. For example, on the same road section, it is found that the driver always chooses to drive in the leftmost lane, that is, this feature can be recorded, and the driver will pay more attention to the left turn signal light the next time he drives to this section of road.

[0134] Then, step S207 is executed to comprehensively judge the multiple original vehicle traveling directions to determine the final vehicle traveling direction.

[0135] Specifically, the original vehicle direction determined by multiple information sources is combined, and the algorithm performs logical judgment to determine the driver's intention and the final vehicle direction. For example, if the vehicle turns on the left turn signal, and the vehicle is in a lane with a left turn mark, and the approaching intersection has a left turn sign, then it can be relatively certain that the driver's intention is to turn left.

[0136] The original vehicle travel direction of all or part of the aforementioned information sources may be selected for comprehensive judgment.

[0137] In one embodiment, a plurality of vehicle traveling directions are included, and the comprehensive judgment of the plurality of original vehicle traveling directions to determine the final vehicle traveling direction includes:

[0138] Calculate the score of each vehicle's direction of travel, where the score of the j-th vehicle's direction of travel is: Among them, w i is the weight of the i-th information source, k ij is the Boolean value of the i-th information source regarding the j-th vehicle's traveling direction. When the i-th information source determines the j-th vehicle's traveling direction, k ij is 1, when the i-th information source is not determined as the j-th vehicle's direction of travel, k ij is 0;

[0139] The vehicle travel direction with a score greater than the effective score threshold and the highest score is selected as the final vehicle travel direction.

[0140] The vehicle travel direction includes, but is not limited to: forward, left turn, right turn, U-turn, etc. Left turn and U-turn can be combined into one direction, and the vehicle travel direction includes: forward, left turn or U-turn, right turn.

[0141] For each vehicle traveling direction, a score of each vehicle traveling direction is calculated respectively according to the original vehicle traveling directions from the aforementioned multiple information sources.

[0142] Among them, the score for the jth vehicle's moving direction is: Among them, w i is the weight of the i-th information source, k ij is the Boolean value of the i-th information source regarding the j-th vehicle's traveling direction. When the i-th information source determines the j-th vehicle's traveling direction, k ij is 1, when the i-th information source is not determined as the j-th vehicle's direction of travel, k ij is 0.

[0143] Among them, the i-th information source determines the j-th vehicle travel direction, that is, the original vehicle travel direction determined by the i-th information source is the j-th vehicle travel direction. At this time, k is set ij is 1. For example, the original vehicle direction determined by the navigation source is a right turn, and the first information source is the navigation source. Among the multiple vehicle directions, the forward direction is numbered 1, the left turn or U-turn direction is numbered 2, and the right turn direction is numbered 3. Then k 13 =1.

[0144] The i-th information source is not determined as the j-th vehicle's traveling direction, which means that the i-th information source is determined as a direction other than the j-th vehicle's traveling direction, or there is no i-th information source. In this case, k is set ij is 0. For example, the original vehicle direction determined by the navigation source is a right turn, and the first information source is the navigation source. Among the multiple vehicle directions, the forward direction is numbered 1, the left turn or U-turn direction is numbered 2, and the right turn direction is numbered 3. Then k 11 =0, k 12 = 0, only k 13 = 1. If there is no navigation information, then k 11 =0, k 12 =0, k 13 =0.

[0145] w i is the weight of the i-th information source, and the specific weight is preset by the system.

[0146] After calculating the score of each vehicle travel direction, the vehicle travel direction with a score greater than the valid score threshold and the highest score is selected as the final vehicle travel direction.

[0147] For example, after calculating the score of the forward direction, the score of the left turn or U-turn, and the score of the right turn, the vehicle travel direction with a score greater than the effective score threshold is selected as the to-be-selected travel direction. If there is one to-be-selected travel direction, the to-be-selected travel direction is the final vehicle travel direction. If there are multiple to-be-selected travel directions, the to-be-selected travel direction with the highest score is selected as the final vehicle travel direction.

[0148] Finally, after the vehicle's traveling direction is determined, the traffic light information of the vehicle's traveling direction is selected from the traffic light information of the intersection where the vehicle is located, and step S208, step S209, or step S210 is executed respectively. For example, when the vehicle's traveling direction is to turn left, step S208, step S209, or step S210 is executed respectively according to the traffic light information of the left turn. Among them:

[0149] Step S208, if the traffic light information in the direction of the vehicle includes green light countdown information or yellow light countdown information, when the green light countdown is less than or equal to the first green light countdown threshold, or when the yellow light countdown is less than or equal to the first yellow light countdown threshold, a reminder to slow down is performed;

[0150] If the traffic light information in the direction of vehicle travel does not include green light countdown information and does not include yellow light countdown information, then when the traffic light information in the direction of vehicle travel is green light flashing or yellow light flashing, a reminder deceleration operation is performed.

[0151] Specifically, if there is a countdown, the green light countdown in the direction of the vehicle is 2s (the first green light countdown threshold, which can be calibrated) or the yellow light countdown is 3s (the first yellow light countdown threshold, which can be calibrated), and a reminder to slow down is performed to remind the driver to slow down in advance.

[0152] If there is no countdown, when the green or yellow light in the direction of the vehicle's travel flashes, a reminder to slow down will be executed to remind the driver to slow down in advance.

[0153] Step S209: If the traffic light information in the direction of the vehicle's travel is a steady yellow light or a steady red light, calculate the collision time between the vehicle and the stop line or the vehicle in front, and execute a red light running warning operation when the collision time is less than or equal to the collision time threshold.

[0154] Specifically, when the yellow light or red light in the direction of the vehicle's travel is always on, the stop line or the distance between the vehicle in front and the vehicle itself is identified, and the collision time (Time To Collision, TTC) is calculated based on the vehicle's speed and distance. When TTC>collision time threshold (calibrable), the red light running warning operation is executed and a red light running warning is issued.

[0155] Step S210, if the traffic light information in the direction of the vehicle's travel includes countdown information, then when the red light countdown of the traffic light information in the direction of the vehicle's travel is less than or equal to the red light countdown threshold, the reminder start operation is performed; if the traffic light information in the direction of the vehicle's travel does not include countdown information, then when the traffic light information in the direction of the vehicle's travel is a flashing red light, the reminder start operation is performed; or

[0156] If the traffic light in the direction of the vehicle's travel is always green, and no obstacle is detected within the distance threshold in front of the vehicle, and the vehicle speed is 0 or the gear is in the parking gear, the reminder start operation is performed; or

[0157] Obtain traffic light information of straight traffic lights on both sides of the vehicle's direction of travel; if the traffic light information of the straight traffic lights on both sides of the vehicle's direction of travel includes countdown information, then when the green light countdown of the straight traffic lights on both sides of the vehicle's direction of travel is less than or equal to a second green light countdown threshold, or when the yellow light countdown of the straight traffic lights on both sides of the vehicle's direction of travel is less than or equal to the second yellow light countdown threshold, perform a reminder start operation; if the traffic light information of the straight traffic lights on both sides of the vehicle's direction of travel does not include countdown information, then when the traffic light information of the straight traffic lights on both sides of the vehicle's direction of travel is flashing green light or flashing yellow light, perform a reminder start operation.

[0158] Specifically, if there is a countdown, when the red light in the direction of the vehicle's travel counts down for 3s (which can be calibrated), a reminder to start operation is executed to remind the driver to start in advance;

[0159] If there is no countdown, when the red light in the direction of the vehicle is flashing, the reminder to start is executed to remind the driver to start in advance; or

[0160] If it is detected that the green light in the direction of the vehicle's travel is always on, there is no obstacle within 3m (calibratable) in front of the vehicle, the vehicle speed is 0 or the gear is in the parking gear (P gear), the reminder start operation is executed to remind the driver to start.

[0161] In addition, traffic lights generally include straight-ahead traffic lights, turn traffic lights, U-turn traffic lights, etc. Figure 5 As shown, generally speaking, the traffic light 4 in the direction of the vehicle will switch later than the traffic light 5 in the other direction (on both sides of the vehicle's current direction of travel). For example, when the straight-through traffic light 4 in front of the vehicle is red, the straight-through traffic light 5 in the other direction may experience "green light--green light flashing--yellow light--red light". When the straight-through traffic light 5 in the other direction switches to red, the straight-through traffic light 4 in the direction of the vehicle will not switch to green immediately. There will be a certain time delay. Therefore, this delay information can be used to make an early judgment. On the other hand, the non-motor vehicle traffic lights 6 on both sides of the vehicle's current direction of travel can also be used to assist in the judgment. In theory, non-motor vehicles will be delayed longer, and non-motor vehicle traffic lights 6 are generally straight-through traffic lights.

[0162] Therefore, the traffic light information of the straight-going traffic lights on both sides of the vehicle's future travel direction can be obtained. If the traffic light information of the straight-going traffic lights on both sides of the vehicle's future travel direction has a countdown, then the green light countdown of the straight-going traffic lights on both sides of the vehicle's future travel direction is 2s (the second green light countdown threshold, which can be calibrated) or the yellow light countdown is 3s (the second yellow light countdown threshold, which can be calibrated), and a reminder to start operation is performed to remind the driver to start.

[0163] If there is no countdown, when the green or yellow lights of the straight traffic lights on both sides of the vehicle's direction of travel flash, the reminder to start operation is performed to remind the driver to start. The second green light countdown threshold and the first green light countdown threshold may be equal or different. The second yellow light countdown threshold and the first yellow light countdown threshold may be equal or different.

[0164] The vehicle's future direction refers to the direction in which the vehicle will travel after passing the traffic light at the intersection. For example, if the vehicle goes straight after passing the traffic light, the vehicle's future direction is consistent with the current direction. Therefore, the two sides of the vehicle's future direction are perpendicular to the vehicle's current direction. If the vehicle turns after passing the traffic light, the vehicle's future direction is perpendicular to the vehicle's current direction, and what needs to be obtained is the straight traffic lights on both sides of the vehicle's direction of travel after turning.

[0165] In some embodiments, when the vehicle is traveling in a straight direction, traffic light information of the straight traffic lights on both sides of the vehicle's traveling direction is obtained; if the traffic light information of the straight traffic lights on both sides of the vehicle's traveling direction includes countdown information, then when the green light countdown of the straight traffic lights on both sides of the vehicle's traveling direction is less than or equal to a second green light countdown threshold, or when the yellow light countdown of the straight traffic lights on both sides of the vehicle's traveling direction is less than or equal to a second yellow light countdown threshold, a reminder to start operation is performed; if the traffic light information of the straight traffic lights on both sides of the vehicle's traveling direction does not include countdown information, then when the traffic light information of the straight traffic lights on both sides of the vehicle's traveling direction is flashing green light or flashing yellow light, a reminder to start operation is performed.

[0166] In order to avoid false alarms, when there is no navigation information, only when the vehicle is traveling in a straight direction, the traffic light information of the straight traffic lights on both sides of the vehicle's traveling direction is obtained for judgment.

[0167] In some embodiments, the direction in which the vehicle is to travel is determined based on the vehicle's navigation route, and traffic light information of the straight traffic lights on both sides of the vehicle's direction to travel is obtained; if the traffic light information of the straight traffic lights on both sides of the vehicle's direction to travel includes countdown information, then when the green light countdown of the straight traffic lights on both sides of the vehicle's direction to travel is less than or equal to a second green light countdown threshold, or when the yellow light countdown of the straight traffic lights on both sides of the vehicle's direction to travel is less than or equal to a second yellow light countdown threshold, a reminder starting operation is performed; if the traffic light information of the straight traffic lights on both sides of the vehicle's direction to travel does not include countdown information, then when the traffic light information of the straight traffic lights on both sides of the vehicle's direction to travel is flashing green light or flashing yellow light, a reminder starting operation is performed.

[0168] Specifically, when there is a clear navigation route, for example, turning left at an intersection, the traffic lights on both sides of the road after the left turn can be used to assist in the judgment.

[0169] This embodiment obtains traffic light information through visual perception and recognition, and integrates other information to determine whether it is necessary to remind the driver to run a red light or start at a green light. Through acoustic and optical methods, it can effectively reduce traffic accidents or traffic congestion caused by driver fatigue or distraction, and improve driving safety. At the same time, the fusion judgment strategy improves the accuracy of the detection results, is more user-friendly, and reduces interference. After the automatic driving function is activated, the automatic driving can control the vehicle to pass through the intersection through the traffic light information, allowing users to switch comfortably between autonomous driving and automatic driving.

[0170] like Figure 6 The best embodiment of the present invention is a traffic light reminder system, including: a camera perception module 601, an Electronic Power Steering System (EPS) module 602, an Integrated Body Control Module (IBCM) 603, an Inertial Measurement Unit (IMU) module 604, a Cockpit Domain Controller (CDC) vehicle module 605, and an intelligent driving domain controller 600, wherein:

[0171] Camera perception module 601, providing perception information

[0172] Electronic power steering module 602, providing steering angle and other steering related signals

[0173] Integrated body control module 603, providing body signals such as turn signals

[0174] Inertial measurement unit module 604 provides six-axis attitude information of the vehicle, such as acceleration in the x, y, and z directions, and angular acceleration of each axis of x, y, and z

[0175] The cockpit domain controller vehicle module 605, the smart cockpit, integrates map information and transmits it to the intelligent driving domain controller 600.

[0176] The intelligent driving domain controller 600 executes the traffic light reminder method of an embodiment of the present invention.

[0177] like Figure 7 The figure shows a schematic diagram of the information fusion system of the best embodiment of the present invention. Navigation information, road arrow signs, turn signal signals, inertial navigation information, traffic signs and driving behavior habits are all input into the ADCU intelligent driving domain controller 600, and the traffic light reminder method of this embodiment is executed for fusion.

[0178] like Figure 8 The following is a schematic diagram of the recognition and judgment logic of the traffic light reminder according to the best embodiment of the present invention, including:

[0179] Step S801, determine whether the traffic light has a countdown, if there is a countdown, determine by the countdown, if there is no countdown, execute step S802;

[0180] Step S802, determine whether the traffic light is flashing, if it is flashing, determine by flashing, otherwise execute step S803;

[0181] Step S803, determine whether the traffic light is always on, if so, pass the always on determination, otherwise end.

[0182] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0183] like Fig. 9 The figure shows a hardware structure diagram of an electronic device of the present invention, including:

[0184] at least one processor 901; and,

[0185] A memory 902 that is communicatively connected to at least one of the processors 901; wherein:

[0186] The memory 902 stores instructions that can be executed by at least one of the processors. The instructions are executed by at least one of the processors so that the at least one processor can execute the traffic light reminder method as described above.

[0187] Fig. 9 A processor 901 is taken as an example.

[0188] The electronic device may further include: an input device 903 and a display device 904 .

[0189] The processor 901, the memory 902, the input device 903 and the display device 904 may be connected via a bus or other means, and the figure takes the connection via a bus as an example.

[0190] The memory 902 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the traffic light reminder method in the embodiment of the present application, for example, Figure 1 , Figure 2 The processor 901 executes various functional applications and data processing by running the non-volatile software programs, instructions and modules stored in the memory 902, that is, the traffic light reminder method in the above embodiment is implemented.

[0191] The memory 902 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required by at least one function; the data storage area may store data created according to the use of the traffic light reminder method, etc. In addition, the memory 902 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 device. In some embodiments, the memory 902 may optionally include a memory remotely arranged relative to the processor 901, and these remote memories may be connected to the device for executing the traffic light reminder method 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.

[0192] The input device 903 can receive user clicks and generate signal inputs related to user settings and function control of the traffic light reminder method. The display device 904 can include display devices such as a display screen.

[0193] The one or more modules are stored in the memory 902, and when executed by the one or more processors 901, the traffic light reminder method in any of the above method embodiments is executed.

[0194] The present invention identifies traffic light information and the direction of vehicle travel, and determines whether it is necessary to remind the driver to run a red light or start at a green light based on the traffic light information in the direction of vehicle travel. Through acoustic and optical methods, the present invention can effectively reduce traffic accidents or traffic congestion caused by driver fatigue or distraction, and improve driving safety.

[0195] An embodiment of the present invention provides a storage medium, wherein the storage medium stores computer instructions. When a computer executes the computer instructions, the storage medium is used to execute all the steps of the traffic light reminder method as described above.

[0196] In the context of the present disclosure, a storage medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or apparatus. The storage medium may be a machine-readable signal medium or a machine-readable storage medium. Alternatively, the storage medium may be a non-temporary computer-readable storage medium, for example, a non-temporary computer-readable storage medium may be a ROM, a random access memory (Random Access Memory, RAM), a compact disc read-only memory (Compact Disc ROM, CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0197] An embodiment of the present invention provides a computer program product, including a computer program / instruction, which implements the traffic light reminder method as described above when executed by a processor.

[0198] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A traffic light reminder method, characterized in that: include: Identify the traffic light information at the intersection where the vehicle is located; Identify the direction of vehicle travel; According to the traffic light information in the direction of the vehicle's travel, a reminder to slow down is executed; or Execute red light running warning operation according to the traffic light information in the direction of vehicle travel; or According to the traffic light information in the direction of vehicle travel, the reminder start operation is performed.

2. The traffic light reminder method according to claim 1, characterized in that: The identification of traffic light information at the intersection where the vehicle is located includes: Obtain high-precision map information, vehicle perception information, and general map information; If the high-precision map information includes the traffic light information of the intersection where the vehicle is located, the traffic light information of the intersection where the vehicle is located in the high-precision map information is used; otherwise The traffic light information of the intersection where the vehicle is located is identified through the perception information. If the identification is successful, the traffic light information identified by the perception information is used as the traffic light information of the intersection where the vehicle is located; otherwise If the general map information includes the traffic light information of the intersection where the vehicle is located, the traffic light information of the intersection where the vehicle is located in the general map information is used.

3. The traffic light reminder method according to claim 1, characterized in that: The identifying the direction of travel of the vehicle comprises: Access multiple sources of information; According to each information source, determine the corresponding original vehicle travel direction; A comprehensive judgment is made on the multiple original vehicle travel directions to determine the final vehicle travel direction.

4. The traffic light reminder method according to claim 3, characterized in that: The information sources include: navigation source, road information source, turn signal source, yaw angle source, traffic sign source, and / or historical habit source. The corresponding original vehicle travel direction is determined according to each information source, including: Obtaining navigation information, and determining the original vehicle travel direction corresponding to the navigation source based on the navigation information; and / or Acquire the perception information of the vehicle, and determine the direction of the lane where the vehicle is located according to the road arrow or lane direction indicator at the intersection where the vehicle is located as the original vehicle direction corresponding to the road information source; and / or Obtaining the vehicle's turn signal information, and determining the original vehicle travel direction corresponding to the turn signal source according to the vehicle's turn signal information; and / or Obtaining the yaw angle of the vehicle, and determining the original vehicle travel direction corresponding to the source of the yaw angle according to the yaw angle of the vehicle; and / or Obtaining road information, and determining the original vehicle travel direction of the traffic sign according to the traffic sign at the intersection where the vehicle is located in the road information; and / or The driver's historical driving behavior data is obtained, and the original vehicle travel direction of the historical habit source is determined based on the driver's historical driving behavior data.

5. The traffic light reminder method according to claim 3, characterized in that: Including multiple vehicle travel directions, the comprehensive judgment of the multiple original vehicle travel directions to determine the final vehicle travel direction includes: Calculate the score of each vehicle's direction of travel, where the score of the j-th vehicle's direction of travel is: Among them, w i is the weight of the i-th information source, k ij is the Boolean value of the i-th information source regarding the j-th vehicle's traveling direction. When the i-th information source determines the j-th vehicle's traveling direction, k ij is 1, when the i-th information source is not determined as the j-th vehicle's direction of travel, k ij is 0; The vehicle travel direction with a score greater than the effective score threshold and the highest score is selected as the final vehicle travel direction.

6. The traffic light reminder method according to claim 1, characterized in that: The step of executing the slowdown reminder operation according to the traffic light information of the vehicle's traveling direction includes: If the traffic light information in the direction of the vehicle's travel includes green light countdown information or yellow light countdown information, when the green light countdown is less than or equal to the first green light countdown threshold, or when the yellow light countdown is less than or equal to the first yellow light countdown threshold, a reminder deceleration operation is performed; If the traffic light information in the direction of vehicle travel does not include green light countdown information and does not include yellow light countdown information, then when the traffic light information in the direction of vehicle travel is green light flashing or yellow light flashing, a reminder deceleration operation is performed.

7. The traffic light reminder method according to claim 1, characterized in that: The red light running warning operation is performed according to the traffic light information of the vehicle's traveling direction, including: If the traffic light information in the direction of the vehicle's travel is a steady yellow light or a steady red light, the collision time between the vehicle and the stop line or the vehicle in front is calculated. When the collision time is less than or equal to the collision time threshold, the red light running warning operation is performed.

8. The traffic light reminder method according to claim 1, characterized in that: The step of executing the start reminder operation according to the traffic light information of the vehicle's traveling direction includes: If the traffic light information in the direction of the vehicle's travel includes countdown information, the reminder to start operation is performed when the red light countdown of the traffic light information in the direction of the vehicle's travel is less than or equal to the red light countdown threshold; if the traffic light information in the direction of the vehicle's travel does not include countdown information, the reminder to start operation is performed when the traffic light information in the direction of the vehicle's travel is a flashing red light; or If the traffic light in the direction of the vehicle's travel is always green, and no obstacle is detected within the distance threshold in front of the vehicle, and the vehicle speed is 0 or the gear is in the parking gear, the reminder start operation is performed; or Obtain traffic light information of straight traffic lights on both sides of the vehicle's direction of travel; if the traffic light information of the straight traffic lights on both sides of the vehicle's direction of travel includes countdown information, then when the green light countdown of the straight traffic lights on both sides of the vehicle's direction of travel is less than or equal to a second green light countdown threshold, or when the yellow light countdown of the straight traffic lights on both sides of the vehicle's direction of travel is less than or equal to the second yellow light countdown threshold, perform a reminder start operation; if the traffic light information of the straight traffic lights on both sides of the vehicle's direction of travel does not include countdown information, then when the traffic light information of the straight traffic lights on both sides of the vehicle's direction of travel is flashing green light or flashing yellow light, perform a reminder start operation.

9. The traffic light reminder method according to any one of claims 1 to 8, characterized in that: Also includes: When a first traffic light is captured, the first traffic light is displayed on the vehicle, and if the absolute value of the difference between the end heading angle when the disappearance of the first traffic light is detected and the initial heading angle when the appearance of the first traffic light is detected is greater than a heading angle threshold, then when a second traffic light after the first traffic light is captured, the second traffic light is not displayed on the vehicle.

10. An electronic device, characterized in that: include: at least one processor; as well as, a memory communicatively connected to at least one of the processors; wherein, The memory stores instructions that can be executed by at least one of the processors, and the instructions are executed by at least one of the processors so that at least one of the processors can execute the traffic light reminder method according to any one of claims 1 to 9.

11. A storage medium, characterized in that: The storage medium stores computer instructions, and when a computer executes the computer instructions, it is used to execute all steps of the traffic light reminder method as described in any one of claims 1 to 9.

12. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the traffic light reminder method as described in any one of claims 1 to 9 is implemented.

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