Curve taking-over reminding method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a curve taking-over reminding method and device, electronic equipment and a storage medium, relates to the technical field of vehicles, and can avoid reminding of manual taking-over when a vehicle is driven on a curve, so that workers cannot suddenly intervene in controlling the vehicle when the vehicle is driven on the curve, and thus the driving safety is improved. The curve taking-over reminding method comprises the steps that in the vehicle driving process, the real-time road state is obtained, and the real-time road state comprises the real-time curve curvature and the curve estimated remaining duration; and in response to the fact that the real-time curve curvature is larger than the first set threshold value, taking-over prompt information is output after the curve pre-estimation remaining duration.

Description

Technical Field

[0001] This application relates to the technical field of vehicles, and in particular, to a method, device, electronic device, and storage medium for reminding of taking over a curve. Background Art

[0002] Currently, the reminder of taking over a curve of a vehicle is set by a fixed curve curvature limit value. For curves with a curvature above this limit value (i.e., large curves), the intelligent driving system will not remind the user to take over the steering wheel. However, in the scenario of gentle curves, the curvature of the curve does not exceed the above-mentioned fixed curve curvature limit value. Therefore, when the user does not operate the steering wheel for a certain period of time, the intelligent driving system will remind the user to take over the steering wheel. Then, if the user suddenly intervenes to take over the vehicle when the vehicle is passing through a gentle curve, the possibility of safety accidents will be greatly increased. Summary of the Invention

[0003] Embodiments of this application provide a method, device, electronic device, and storage medium for reminding of taking over a curve, which can avoid prompting manual takeover when the vehicle is driving on a curve, so that manual intervention to control the vehicle will not occur suddenly when the vehicle is driving on a curve, thereby improving driving safety.

[0004] In a first aspect, embodiments of this application provide a method for reminding of taking over a curve, and the method includes: During the driving process of the vehicle, obtain the real-time road state, where the real-time road state includes the real-time curve curvature and the estimated remaining duration of the curve; In response to the real-time curve curvature being greater than a first set threshold, output a takeover reminder message after the estimated remaining duration of the curve.

[0005] In the embodiments of this application, during the driving process of the vehicle, the real-time curve curvature and the estimated remaining duration of the curve are obtained. If the real-time curve curvature is greater than the first set threshold, it indicates that the road on which the vehicle is currently driving is a gentle curve or a large curve. At this time, a takeover reminder message can be output after the estimated remaining duration of the curve. Compared with outputting a takeover reminder message when the vehicle is driving on a curve, it can avoid the safety hazards caused by manual sudden intervention to control the vehicle when the vehicle is driving on a curve, thereby improving driving safety.

[0006] Optionally, in response to the real-time curve curvature being greater than the first set threshold, outputting a takeover reminder message after the estimated remaining duration of the curve includes: In response to the real-time curve curvature being greater than the first set threshold, determine a corresponding curve takeover inhibition duration according to the real-time curve curvature and the estimated remaining duration of the curve, where the curve takeover inhibition duration is greater than the estimated remaining duration of the curve; Output the takeover prompt message after the takeover inhibition duration of the curved pipe.

[0007] In the embodiment of the present application, when it is determined that the vehicle is driving on a gentle curve or a large curve, the corresponding takeover inhibition duration of the curve can be more accurately determined according to the real-time curve curvature and the estimated remaining duration of the curve, and then the takeover prompt message is output after the takeover inhibition duration of the curve, thereby improving driving safety.

[0008] Optionally, before determining the corresponding takeover inhibition duration of the curve according to the real-time curve curvature and the estimated remaining duration of the curve, the method further includes: Obtain the driving habits of the user; Determining the corresponding takeover inhibition duration of the curve according to the real-time curve curvature and the estimated remaining duration of the curve includes: Determine the corresponding takeover inhibition duration of the curve according to the real-time curve curvature, the estimated remaining duration of the curve, and the driving habits.

[0009] In the embodiment of the present application, the driving habits of the user can be obtained, and then in the takeover inhibition matrix of the curve, the takeover inhibition duration of the curve is jointly determined according to the real-time curve curvature, the estimated remaining duration of the curve, and the driving habits, so that the determined takeover inhibition duration of the curve is more targeted and meets the takeover requirements of different users for the vehicle.

[0010] Optionally, determining the corresponding takeover inhibition duration of the curve according to the real-time curve curvature, the estimated remaining duration of the curve, and the driving habits includes: In the takeover inhibition matrix of the curve, determine the corresponding takeover inhibition duration of the curve according to the real-time curve curvature, the estimated remaining duration of the curve, and the driving habits, wherein the takeover inhibition matrix of the curve includes the corresponding relationship between the real-time curve curvature, the estimated remaining duration of the curve, the driving habits, and the takeover inhibition duration.

[0011] In the embodiment of the present application, the takeover inhibition matrix of the curve includes the corresponding relationship between the real-time curve curvature, the estimated remaining duration of the curve, the driving habits, and the takeover inhibition duration. Then, when it is determined that the vehicle is driving on a gentle curve or a large curve, the takeover inhibition duration of the curve can be accurately determined based on the takeover inhibition matrix of the curve.

[0012] Optionally, the takeover inhibition duration is negatively correlated with the degree of aggressiveness indicated by the driving habits, and is positively correlated with the real-time curve curvature and the estimated remaining duration of the curve.

[0013] In the embodiments of the present application, the suppression duration of curve takeover is negatively correlated with the aggressiveness indicated by the driving habit, and is positively correlated with the real-time curve curvature and the estimated remaining duration of the curve. This can not only meet the personalized needs of different users for vehicle takeover, but also prevent sudden manual takeover by the user when the vehicle is driving on a curve, thereby improving driving safety.

[0014] Optionally, the method further includes: In response to the same user taking over the curve multiple times exceeding the suppression duration of curve takeover, the suppression duration of curve takeover corresponding to the user is increased and adjusted.

[0015] In the embodiments of the present application, usually the vehicle will output a takeover prompt message after the suppression duration of curve takeover to remind the user to take over the vehicle. However, if the same user takes over the vehicle after exceeding the suppression duration of curve takeover multiple times, it indicates that the user's driving habit has become more conservative. At this time, the suppression duration of curve takeover corresponding to the user can be increased and adjusted to meet the user's need for vehicle takeover after the driving habit changes.

[0016] Optionally, obtaining the driving habit of the user includes: Obtaining the actual driving actions of the vehicle when passing through the target driving scenario, and the recommended driving actions of the vehicle's assisted driving system; Comparing the actual driving actions with the recommended driving actions to obtain the driving habit of the user.

[0017] In the embodiments of the present application, the actual driving actions of the user when driving the vehicle through a specific scenario can be compared with the recommended driving actions of the assisted driving system, so as to accurately determine the driving habit to which the user belongs.

[0018] Optionally, obtaining the real-time road condition includes: Obtaining the first candidate real-time curve curvature through the navigation system; Obtaining the second candidate real-time curve curvature through the panoramic image; Determining the real-time curve curvature according to the first candidate real-time curve curvature and the second candidate real-time curve curvature.

[0019] In the embodiments of the present application, the corresponding curve curvatures can be determined respectively through the navigation system and the panoramic image, and then the final curve curvature can be jointly determined by combining the curve curvatures determined by the two methods, so as to improve the accuracy of the determined curve curvature.

[0020] Optionally, determining the real-time curve curvature according to the first candidate real-time curve curvature and the second candidate real-time curve curvature includes: Calculate the curve curvature difference between the first candidate real-time curve curvature and the second candidate curve curvature; In response to the curve curvature difference being greater than a second set threshold, use the second candidate real-time curve curvature as the real-time curve curvature.

[0021] In the embodiments of the present application, if there is a large difference between the curve curvature determined by the navigation system and the curve curvature determined by the surround view image, then use the curve curvature determined by the surround view image as the final curve curvature.

[0022] In a second aspect, the embodiments of the present application provide a curve takeover reminder device, and the device includes: An acquisition unit, configured to acquire a real-time road state during vehicle driving, where the real-time road state includes a real-time curve curvature and a predicted remaining curve duration; An output unit, configured to output a takeover prompt message after the predicted remaining curve duration in response to the real-time curve curvature being greater than a first set threshold.

[0023] Optionally, the output unit includes: A takeover inhibition duration determination unit, configured to determine a corresponding curve takeover inhibition duration according to the real-time curve curvature and the predicted remaining curve duration in response to the real-time curve curvature being greater than the first set threshold, where the curve takeover inhibition duration is greater than the predicted remaining curve duration; A takeover prompt message output unit, configured to output the takeover prompt message after the curve takeover inhibition duration.

[0024] Optionally, the acquisition unit is further configured to: acquire the driving habit of the user; The takeover inhibition duration determination unit includes: A takeover inhibition duration determination subunit, configured to determine the corresponding curve takeover inhibition duration according to the real-time curve curvature, the predicted remaining curve duration, and the driving habit.

[0025] Optionally, the takeover inhibition duration determination subunit is specifically configured to: In a curve takeover inhibition matrix, determine the corresponding curve takeover inhibition duration according to the real-time curve curvature, the predicted remaining curve duration, and the driving habit, where the curve takeover inhibition matrix includes the corresponding relationship between the real-time curve curvature, the predicted remaining curve duration, the driving habit, and the curve takeover inhibition duration.

[0026] Optionally, the curve takeover inhibition duration is negatively correlated with the aggressiveness indicated by the driving habit, and is positively correlated with the real-time curve curvature and the predicted remaining curve duration.

[0027] Optionally, the takeover device further includes: An adjustment unit, configured to increase the takeover inhibition duration corresponding to the user in response to the user exceeding the takeover inhibition duration for a curve multiple times during a curve takeover.

[0028] Optionally, the obtaining unit is specifically configured to: Obtain the actual driving actions of the vehicle when passing through a target driving scenario, and the recommended driving actions of the vehicle's assisted driving system; Compare the actual driving actions with the recommended driving actions to obtain the driving habits of the user.

[0029] Optionally, the obtaining unit includes: A first candidate real-time curve curvature obtaining subunit, configured to obtain a first candidate real-time curve curvature through a navigation system; A second candidate real-time curve curvature obtaining subunit, configured to obtain a second candidate real-time curve curvature through a surround view image; A real-time curve curvature obtaining subunit, configured to determine the real-time curve curvature according to the first candidate real-time curve curvature and the second candidate real-time curve curvature.

[0030] Optionally, the real-time curve curvature obtaining subunit is specifically configured to: Calculate the curve curvature difference between the first candidate real-time curve curvature and the second candidate curve curvature; In response to the curve curvature difference being greater than a second set threshold, use the second candidate real-time curve curvature as the real-time curve curvature.

[0031] In a third aspect, an embodiment of the present application provides an electronic device, which includes a memory for storing a computer program and a processor for executing the computer program. When the computer program is executed by the processor, the electronic device is triggered to execute the steps of the method according to any one of the embodiments in the first aspect.

[0032] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium for storing a computer program. When the computer program runs on a processor, the processor is caused to execute the steps of the method according to any one of the embodiments in the first aspect.

[0033] It should be understood that the technical solutions of the second to fourth aspects of the embodiments of the present application are consistent with those of the first aspect of the embodiments of the present application, and the beneficial effects obtained by each aspect and the corresponding feasible implementation manners are similar, and will not be elaborated herein. Description of the Drawings

[0034] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the accompanying drawings required for the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of this specification. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0035] Figure 1 It is a schematic flowchart of a method for reminding of a curved pipe connection provided by an embodiment of the present application; Figure 2 It is a schematic flowchart of a method for outputting a pipe connection prompt message provided by an embodiment of the present application; Figure 3 It is a schematic flowchart of another method for outputting a pipe connection prompt message provided by an embodiment of the present application; Figure 4 It is a schematic flowchart of another method for determining the suppression duration of a curved pipe connection provided by an embodiment of the present application; Figure 5 It is a schematic flowchart of a method for adjusting the suppression duration of a curved pipe connection provided by an embodiment of the present application; Figure 6 It is a schematic diagram of a vehicle passing through a gentle curve provided by an embodiment of the present application; Figure 7 It is a schematic structural diagram of a reminder device for a curved pipe connection provided by an embodiment of the present application; Figure 8 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0036] To better understand the technical solutions of this specification, the following will describe the embodiments of the present application in detail with reference to the accompanying drawings.

[0037] It should be clear that the described embodiments are only some embodiments of this specification, rather than all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope protected by this specification.

[0038] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit this specification. The singular forms of "a", "the", and "said" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0039] It has been found by the inventors of the present application that the reminder for taking over a curve of a vehicle is set by a fixed curve curvature limit value. For curves with a curvature above this curve curvature limit value (i.e., large curves), the intelligent driving system will not remind the user to take over the steering wheel. However, in the scenario of gentle curves, the curvature of the curve does not exceed the above-mentioned fixed curve curvature limit value. Therefore, when the intelligent driving system does not detect the user's operation on the steering wheel for a certain period of time, it will remind the user to take over the steering wheel. Then, if the user suddenly intervenes to take over the vehicle when the vehicle is passing through a gentle curve, the possibility of a safety accident will be greatly increased.

[0040] In view of this, the embodiments of the present application provide a reminder method for taking over a curve. In this method, if the vehicle detects that it is currently in a gentle curve or a large curve, it will estimate the remaining time of the curve, and then remind the user to take over the vehicle after the remaining time of the curve ends, so as to avoid the safety accidents caused by the user suddenly intervening to take over the vehicle when the vehicle is driving in a curve and improve driving safety.

[0041] The solution protected by the present application will be described in detail below with reference to the accompanying drawings.

[0042] Please refer to Figure 1 , which is a schematic flow chart of a reminder method for taking over a curve provided by an embodiment of the present application. The flow of this method is described as follows: Step 101: During the driving process of the vehicle, obtain the real-time road state, where the real-time road state includes the real-time curve curvature and the estimated remaining time of the curve.

[0043] In the embodiments of the present application, in order to obtain the real-time curve curvature, on the one hand, the first candidate real-time curve curvature can be obtained from the navigation system; on the other hand, the panoramic image can be obtained through the panoramic camera set in the vehicle, and then the second candidate real-time curve curvature can be determined through the panoramic image. Finally, the real-time curve curvature is determined according to the first candidate real-time curve curvature and the second candidate real-time curve curvature.

[0044] As a possible implementation manner, the curve curvature difference between the first candidate real-time curve curvature and the second candidate real-time curve curvature can be calculated. If the curve curvature difference is greater than the second set threshold, the second candidate real-time curve curvature is used as the real-time curve curvature. That is to say, if the curve curvature determined by the navigation system and the curve curvature determined by the panoramic image differ greatly, the curve curvature determined by the panoramic image is used as the final curve curvature.

[0045] In order to obtain the estimated remaining time of the curve, as a possible implementation manner, the estimated remaining time of the curve can be directly obtained from the navigation system.

[0046] Step 102: In response to the real-time curve curvature being greater than the first set threshold, output a takeover prompt message after the estimated remaining duration of the curve.

[0047] In the embodiments of the present application, if the real-time curve curvature is greater than the first set threshold, it indicates that the road on which the vehicle is currently traveling is a gentle curve or a large curve. At this time, a takeover prompt message can be output after the estimated remaining duration of the curve. Compared with outputting a takeover prompt message when the vehicle is driving on a curve, it can avoid the safety hazards brought by the sudden manual intervention to control the vehicle when the vehicle is driving on a curve, thereby improving driving safety.

[0048] It should be noted that the takeover prompt message can be one or a combination of voice messages, vibration messages, and animation messages, and the present application does not make special restrictions on this.

[0049] The following details the specific strategy for the vehicle to output a takeover prompt message.

[0050] Please refer to Figure 2 , which is a flowchart of a method for outputting a takeover prompt message provided by the embodiments of the present application. Step 102 can be specifically implemented by executing sub-step 1021 to sub-step 1022: Step 1021: In response to the real-time curve curvature being greater than the first set threshold, determine the corresponding curve takeover inhibition duration according to the real-time curve curvature and the estimated remaining duration of the curve, where the curve takeover inhibition duration is greater than the estimated remaining duration of the curve.

[0051] In the embodiments of the present application, in the case of determining that the vehicle is driving on a gentle curve or a large curve, the corresponding curve takeover inhibition duration can be more accurately determined according to the real-time curve curvature and the estimated remaining duration of the curve. It should be understood that the role of the curve takeover inhibition duration here is: within the curve takeover inhibition duration, the user is inhibited from taking over the vehicle, that is, the exit of the intelligent driving system is inhibited.

[0052] It should be noted that both the real-time curve curvature and the estimated remaining duration of the curve are positively correlated with the curve takeover inhibition duration, that is, when the estimated remaining duration of the curve is certain, the greater the real-time curve curvature, the greater the curve takeover inhibition duration; the smaller the real-time curve curvature, the smaller the curve takeover inhibition duration; similarly, when the real-time curve curvature is certain, the greater the estimated remaining duration of the curve, the greater the curve takeover inhibition duration; the smaller the estimated remaining duration of the curve, the smaller the curve takeover inhibition duration.

[0053] The following details how to determine the curve takeover inhibition duration.

[0054] In some embodiments, considering that different users have different driving habits, if different users all correspond to the same curve takeover inhibition duration, it may lead to the inability to meet the personalized takeover requirements of different users.

[0055] Please refer to Figure 3 , which is a schematic flowchart of another method for outputting a takeover prompt message provided by an embodiment of the present application. Before performing step 1021, step 201 can also be executed: Step 201: Obtain the driving habit of the user.

[0056] In the embodiments of the present application, the actual driving actions of the vehicle when passing through the target driving scenario and the recommended driving actions of the vehicle's assisted driving system can be obtained. Then, the actual driving actions are compared with the recommended driving actions to obtain the driving habit of the user. For example, the target driving scenario can be a road intersection, a highway ramp, overtaking and lane changing, etc., and the present application does not make special limitations on this.

[0057] It should be noted that the determined driving habits include but are not limited to various types such as tough, aggressive, adventurous, neutral, conservative, extreme, decisive, sporty, conservative, and modest, and the present application does not make special limitations on this.

[0058] Step 1021 can be specifically implemented by executing sub-step 202: Step 202: Determine the corresponding curve takeover inhibition duration according to the real-time curve curvature, the estimated remaining duration of the curve, and the driving habit.

[0059] In the embodiments of the present application, the curve takeover inhibition duration can be jointly determined according to the real-time curve curvature, the estimated remaining duration of the curve, and the driving habit, so that the determined curve takeover inhibition duration is more targeted and meets the takeover requirements of different users for the vehicle.

[0060] It should be noted that there is a negative correlation between the driving habit and the curve takeover inhibition duration, that is, the more aggressive the driving habit, the shorter the curve takeover inhibition duration; on the contrary, the more conservative the driving habit, the longer the curve takeover inhibition duration.

[0061] Please refer to Figure 4 , which is a schematic flowchart of another method for determining the curve takeover inhibition duration provided by an embodiment of the present application. Step 202 can be specifically implemented by executing sub-step 2021: Step 2021: In the curve takeover inhibition matrix, determine the corresponding curve takeover inhibition duration according to the real-time curve curvature, the estimated remaining duration of the curve, and the driving habit, where the curve takeover inhibition matrix includes the corresponding relationship between the real-time curve curvature, the estimated remaining duration of the curve, the driving habit, and the curve takeover inhibition duration.

[0062] In the embodiments of the present application, the curve takeover inhibition matrix includes the corresponding relationships among the real-time curve curvature, the estimated remaining duration of the curve, the driving style, and the curve takeover inhibition duration. Then, when it is determined that the vehicle is driving on a gentle curve or a large curve, the curve takeover inhibition duration can be accurately determined based on the curve takeover inhibition matrix.

[0063] Step 1022: Output a takeover prompt message after the curve takeover inhibition duration.

[0064] In the embodiments of the present application, after the curve takeover inhibition duration, the vehicle will output a takeover prompt message to prompt the user to take over the vehicle.

[0065] In some embodiments, considering that over time, the driving habits of the same user may change. Therefore, in the embodiments of the present application, the curve takeover inhibition duration can be adaptively adjusted according to the changes in the user's driving habits.

[0066] Please refer to Figure 5 , which is a schematic flowchart of a method for adjusting the curve takeover inhibition duration provided by the embodiments of the present application. After executing step 1022, step 1023 can also be executed: Step 1023: In response to the same user taking over the curve multiple times beyond the curve takeover inhibition duration, increase and adjust the curve takeover inhibition duration corresponding to the user.

[0067] In the embodiments of the present application, usually, the vehicle will output a takeover prompt message after the curve takeover inhibition duration to remind the user to take over the vehicle. However, if the same user takes over the vehicle after exceeding the curve takeover inhibition duration multiple times. For example, if the overtime takeover duration of the same user exceeding the curve takeover inhibition duration is not less than the set takeover duration each time, it indicates that the driving habit of this user has become more conservative. At this time, the curve takeover inhibition duration corresponding to this user can be increased and adjusted to meet the vehicle takeover requirements after the change in the user's driving habit.

[0068] It should be noted that if the same user takes over the vehicle within the curve takeover inhibition duration multiple times, it indicates that the driving habit of this user has become more aggressive. At this time, the curve takeover inhibition duration corresponding to this user can be decreased and adjusted or remain unchanged.

[0069] For example, the initial curve takeover inhibition duration is 65s. If the same user takes over the vehicle after 70s or more (70s, 72s, 73s, 71s, 74s) multiple times, the initial curve takeover inhibition duration will be increased and adjusted, updated to the minimum value (70s) of the actual takeover duration, or the average value (72s) of the actual takeover duration, or the maximum value (74s) of the actual takeover duration. The present application does not make special restrictions on this.

[0070] For another example, the initial suppression duration of the curved road takeover is 65 s. If the same user takes over the vehicle within 60 s multiple times (for example, the actual takeover durations are 56 s, 58 s, 59 s, 60 s, 57 s respectively), the initial suppression duration of the curved road takeover is adjusted to be reduced and updated to the maximum value (60 s) of the actual takeover durations, or the average value (58 s) of the actual takeover durations, or the minimum value (56 s) of the actual takeover durations, or remains unchanged (i.e., the suppression duration of the curved road takeover is still 65 s). This application does not make special restrictions on this.

[0071] Please refer to Figure 6 (a)-(b), which are schematic diagrams of a vehicle passing through a gentle curve provided by an embodiment of this application. As Figure 6 (a) shows, when vehicle A passes through a gentle curve, the suppression duration of the curved road takeover is determined according to the driving habits of the user in vehicle A, the current real-time curve curvature, and the estimated remaining duration of the curve. Thus, after vehicle A finishes driving through the gentle curve, that is, after point W1, a takeover prompt message is output, thereby ensuring the driving safety of the user in vehicle A.

[0072] As Figure 6 (b) shows, both vehicle A and vehicle B pass through a gentle curve. The corresponding suppression duration 1 of the curved road takeover is determined according to the driving habits of user 1 in vehicle A, the current real-time curve curvature, and the estimated remaining duration of the curve. Thus, after vehicle A passes through point W1, a takeover prompt message is output; similarly, the suppression duration 2 of the curved road takeover is determined according to the driving habits of user 2 in vehicle B, the current real-time curve curvature, and the estimated remaining duration of the curve. Thus, after vehicle B passes through point W2, a takeover prompt message is output. That is to say, the suppression duration 2 of the curved road takeover is less than the suppression duration 1 of the curved road takeover, which means that user 2 in vehicle B takes over the vehicle earlier than user 1 in vehicle A, and the driving habits of user 2 are more aggressive than those of user 1.

[0073] Please refer to Figure 7 , an embodiment of this application provides a reminder device for curved road takeover, and the device includes: An acquisition unit 301, configured to acquire a real-time road state during vehicle driving, where the real-time road state includes a real-time curve curvature and an estimated remaining duration of the curve; An output unit 302, configured to output a takeover prompt message after the estimated remaining duration of the curve in response to the real-time curve curvature being greater than a first set threshold.

[0074] Optionally, the output unit 302 includes: A takeover inhibition duration determination unit, configured to, in response to a real-time curve curvature being greater than a first set threshold, determine a corresponding curve takeover inhibition duration according to the real-time curve curvature and the estimated remaining duration of the curve, where the curve takeover inhibition duration is greater than the estimated remaining duration of the curve; A takeover prompt message output unit, configured to output a takeover prompt message after the curve takeover inhibition duration.

[0075] Optionally, the acquisition unit 301 is further configured to: acquire the driving habit of the user; The takeover inhibition duration determination unit includes: A takeover inhibition duration determination subunit, configured to determine a corresponding curve takeover inhibition duration according to the real-time curve curvature, the estimated remaining duration of the curve, and the driving habit.

[0076] Optionally, the takeover inhibition duration determination subunit is specifically configured to: In a curve takeover inhibition matrix, determine a corresponding curve takeover inhibition duration according to the real-time curve curvature, the estimated remaining duration of the curve, and the driving habit, where the curve takeover inhibition matrix includes the corresponding relationship between the real-time curve curvature, the estimated remaining duration of the curve, the driving habit, and the curve takeover inhibition duration.

[0077] Optionally, the curve takeover inhibition duration is negatively correlated with the aggressiveness indicated by the driving habit, and is positively correlated with the real-time curve curvature and the estimated remaining duration of the curve.

[0078] Optionally, the device further includes: An adjustment unit 303, configured to, in response to the same user taking over a curve multiple times exceeding the curve takeover inhibition duration, perform an increase adjustment on the curve takeover inhibition duration corresponding to the user.

[0079] Optionally, the acquisition unit 301 is specifically configured to: Acquire the actual driving actions of the vehicle when passing through a target driving scenario, and the recommended driving actions of the vehicle's assisted driving system; Compare the actual driving actions with the recommended driving actions to obtain the driving habit of the user.

[0080] Optionally, the acquisition unit 301 includes: A first candidate real-time curve curvature acquisition subunit, configured to acquire a first candidate real-time curve curvature through a navigation system; A second candidate real-time curve curvature acquisition subunit, configured to acquire a second candidate real-time curve curvature through a surround view image; A real-time curve curvature acquisition subunit, configured to determine the real-time curve curvature according to the first candidate real-time curve curvature and the second candidate real-time curve curvature.

[0081] Optionally, the real-time curve curvature acquisition subunit is specifically configured to: Calculate the curve curvature difference between the first candidate real-time curve curvature and the second candidate curve curvature; In response to the curve curvature difference being greater than the second set threshold, use the second candidate real-time curve curvature as the real-time curve curvature.

[0082] The device provided in the above-described embodiment may be, for example: a chip or a chip module. The device provided in the above-described embodiment is used to execute the technical solution of the method embodiment shown above. The implementation principle and technical effect can be further referred to the relevant description in the method embodiment, and will not be elaborated here.

[0083] Regarding each module / unit included in each device described in the above embodiments, it may be a software module / unit, a hardware module / unit, or may be partially a software module / unit and partially a hardware module / unit. For example, for each device applied to or integrated into a chip, each module / unit included therein may be implemented in a hardware manner such as a circuit, or at least some of the modules / units may be implemented in a software program manner, and the software program runs on a processor integrated inside the chip, and the remaining part of the modules / units may be implemented in a hardware manner such as a circuit; for each device applied to or integrated into a chip module, each module / unit included therein may be implemented in a hardware manner such as a circuit, and different modules / units may be located in the same component (such as a chip, a circuit module, etc.) or different components of the chip module, or at least some of the modules / units may be implemented in a software program manner, and the software program runs on a processor integrated inside the chip module, and the remaining part of the modules / units may be implemented in a hardware manner such as a circuit; for each device applied to or integrated into an electronic terminal device, each module / unit included therein may be implemented in a hardware manner such as a circuit, and different modules / units may be located in the same component (such as a chip, a circuit module, etc.) or different components inside the electronic terminal device, or at least some of the modules / units may be implemented in a software program manner, and the software program runs on a processor integrated inside the electronic terminal device, and the remaining (if any) part of the modules / units may be implemented in a hardware manner such as a circuit.

[0084] Please refer to Figure 8 , an electronic device provided in an embodiment of the present application. The electronic device includes at least one processor 401, and the processor 401 is used to execute a computer program stored in a memory to implement the steps of the flow chart of the curve takeover reminder method provided in the embodiment of the present application as Figures 1 - 5 shown.

[0085] Optionally, the processor 401 may specifically be a central processing unit, a specific ASIC, or may be one or more integrated circuits for controlling program execution.

[0086] Optionally, the electronic device may further include a memory 402 connected to at least one processor 401. The memory 402 may include a ROM, a RAM, and a disk memory. The memory 402 is used to store data required for the operation of the processor 501, that is, instructions executable by at least one processor 401 are stored. The at least one processor 401 executes the instructions stored in the memory 402 to execute the method as Figures 1 - 5 shown. Wherein, the number of the memories 402 is one or more. Wherein, the number of the memories 402 is one or more.

[0087] The embodiment of the present application further provides a computer storage medium. Wherein, the computer storage medium stores a computer program. When the computer program runs on a processor, the processor is caused to execute the method as Figures 1 - 5 shown.

[0088] The above computer-readable storage medium may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the computer-readable storage medium include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read only memory (ROM), an erasable programmable read only memory (EPROM), or a flash memory, an optical fiber, a portable compact disk read only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0089] The computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries the computer-readable program code. Such a propagated data signal may take various forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.

[0090] The program code contained on a computer-readable medium can be transmitted with any suitable medium, including but not limited to wireless, wire, optical fiber cable, radio frequency (RF), etc., or any suitable combination of the above.

[0091] The computer program code for performing the operations of this specification can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any kind of network including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, by connecting through the Internet service provider via the Internet).

[0092] The specific embodiments of this specification have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in a different order from that in the embodiments and still achieve the desired result. Additionally, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0093] In the several embodiments provided in this specification, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the couplings or direct couplings or communication connections shown or discussed with each other can be through some interfaces, and the indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0094] In addition, each functional unit in the various embodiments of this specification may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or in the form of a combination of hardware and software functional units.

[0095] The above are only the preferred embodiments of this specification and are not intended to limit this specification. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this specification shall be included within the scope of protection of this specification.

Claims

1. A method for reminding a bend takeover, characterized in that: The method includes: During the driving of the vehicle, obtaining the real-time road state, where the real-time road state includes the real-time curve curvature and the estimated remaining duration of the curve; In response to the real-time curve curvature being greater than a first set threshold, outputting a takeover prompt message after the estimated remaining duration of the curve.

2. The method according to claim 1, wherein In response to the real-time curve curvature being greater than a first set threshold, outputting a takeover prompt message after the estimated remaining duration of the curve, including: In response to the real-time curve curvature being greater than the first set threshold, determining a corresponding curve takeover inhibition duration according to the real-time curve curvature and the estimated remaining duration of the curve, where the curve takeover inhibition duration is greater than the estimated remaining duration of the curve; Outputting the takeover prompt message after the curve takeover inhibition duration.

3. The method according to claim 2, wherein Before determining a corresponding curve takeover inhibition duration according to the real-time curve curvature and the estimated remaining duration of the curve, the method further includes: Obtaining the driving habit of the user; Determining a corresponding curve takeover inhibition duration according to the real-time curve curvature and the estimated remaining duration of the curve, including: Determining a corresponding curve takeover inhibition duration according to the real-time curve curvature, the estimated remaining duration of the curve, and the driving habit.

4. The method according to claim 3, characterized in that Determining a corresponding curve takeover inhibition duration according to the real-time curve curvature, the estimated remaining duration of the curve, and the driving habit, including: In a curve takeover inhibition matrix, determining a corresponding curve takeover inhibition duration according to the real-time curve curvature, the estimated remaining duration of the curve, and the driving habit, where the curve takeover inhibition matrix includes the corresponding relationship between the real-time curve curvature, the estimated remaining duration of the curve, the driving habit, and the curve takeover inhibition duration.

5. The method according to claim 4, characterized in that The curve takeover inhibition duration is negatively correlated with the aggressiveness indicated by the driving habit, and is positively correlated with the real-time curve curvature and the estimated remaining duration of the curve.

6. The method according to any one of claims 2-5, characterized in that, The method further includes: In response to the same user taking over the curve multiple times beyond the curve takeover inhibition duration, increasing and adjusting the curve takeover inhibition duration corresponding to the user.

7. The method according to claim 3, wherein Obtaining the driving habit of the user, including: Obtaining the actual driving actions of the vehicle when passing through a target driving scenario, and the recommended driving actions of the vehicle's assisted driving system; Comparing the actual driving actions with the recommended driving actions to obtain the driving habit of the user.

8. The method according to claim 1, wherein Obtaining the real-time road state, including: Obtaining a first candidate real-time curve curvature through a navigation system; Obtaining a second candidate real-time curve curvature through a surround view image; Determining the real-time curve curvature according to the first candidate real-time curve curvature and the second candidate real-time curve curvature.

9. The method according to claim 8, wherein Determining the real-time curve curvature according to the first candidate real-time curve curvature and the second candidate real-time curve curvature, including: Calculating the curve curvature difference between the first candidate real-time curve curvature and the second candidate curve curvature; In response to the curve curvature difference being greater than a second set threshold, using the second candidate real-time curve curvature as the real-time curve curvature.

10. A reminder device for a bend connecting pipe, characterized in that, The device includes: An acquisition unit, configured to acquire a real-time road state during vehicle driving, where the real-time road state includes a real-time curve curvature and an estimated remaining duration of the curve; An output unit, configured to output a takeover prompt message after the estimated remaining duration of the curve in response to the real-time curve curvature being greater than a first set threshold.

11. An electronic device, characterized in that, It includes a memory and a processor, wherein: The memory is configured to store a computer program; The processor is configured to execute the computer program to implement the method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that, For storing a computer program, wherein the computer program, when executed by a processor, implements the method according to any one of claims 1 to 9.

Images