Vehicle driving early warning method and device, electronic equipment and storage medium

Abstract

The invention is suitable for the technical field of intelligent driving, and provides a vehicle driving early warning method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the positioning information and real-time acceleration information of a vehicle; estimating a first real-time distance between the vehicle and a target traffic node according to the positioning information and the real-time acceleration information; acquiring image information shot by a vehicle-mounted camera, and estimating a second real-time distance between the vehicle and the target traffic node based on the image information; determining a target distance between the vehicle and the target traffic node according to the first real-time distance and the second real-time distance; and carrying out driving early warning on the vehicle based on the target distance. By adopting the method, necessary driving early warning information can be effectively, timely and accurately provided for the driver, the vehicle is helped to safely pass through the intersection road section, and potential safety risks are effectively avoided.

Description

Technical Field

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

[0002] With the acceleration of urbanization, the number of vehicles has increased dramatically, and urban traffic problems have become increasingly serious, especially during peak hours, traffic congestion and frequent traffic accidents have become important factors restricting urban development. In the complex urban traffic environment, zebra crossings, intersections and other intersections have become high-incidence areas for traffic accidents due to dense crowds and changeable traffic flows.

[0003] Although traditional driving assistance systems have improved driving safety to a certain extent, their warning capabilities are often inadequate when faced with these complex road conditions. They are unable to provide drivers with necessary driving warning information in a timely and accurate manner, making it difficult to effectively avoid potential safety risks.

[0004] In view of this, how to effectively, timely and accurately provide drivers with necessary driving warning information to help vehicles safely pass through intersections and effectively avoid potential safety risks is a problem that needs to be solved urgently. Summary of the invention

[0005] The embodiments of the present application provide a vehicle driving warning method, device, electronic device and storage medium, which can effectively, timely and accurately provide the driver with necessary driving warning information, help the vehicle safely pass through the intersection section, and effectively avoid potential safety risks.

[0006] In a first aspect, an embodiment of the present application provides a vehicle driving warning method, comprising:

[0007] Obtain vehicle positioning information and real-time acceleration information;

[0008] estimating a first real-time distance between the vehicle and a target traffic node according to the positioning information and the real-time acceleration information;

[0009] Acquire image information captured by a vehicle-mounted camera, and estimate a second real-time distance between the vehicle and the target traffic node based on the image information;

[0010] Determining a target distance between the vehicle and the target traffic node according to the first real-time distance and the second real-time distance;

[0011] A driving warning is provided to the vehicle based on the target distance.

[0012] In a possible implementation manner of the first aspect, the positioning information is updated periodically; and the step of estimating a first real-time distance between the vehicle and the target traffic node according to the positioning information and the real-time acceleration information includes:

[0013] Before the vehicle enters the target area, dynamically estimating a first estimated distance between the vehicle and the target traffic node according to the periodically updated positioning information;

[0014] When the first estimated distance reaches a preset estimated distance threshold, determining that the vehicle enters the target area;

[0015] In the target area, a first real-time distance between the vehicle and a target traffic node is estimated according to the positioning information and the real-time acceleration information.

[0016] In a possible implementation manner of the first aspect, the step of determining a target distance between the vehicle and the target traffic node according to the first real-time distance and the second real-time distance further includes:

[0017] Acquire device location information sent by the intelligent transportation infrastructure device, and a fixed distance between the intelligent transportation infrastructure device and the target transportation node;

[0018] estimating a first relative distance between the vehicle and the intelligent transportation infrastructure device according to the current positioning information of the vehicle and the device position information;

[0019] Determining a third real-time distance between the vehicle and the target traffic node according to the first relative distance and the fixed distance;

[0020] A target distance between the vehicle and the target traffic node is determined according to the first real-time distance, the second real-time distance, and the third real-time distance.

[0021] In a possible implementation manner of the first aspect, the step of determining a target distance between the vehicle and the target traffic node according to the first real-time distance and the second real-time distance further includes:

[0022] Acquire other vehicle driving information broadcasted by other vehicles, and a second relative distance between the other vehicles and the target traffic node;

[0023] Determine a fourth real-time distance between the vehicle and the target traffic node according to the positioning information of the vehicle, the driving information of the other vehicles and the second relative distance;

[0024] A target distance between the vehicle and the target traffic node is determined according to the first real-time distance, the second real-time distance, and the fourth real-time distance.

[0025] In a possible implementation manner of the first aspect, the step of performing a driving warning for the vehicle based on the target distance includes:

[0026] Determining a current location of the vehicle according to the positioning information;

[0027] Obtain the regional speed limit value corresponding to the area where the vehicle is currently located;

[0028] A regional deceleration warning prompt is generated based on the image information captured by the vehicle-mounted camera, the regional speed limit value and the current driving speed of the vehicle.

[0029] In a possible implementation manner of the first aspect, the step of performing a driving warning for the vehicle based on the target distance includes:

[0030] Acquiring environmental information of the vehicle;

[0031] Dynamically determine the environmental speed limit value corresponding to the vehicle according to the environmental information;

[0032] An environmental deceleration warning prompt is generated according to the environmental speed limit value and the current driving speed of the vehicle.

[0033] In a second aspect, an embodiment of the present application provides a vehicle driving warning device, comprising:

[0034] An information acquisition unit, used to acquire the vehicle's positioning information and real-time acceleration information;

[0035] A first estimation unit, configured to estimate a first real-time distance between the vehicle and a target traffic node according to the positioning information and the real-time acceleration information;

[0036] A second estimation unit, configured to obtain image information captured by a vehicle-mounted camera, and estimate a second real-time distance between the vehicle and the target traffic node based on the image information;

[0037] a target distance determination unit, configured to determine a target distance between the vehicle and the target traffic node according to the first real-time distance and the second real-time distance;

[0038] A driving warning unit is used to provide a driving warning to the vehicle based on the target distance.

[0039] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the vehicle driving warning method as described in the first aspect above is implemented.

[0040] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle driving warning method as described in the first aspect above is implemented.

[0041] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on an electronic device, enables the electronic device to execute the vehicle driving warning method as described in the first aspect above.

[0042] In an embodiment of the present application, by obtaining the positioning information and real-time acceleration information of the vehicle, a first real-time distance between the vehicle and the target traffic node is estimated based on the positioning information and the real-time acceleration information, image information captured by a vehicle-mounted camera is obtained, and a second real-time distance between the vehicle and the target traffic node is estimated based on the image information, and a target distance between the vehicle and the target traffic node is determined based on the first real-time distance and the second real-time distance. Combining GPS positioning and the acceleration collected by the sensor can improve the accuracy of determining the target distance, and based on the target distance, a warning can be issued to the vehicle in a timely and accurate manner, reminding the vehicle driver to take corresponding deceleration or braking measures, helping the vehicle to safely pass through the intersection, and effectively avoiding potential safety risks, thereby reducing the incidence of traffic accidents and improving the safety of vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0044] Figure 1 is a flow chart for implementing the vehicle driving warning method provided in an embodiment of the present application;

[0045] Figure 2 This is a specific implementation flow chart of step S102 in the vehicle driving warning method provided in an embodiment of the present application;

[0046] Figure 3 This is a specific implementation flow chart of step S104 in the vehicle driving warning method provided in an embodiment of the present application;

[0047] Figure 4 is another specific implementation flow chart of step S104 in the vehicle driving warning method provided in an embodiment of the present application;

[0048] Figure 5 This is a specific implementation flow chart of a vehicle driving warning method provided in an embodiment of the present application;

[0049] Figure 6 This is another specific implementation flow chart of providing a driving warning for a vehicle in the vehicle driving warning method provided in the embodiment of the present application;

[0050] Figure 7 is a structural block diagram of a vehicle driving warning device provided in an embodiment of the present application;

[0051] Figure 8 It is a schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0053] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0054] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0055] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0056] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0057] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0058] The vehicle driving warning method provided in the embodiment of the present application can be applied to various types of electronic devices or servers that need to perform vehicle driving warning, which can specifically include electronic devices such as vehicle terminals, mobile phones, tablet computers, wearable devices, and laptop computers. The embodiment of the present application does not impose any restrictions on the specific type of electronic device or server.

[0059] Figure 1 The implementation process of the vehicle driving warning method provided by the embodiment of the present application is shown, and the method flow includes steps S101 to S105. The specific implementation principle of each step is as follows:

[0060] Step S101: Acquire the vehicle's positioning information and real-time acceleration information.

[0061] In this embodiment, the positioning information and real-time acceleration information of the vehicle are acquired in real time.

[0062] The above positioning information is the positioning information provided by the positioning module mounted on the vehicle. The positioning module is a GPS positioning module or a Beidou positioning module. The above positioning information can be GPS positioning information collected by the GPS positioning module or Beidou positioning information collected by the Beidou positioning module. This embodiment does not limit the type of positioning information and the collection module.

[0063] The above real-time acceleration information is measured in real time by the inertial measurement unit (IMU). IMU is a device that integrates multiple sensors and can measure and record the vehicle's acceleration, angular velocity and other motion state information. The IMU device installed on the vehicle usually contains sensors such as accelerometers and gyroscopes. The IMU device collects the vehicle's acceleration information in real time through internal sensors. The accelerometer can measure the vehicle's acceleration values ​​in the X, Y, and Z directions, while the gyroscope can measure the vehicle's angular velocity information. The IMU device can not only provide real-time acceleration information, but also provide vehicle attitude information (such as pitch angle, yaw angle, roll angle, etc.).

[0064] Step S102: Estimate a first real-time distance between the vehicle and a target traffic node according to the positioning information and the real-time acceleration information.

[0065] Traffic nodes are intersections such as zebra crossings and intersections. The target traffic node is the nearest zebra crossing or intersection in the driving direction or on the planned path. The first real-time distance is the distance between the vehicle and the nearest target traffic node in the driving direction or on the planned path at the estimation time. The first real-time distance can determine the relative position between the vehicle and the target traffic node.

[0066] As a possible implementation method, when the positioning information is updated, the first real-time distance is determined based on the latest updated positioning information; when the positioning information is updated, the real-time acceleration information is obtained before the next update cycle; and the first real-time distance is determined based on the positioning information in the current update cycle and the real-time acceleration information.

[0067] During the driving process of the vehicle, the positioning information provides the precise location coordinates of the vehicle, but these location coordinates may not be intuitive for the user. By combining the positioning information with an electronic map, these coordinates can be converted into specific geographical locations, such as street names, intersections, etc., to intuitively display the current location of the vehicle, so that users can more easily understand the location of the vehicle. Positioning information is usually updated at a certain period, for example, the positioning information is updated once every 1 second. When the vehicle is driving at high speed, due to the low update frequency of positioning information, the vehicle may have moved a long distance between two updates, especially at key intersections such as zebra crossings or intersections. Positioning errors may cause inaccurate vehicle driving warnings.

[0068] In this embodiment, the current positioning information of the vehicle is input into the electronic map, and the distance between the vehicle and the nearest target traffic node in the current driving direction or on the planned path can be estimated. Between two update cycles of the positioning information, the instantaneous speed and displacement of the vehicle are estimated based on the acceleration information collected by the IMU, and the positioning information of the vehicle is corrected using the displacement to obtain the precise positioning information of the vehicle. The precise positioning information is input into the electronic map, and the first real-time distance between the vehicle and the nearest target traffic node in the current driving direction or on the planned path can be obtained.

[0069] For example, when the positioning information is updated, the first real-time distance is determined according to the latest positioning information. Before the next positioning information update cycle, the IMU estimates the instantaneous speed and displacement of the vehicle through the acceleration information. For example, the current instantaneous speed and displacement of the vehicle are calculated once every 10 ms through the acceleration collected by the IMU. Every 10 ms, the IMU provides the current acceleration information [a x ,a y ]. Since the time is very short, we can assume that the acceleration is constant during this period of time. Assume that at time t 0 The initial velocity of the vehicle is [v x (t 0 ),v y (t 0 )], then in the next 10ms, the instantaneous speed of the vehicle can be calculated by integrating the acceleration, as shown in the following formulas (1) and (2):

[0070]

[0071] Among them, Δt=0.01s.

[0072] During this 10ms, the displacement of the vehicle can be obtained by velocity integration. Because the time period is very short, the average velocity method can be used to simplify the calculation to obtain the vehicle displacement component in the x direction as follows: (3) and the vehicle displacement component in the y direction as follows: (4)

[0073]

[0074] The total displacement (path length) of the vehicle within 10 ms is calculated using the displacement components of the x-axis and y-axis as follows:

[0075]

[0076] The distance between the vehicle and the target traffic node such as zebra crossing or intersection is corrected according to the calculated displacement. Assume that the system is at time t 0 The initial distance between the vehicle and the zebra crossing is measured as Δd initial , the initial distance can be obtained by changing t 0The positioning information at the moment is input into the electronic map. After calculating the displacement Δs of the vehicle within 10ms each time, the distance between the vehicle and the target traffic node will be updated as follows (6):

[0077] Δd(t 0 +Δt)=Δd initial -Δs(6)

[0078] The above calculation is repeated every 10ms to dynamically update the distance between the vehicle and the target traffic node, which can effectively improve the accuracy of vehicle positioning. Through periodic dynamic updates, the system can monitor the distance between the vehicle and the target traffic node in real time so that early warnings can be issued in a timely manner.

[0079] In this embodiment, when the positioning information is updated again, the positioning information is input into the electronic map to determine the distance between the vehicle and the next intersection or zebra crossing or other target traffic nodes. That is, when the positioning information is updated, the first real-time distance is determined by using the positioning information, and the first real-time distance is determined after the distance obtained according to the positioning information is corrected using the IMU within every two positioning information update cycles.

[0080] As a possible implementation mode of the present application, the positioning information is updated periodically. Figure 2 A specific implementation process of step S102 in the vehicle driving warning method provided in an embodiment of the present application is shown, and is described in detail as follows:

[0081] A1: Before the vehicle enters the target area, a first estimated distance between the vehicle and the target traffic node is dynamically estimated based on the periodically updated positioning information.

[0082] In this embodiment, according to the update cycle of the positioning information, the positioning information of the vehicle in the current cycle is periodically input into the electronic map, so that the first estimated distance between the vehicle and the nearest target traffic node in the current driving direction or on the planned path in the current cycle can be estimated. With the periodic update of the positioning information, the first estimated distance is also dynamically updated.

[0083] A2: When the first estimated distance reaches a preset estimated distance threshold, it is determined that the vehicle enters the target area. The target area is an area where the distance between the vehicle and the target traffic node is equal to or less than a preset distance threshold.

[0084] A3: In the target area, a first real-time distance between the vehicle and a target traffic node is estimated based on the positioning information and the real-time acceleration information.

[0085] In this embodiment, before the vehicle enters the target area, the vehicle is far away from the target traffic node. At this time, the first estimated distance between the vehicle and the target traffic node is dynamically estimated based on the vehicle's positioning information. Until the first estimated distance reaches a preset estimated distance threshold, the vehicle enters the target area and is closer to the target traffic node. To ensure the accuracy of the vehicle's positioning information and ensure the timeliness and accuracy of driving warnings, when the vehicle is in the target area, the first real-time distance between the vehicle and the target traffic node is estimated based on the positioning information and real-time acceleration information.

[0086] When a vehicle enters a target area, the acquired positioning information of the vehicle is input into an electronic map to obtain a first estimated distance. At the same time, the instantaneous speed and displacement of the vehicle are estimated based on the acceleration information collected by the IMU. The first estimated distance is corrected using the displacement to obtain a first real-time distance between the vehicle and the nearest target traffic node in the current driving direction or on the planned path.

[0087] In the embodiment of the present application, the positioning information is used to determine the distance between the vehicle and the target traffic node, and the real-time displacement of the vehicle is calculated based on the acceleration information collected by the IMU. The real-time displacement is used to correct the real-time distance between the vehicle and the target traffic node, which is beneficial to improve the precise positioning of the moving vehicle and the accuracy of the target distance determination, thereby improving the accuracy and effectiveness of driving warnings.

[0088] Step S103: Acquire image information captured by a vehicle-mounted camera, and estimate a second real-time distance between the vehicle and the target traffic node based on the image information.

[0089] In this embodiment, the vehicle-mounted camera can be used to identify target traffic nodes such as zebra crossings or intersections in front of the vehicle in the direction of vehicle travel. The vehicle-mounted camera can be a camera built into the vehicle terminal or an external camera connected to the vehicle terminal. By combining multiple methods such as image geometry methods, computer vision technology, and deep learning models, the second real-time distance between the vehicle and the target traffic node can be estimated based on the image information. The second real-time distance can determine the relative position between the vehicle and the target traffic node.

[0090] Step S104: determining a target distance between the vehicle and the target traffic node according to the first real-time distance and the second real-time distance.

[0091] The target distance is the distance between the vehicle and the target traffic node determined by combining the first real-time distance and the second real-time distance.

[0092] In an embodiment of the present application, in order to further accurately determine the distance between the vehicle and the target traffic node, the first real-time distance is corrected using the second real-time distance. That is, the relative position between the vehicle and the target traffic node is determined based on the image information captured by the vehicle-mounted camera, and the first real-time distance is further corrected to obtain the target distance, which helps to accurately determine the position of the vehicle and provide driving warnings in a timely and accurate manner.

[0093] In actual scenarios, the update of electronic maps is lagging, and some zebra crossings are not marked on the electronic maps. At this time, it is impossible to determine the target distance based on the positioning information, real-time acceleration information and the electronic map. As a possible implementation of the present application, Figure 3 A specific implementation process of step S104 in the vehicle driving warning method provided in an embodiment of the present application is shown, and is described in detail as follows:

[0094] B1: Obtain device location information sent by intelligent traffic infrastructure equipment, as well as the fixed distance between the intelligent traffic infrastructure equipment and the target traffic node. Intelligent traffic infrastructure equipment includes traffic monitoring cameras, roadside unit (RSU) facilities, smart street lights and other equipment that supports V2X (Vehicle to Everything) vehicle networking communication.

[0095] B2: Estimate a first relative distance between the vehicle and the intelligent transportation infrastructure device based on the current positioning information of the vehicle and the device location information.

[0096] B3: Determine a third real-time distance between the vehicle and the target traffic node based on the first relative distance and the fixed distance.

[0097] B4: Determine a target distance between the vehicle and the target traffic node according to the first real-time distance, the second real-time distance, and the third real-time distance.

[0098] After the intelligent transportation infrastructure equipment detects the communication signal of the vehicle, it sends its own device location information and the fixed distance between itself and the target traffic node to the vehicle. Alternatively, when the vehicle travels within the preset distance range of the intelligent transportation infrastructure equipment, the vehicle establishes a wireless communication connection with the above-mentioned intelligent transportation infrastructure equipment through the on-board terminal, and obtains the device location information of the intelligent transportation infrastructure equipment and the fixed distance between the intelligent transportation infrastructure equipment and the target traffic node based on the connection. Then, based on the current positioning information of the vehicle and the device location information, the first relative distance between the vehicle and the intelligent transportation infrastructure equipment is estimated, and based on the first relative distance and the above-mentioned fixed distance, the third real-time distance between the vehicle and the target traffic node is determined. Finally, the first real-time distance is corrected based on the second real-time distance and the third real-time distance to obtain the target distance between the vehicle and the target traffic node. The target distance is the real-time distance obtained after the first real-time distance is corrected by the second real-time distance and the third real-time distance.

[0099] In the embodiment of the present application, V2X vehicle-to-vehicle communication is used to realize communication interaction between the vehicle and intelligent transportation infrastructure equipment. The distance between the vehicle and the target traffic node is accurately determined based on the fixed distance between the intelligent transportation infrastructure equipment and the target traffic node. The obtained target distance is not affected by the obstruction of the preceding vehicle or the lag in the update of the electronic map, which can improve the accuracy of the target distance determination.

[0100] As a possible implementation of this application, Figure 4 Another specific implementation process of step S104 in the vehicle driving warning method provided in the embodiment of the present application is shown, and is described in detail as follows:

[0101] C1: Acquire the driving information of other vehicles broadcast by other vehicles, and the second relative distance between the other vehicles and the target traffic node. The driving information of other vehicles includes the vehicle position of the other vehicles and the driving speed of the other vehicles. The other vehicles refer to vehicles within a preset distance range radiating outward from the vehicle as the center in the driving scenario of the vehicle in the application embodiment.

[0102] C2: Determine a fourth real-time distance between the vehicle and the target traffic node based on the positioning information of the vehicle, the driving information of the other vehicles, and the second relative distance. The vehicle can estimate the fourth real-time distance between the vehicle and the target traffic node based on its own positioning information, the vehicle positions and driving speeds of other vehicles, and the second relative distance.

[0103] C3: Determine a target distance between the vehicle and the target traffic node according to the first real-time distance, the second real-time distance, and the fourth real-time distance.

[0104] In the embodiment of the present application, the first real-time distance is corrected according to the second real-time distance and the fourth real-time distance to obtain the target distance between the vehicle and the target traffic node. The target distance is the real-time distance obtained by correcting the first real-time distance by the second real-time distance and the fourth real-time distance.

[0105] This vehicle and other vehicles in the driving scene all support V2X vehicle networking communication. When this vehicle is blocked by the vehicle in front or in bad weather, and this vehicle cannot identify the relative position between itself and the target traffic node through the image information captured by the vehicle camera, this vehicle estimates the fourth real-time distance between itself and the target traffic node based on the vehicle position, driving speed and second relative distance broadcast by other vehicles, effectively avoiding interference with vehicle positioning and target distance determination due to blocking by the vehicle in front and in bad weather.

[0106] Step S105: providing a driving warning to the vehicle based on the target distance.

[0107] In the embodiment of the present application, when the target distance is equal to or less than the first preset warning distance threshold, a driving warning is issued to the vehicle. For example, when the distance between the vehicle and the zebra crossing ahead is 30 meters, which is equal to the first preset warning distance threshold of 30 meters, an alarm is sent to remind the driver of the vehicle that there is a zebra crossing ahead of the vehicle and to drive carefully.

[0108] In some embodiments, when the target distance is equal to or less than the first preset warning distance threshold, a driving warning is given to the vehicle in combination with the current driving speed of the vehicle. For example, when the distance between the vehicle and the zebra crossing ahead is 30 meters, which is equal to the first preset warning distance threshold of 30 meters, if the current driving speed of the vehicle is higher than the first warning driving speed (such as 40 km / h), an alarm is sent to remind the driver of the vehicle that there is a zebra crossing ahead of the vehicle and the current speed is too fast, so please slow down.

[0109] In other embodiments, when the target distance is equal to or less than a second preset warning distance threshold (such as 5 meters) and the vehicle's driving speed is higher than a second warning driving speed (such as 20 km / h), the vehicle's driving information is reported to the supervision platform, and in the intelligent driving mode, the vehicle can actively control the vehicle to slow down.

[0110] As a possible implementation of this application, Figure 5 A specific implementation process of step S105 in the vehicle driving warning method provided in an embodiment of the present application is shown, and is described in detail as follows:

[0111] D1: Determine the area where the vehicle is currently located based on the positioning information. The area can be an administrative area, or an area defined based on the type and location of a target traffic node, such as a zebra crossing or intersection at a school, hospital, shopping mall, etc.

[0112] D2: Get the regional speed limit corresponding to the area where the vehicle is currently located. The regional speed limit can be determined according to the current time and the type of area. For example, if the current area is a school area, the regional speed limit is 25-30km / h. The regional speed limit is adjusted to 20km / h during school hours and after school hours.

[0113] D3: Generate a regional deceleration warning prompt based on the image information captured by the vehicle-mounted camera, the regional speed limit value and the current driving speed of the vehicle. The regional deceleration warning prompt is used to prompt the vehicle of the speed limit value of the current area.

[0114] In actual vehicle driving scenarios, the area where the vehicle is located and the actual scene of the zebra crossing or intersection may affect the change of the driving speed limit value. In this embodiment, the regional speed limit value of the vehicle in the area is determined according to the area where the vehicle is currently located, and the pedestrian density and vehicle density of the target traffic node are identified in combination with the image information captured by the on-board camera. Further adjustments are made based on the regional speed limit value to determine the current speed limit value of the vehicle, and a regional deceleration warning prompt is generated in combination with the current driving speed of the vehicle to prompt the user to slow down.

[0115] For example, the regional speed limit in the current area where the vehicle is located is 40km / h. Based on the image information collected by the on-board camera, when pedestrians are identified on both sides of the zebra crossing, the regional speed limit is adjusted to 20km / h. Combined with the current driving speed of the vehicle, a regional deceleration warning prompt is generated to prompt the user to slow down.

[0116] As a possible implementation of this application, Figure 6 A specific implementation process of step S105 in the vehicle driving warning method provided in an embodiment of the present application is shown, and is described in detail as follows:

[0117] E1: Obtaining the environmental information of the vehicle. The environmental information includes the light intensity and visibility of the current location of the vehicle. In this embodiment, the light intensity can be detected by a photosensitive sensor, and the visibility can be checked by an infrared or laser ranging sensor (if the laser signal is significantly attenuated or scattered by particulate matter in the air (such as fog, rain, dust), this means that the visibility is low. The laser ranging system can evaluate the current visibility through this attenuation).

[0118] E2: Dynamically determine the environmental speed limit value corresponding to the vehicle based on the environmental information. If the light intensity is lower than the preset light intensity threshold (e.g., 500 lux), the system automatically reduces the environmental speed limit value, for example, reducing the environmental speed limit value from 50 km / h to 30 km / h. When the visibility is less than the preset visibility threshold (e.g., 100 meters), the environmental speed limit value is reduced to 20 km / h.

[0119] E3: Generate an environmental deceleration warning prompt according to the environmental speed limit value and the current driving speed of the vehicle. The environmental deceleration warning prompt is used to prompt the speed limit value of the vehicle in the current environment.

[0120] When the light intensity is lower than the preset light intensity threshold, and / or the visibility is less than the preset visibility threshold, an environmental deceleration warning prompt is generated based on the dynamically determined environmental speed limit value and the current driving speed of the vehicle, and the driver is reminded to turn on the fog lights.

[0121] As can be seen from the above, in the embodiment of the present application, by obtaining the positioning information and real-time acceleration information of the vehicle, the first real-time distance between the vehicle and the target traffic node is estimated based on the positioning information and the real-time acceleration information, the image information captured by the vehicle-mounted camera is obtained, and the second real-time distance between the vehicle and the target traffic node is estimated based on the image information, and the target distance between the vehicle and the target traffic node is determined based on the first real-time distance and the second real-time distance. Combining GPS positioning and the acceleration collected by the sensor can improve the accuracy of determining the target distance, and based on the target distance, a warning can be issued to the vehicle in a timely and accurate manner, reminding the vehicle driver to take corresponding deceleration or braking measures, helping the vehicle to safely pass through the intersection section, and effectively avoiding potential safety risks, thereby reducing the incidence of traffic accidents and improving the safety of vehicle driving.

[0122] It should be understood that the size of the serial numbers of the steps in the above embodiments does not 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 embodiments of the present application.

[0123] Corresponding to the vehicle driving warning method described in the above embodiment, Figure 7 A structural block diagram of a vehicle driving warning device provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0124] Reference Figure 7 The vehicle driving warning device includes: an information acquisition unit 71, a first estimation unit 72, a second estimation unit 73, a target distance determination unit 74, and a driving warning unit 75, wherein:

[0125] An information acquisition unit 71 is used to acquire the positioning information and real-time acceleration information of the vehicle;

[0126] A first estimation unit 72, configured to estimate a first real-time distance between the vehicle and a target traffic node according to the positioning information and the real-time acceleration information;

[0127] A second estimation unit 73, configured to obtain image information captured by a vehicle-mounted camera, and estimate a second real-time distance between the vehicle and the target traffic node based on the image information;

[0128] a target distance determination unit 74, configured to determine a target distance between the vehicle and the target traffic node according to the first real-time distance and the second real-time distance;

[0129] The driving warning unit 75 is used to provide a driving warning to the vehicle based on the target distance.

[0130] As a possible implementation manner of the present application, the positioning information is updated periodically; the first estimation unit 72 includes:

[0131] A first estimation module, used for dynamically estimating a first estimated distance between the vehicle and a target traffic node according to the periodically updated positioning information before the vehicle enters a target area;

[0132] an area determination module, configured to determine that the vehicle enters the target area when the first estimated distance reaches a preset estimated distance threshold;

[0133] The second estimation module is used to estimate a first real-time distance between the vehicle and a target traffic node in the target area according to the positioning information and the real-time acceleration information.

[0134] As a possible implementation of the present application, the vehicle driving warning device further includes:

[0135] A device distance acquisition unit, used to acquire device location information sent by an intelligent transportation infrastructure device, and a fixed distance between the intelligent transportation infrastructure device and the target transportation node;

[0136] A first relative distance estimation unit, configured to estimate a first relative distance between the vehicle and the intelligent transportation infrastructure device according to the current positioning information of the vehicle and the device position information;

[0137] a third estimation unit, configured to determine a third real-time distance between the vehicle and the target traffic node according to the first relative distance and the fixed distance;

[0138] The target distance determination unit 74 is further configured to determine a target distance between the vehicle and the target traffic node according to the first real-time distance, the second real-time distance and the third real-time distance.

[0139] As a possible implementation of the present application, the vehicle driving warning device further includes:

[0140] A second relative distance estimation unit, used for acquiring other vehicle driving information broadcasted by other vehicles, and a second relative distance between the other vehicles and the target traffic node;

[0141] a fourth estimation unit, configured to determine a fourth real-time distance between the vehicle and the target traffic node according to the positioning information of the vehicle, the driving information of the other vehicles, and the second relative distance;

[0142] The target distance determination unit 74 determines the target distance between the vehicle and the target traffic node according to the first real-time distance, the second real-time distance and the fourth real-time distance.

[0143] As a possible implementation of the present application, the driving warning unit 75 includes:

[0144] A location determination module, used to determine the current location of the vehicle according to the positioning information;

[0145] A regional speed limit value acquisition module is used to obtain the regional speed limit value corresponding to the area where the vehicle is currently located;

[0146] The first warning module is used to generate a regional deceleration warning prompt based on the image information captured by the vehicle-mounted camera, the regional speed limit value and the current driving speed of the vehicle.

[0147] As a possible implementation of the present application, the driving warning unit 75 further includes:

[0148] An environmental information acquisition module, used to acquire environmental information of the vehicle;

[0149] An environmental speed limit value determination module, used to dynamically determine the environmental speed limit value corresponding to the vehicle according to the environmental information;

[0150] The second warning module is used to generate an environmental deceleration warning prompt according to the environmental speed limit value and the current driving speed of the vehicle.

[0151] As can be seen from the above, in the embodiment of the present application, by obtaining the positioning information and real-time acceleration information of the vehicle, the first real-time distance between the vehicle and the target traffic node is estimated based on the positioning information and the real-time acceleration information, the image information captured by the vehicle-mounted camera is obtained, and the second real-time distance between the vehicle and the target traffic node is estimated based on the image information, and the target distance between the vehicle and the target traffic node is determined based on the first real-time distance and the second real-time distance. Combining GPS positioning and the acceleration collected by the sensor can improve the accuracy of determining the target distance, and based on the target distance, a warning can be issued to the vehicle in a timely and accurate manner, reminding the vehicle driver to take corresponding deceleration or braking measures, helping the vehicle to safely pass through the intersection section, and effectively avoiding potential safety risks, thereby reducing the incidence of traffic accidents and improving the safety of vehicle driving.

[0152] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0153] The present application also provides a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, Figures 1 to 6 The steps of any vehicle driving warning method are represented.

[0154] The embodiment of the present application also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, Figures 1 to 6 The steps of any vehicle driving warning method are represented.

[0155] The embodiment of the present application also provides a computer program product. When the computer program product is run on an electronic device, the electronic device executes the following Figures 1 to 6 The steps of any vehicle driving warning method are represented.

[0156] Figure 8 is a schematic diagram of an electronic device provided by an embodiment of the present application. Figure 8 As shown, the electronic device 8 of this embodiment includes: a processor 80, a memory 81, and a computer program 82 stored in the memory 81 and executable on the processor 80. When the processor 80 executes the computer program 82, the steps in the above-mentioned vehicle driving warning method embodiments are implemented, for example Figure 1Alternatively, when the processor 80 executes the computer program 82, the functions of each module / unit in the above-mentioned device embodiments are realized, for example Figure 7 The functions of units 71 to 75 are shown.

[0157] Exemplarily, the computer program 82 may be divided into one or more modules / units, which are stored in the memory 81 and executed by the processor 80 to complete the present application. The one or more modules / units may be a series of computer-readable instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 82 in the electronic device 8.

[0158] The electronic device 8 may be a vehicle-mounted terminal. The electronic device 8 may include, but is not limited to, a processor 80 and a memory 81. Those skilled in the art will appreciate that Figure 8 It is only an example of the electronic device 8 and does not constitute a limitation of the electronic device 8. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device 8 may also include input and output devices, network access devices, buses, etc.

[0159] The processor 80 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0160] The memory 81 may be an internal storage unit of the electronic device 8, such as a hard disk or memory of the electronic device 8. The memory 81 may also be an external storage device of the electronic device 8, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 8. Further, the memory 81 may also include both an internal storage unit and an external storage device of the electronic device 8. The memory 81 is used to store the computer program and other programs and data required by the electronic device. The memory 81 may also be used to temporarily store data that has been output or is to be output.

[0161] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0162] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0163] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the device / terminal device, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0164] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0165] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle driving warning method, characterized in that: include: Obtain vehicle positioning information and real-time acceleration information; estimating a first real-time distance between the vehicle and a target traffic node according to the positioning information and the real-time acceleration information; Acquire image information captured by a vehicle-mounted camera, and estimate a second real-time distance between the vehicle and the target traffic node based on the image information; Determining a target distance between the vehicle and the target traffic node according to the first real-time distance and the second real-time distance; A driving warning is provided to the vehicle based on the target distance.

2. The method according to claim 1, characterized in that The positioning information is updated periodically; the step of estimating a first real-time distance between the vehicle and the target traffic node according to the positioning information and the real-time acceleration information comprises: Before the vehicle enters the target area, dynamically estimating a first estimated distance between the vehicle and the target traffic node according to the periodically updated positioning information; When the first estimated distance reaches a preset estimated distance threshold, determining that the vehicle enters the target area; In the target area, a first real-time distance between the vehicle and a target traffic node is estimated according to the positioning information and the real-time acceleration information.

3. The method according to claim 1, characterized in that The step of determining the target distance between the vehicle and the target traffic node according to the first real-time distance and the second real-time distance further includes: Acquire device location information sent by the intelligent transportation infrastructure device, and a fixed distance between the intelligent transportation infrastructure device and the target transportation node; estimating a first relative distance between the vehicle and the intelligent transportation infrastructure device according to the current positioning information of the vehicle and the device position information; Determining a third real-time distance between the vehicle and the target traffic node according to the first relative distance and the fixed distance; A target distance between the vehicle and the target traffic node is determined according to the first real-time distance, the second real-time distance, and the third real-time distance.

4. The method according to claim 1, characterized in that The step of determining the target distance between the vehicle and the target traffic node according to the first real-time distance and the second real-time distance further includes: Acquire other vehicle driving information broadcasted by other vehicles, and a second relative distance between the other vehicles and the target traffic node; Determine a fourth real-time distance between the vehicle and the target traffic node according to the positioning information of the vehicle, the driving information of the other vehicles and the second relative distance; A target distance between the vehicle and the target traffic node is determined according to the first real-time distance, the second real-time distance, and the fourth real-time distance.

5. The method according to any one of claims 1 to 4, characterized in that: The step of providing a driving warning to the vehicle based on the target distance comprises: Determining a current location of the vehicle according to the positioning information; Obtain the regional speed limit value corresponding to the area where the vehicle is currently located; A regional deceleration warning prompt is generated based on the image information captured by the vehicle-mounted camera, the regional speed limit value and the current driving speed of the vehicle.

6. The method according to any one of claims 1 to 4, characterized in that: The step of providing a driving warning to the vehicle based on the target distance comprises: Acquiring environmental information of the vehicle; Dynamically determine the environmental speed limit value corresponding to the vehicle according to the environmental information; An environmental deceleration warning prompt is generated according to the environmental speed limit value and the current driving speed of the vehicle.

7. A vehicle driving warning device, characterized in that: include: An information acquisition unit, used to acquire the vehicle's positioning information and real-time acceleration information; A first estimation unit, configured to estimate a first real-time distance between the vehicle and a target traffic node according to the positioning information and the real-time acceleration information; A second estimation unit, configured to obtain image information captured by a vehicle-mounted camera, and estimate a second real-time distance between the vehicle and the target traffic node based on the image information; a target distance determination unit, configured to determine a target distance between the vehicle and the target traffic node according to the first real-time distance and the second real-time distance; A driving warning unit is used to provide a driving warning to the vehicle based on the target distance.

8. The device according to claim 7, characterized in that The positioning information is updated periodically; the first estimation unit comprises: A first estimation module, used for dynamically estimating a first estimated distance between the vehicle and a target traffic node according to the periodically updated positioning information before the vehicle enters a target area; A first determination module, configured to determine that the vehicle enters the target area when the first estimated distance reaches a preset estimated distance threshold; The second estimation module is used to estimate a first real-time distance between the vehicle and a target traffic node in the target area according to the positioning information and the real-time acceleration information.

9. An electronic device comprising 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 vehicle driving warning method as described in any one of claims 1 to 6 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the vehicle driving warning method according to any one of claims 1 to 6 is implemented.

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