Driving reminding method and device, electronic equipment and medium

Abstract

The embodiment of the invention discloses a driving reminding method and device, electronic equipment and a medium. The method comprises the steps that two adjacent target vehicles on the same lane are detected through a bayonet device, the distance information of the two adjacent target vehicles is determined, and the target projection degree is determined according to the distance information; determining a target projection position in front of the target vehicle according to the size information of the target vehicle and the target projection angle; and projecting and displaying the virtual identifier at the target projection position through a projection device at the bayonet based on the target projection degree so as to perform driving reminding on the target vehicle. According to the scheme, the two adjacent target vehicles on the lane can be detected by fully utilizing the bayonet equipment, and the target vehicles are accurately detected under the condition that hardware equipment is not added. The virtual identifier is displayed for the target vehicle through the projection device at the bayonet for driving reminding, and the vehicle driving condition which may not be observed by human eyes is displayed for a driver, so that the driving safety is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data processing, and in particular to a driving reminding method and device, electronic equipment and medium. BACKGROUND

[0002] With the increasing number of motor vehicles, traffic safety problems are also increasingly prominent. The intersection situation is particularly complex, and emergency deceleration or braking often occurs. Some drivers have difficulty accurately grasping the safety distance between the vehicle and the front vehicle, and in the case of emergency deceleration or braking, traffic accidents are likely to occur. Especially in the case of a large vehicle behind the vehicle, the vehicle inertia is large, and the braking distance is usually much longer than that of a small car. Under the same other factors, large vehicles are more likely to cause rear-end accidents. In addition, large vehicles are heavier, and at the same speed, the impact force will be greater, and the damage to people or vehicles will also be greater.

[0003] Currently, the driver of the vehicle can only observe the road situation within the visual range of the human eye. Sometimes the visual range is affected by the environment, and other vehicles may not be discovered in time, or the distance between vehicles cannot be effectively grasped, resulting in potential risks of traffic accidents. SUMMARY

[0004] The embodiments of the present application provide a driving reminding method and device, electronic equipment and medium, which display a virtual mark for a target vehicle in combination with information detected by a portal device, and remind the target vehicle to drive.

[0005] According to an aspect of the present application, a driving reminding method is provided, which comprises:

[0006] The target vehicle is detected by a portal device, distance information of two adjacent target vehicles on the same lane is determined, and the target projection degree is determined according to the distance information.

[0007] According to the size information of the target vehicle and the target projection angle, the target projection position in front of the target vehicle is determined.

[0008] A virtual mark is displayed at the target projection position based on the target projection degree by a projection device at the portal, so as to remind the target vehicle to drive.

[0009] According to an aspect of the present application, a driving reminding device is provided, which comprises:

[0010] The target projection degree determination module is configured to detect the target vehicle by a portal device, determine the distance information of two adjacent target vehicles on the same lane, and determine the target projection degree according to the distance information.

[0011] A target projection position determination module is used to determine the target projection position in front of the target vehicle based on the size information of the target vehicle and the target projection angle;

[0012] The virtual identification display module is used to project and display a virtual identification at the target projection position based on the target projection degree through the projection device at the bayonet, so as to provide a driving reminder to the target vehicle.

[0013] According to another aspect of the present application, an electronic device is provided, comprising:

[0014] at least one processor; and

[0015] A memory connected to at least one processor for data processing; wherein,

[0016] The memory stores a computer program that can be executed by at least one processor, and the computer program is executed by at least one processor so that the at least one processor can execute the driving reminder method of any embodiment of the present application.

[0017] According to another aspect of the present application, a computer-readable storage medium is provided, which stores computer instructions, and the computer instructions are used to enable a processor to implement the driving reminder method of any embodiment of the present application when executed.

[0018] The technical solution of the embodiment of the present application is to detect two adjacent target vehicles on the same lane through the bayonet device, determine the distance information of the two adjacent target vehicles, and determine the target projection degree based on the distance information; determine the target projection position in front of the target vehicle based on the size information of the target vehicle and the target projection angle; and project and display a virtual logo at the target projection position based on the target projection degree through the projection device at the bayonet to provide a driving reminder to the target vehicle. The above solution can make full use of the bayonet device to detect two adjacent target vehicles on the lane and accurately detect the target vehicle without adding hardware equipment. The projection device at the bayonet displays a virtual logo for the target vehicle as a driving reminder, showing the driver the vehicle's driving conditions that may not be observed by the human eye, thereby improving driving safety.

[0019] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments description. Obviously, the drawings in the following description only are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without any creative effort.

[0021] Figure 1 A flow chart of a driving reminding method provided by an embodiment of the present application;

[0022] Figure 2 A flow chart of a driving reminding method provided by another embodiment of the present application;

[0023] Figure 3 A first schematic diagram of a target visible distance provided by another embodiment of the present application;

[0024] Figure 4 A second schematic diagram of a target visible distance provided by another embodiment of the present application;

[0025] Figure 5 A third schematic diagram of a target visible distance provided by another embodiment of the present application;

[0026] Figure 6 A flow chart of a driving reminding method provided by still another embodiment of the present application;

[0027] Figure 7 A flow chart of a driving reminding method provided by yet another embodiment of the present application;

[0028] Figure 8 A structural schematic diagram of a driving reminding device provided by an embodiment of the present application;

[0029] Figure 9 A structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to make the personnel in the technical field better understand the present application, the following will combine the drawings in the embodiments of the present application, and clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments only are some embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without any creative effort should belong to the protection scope of the present application.

[0031] It should be noted that the terms "first", "second", "third", "fourth", "actual", "preset" and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] Figure 1 A flowchart of a driving reminding method provided by an embodiment of the present application, the embodiment of the present application can be applicable to the case of reminding driving of a vehicle. Typically, the embodiment of the present application can be applicable to the case of reminding driving according to the detection information of a target vehicle by a tollgate device. The method can be executed by a driving reminding device, which can be realized in the form of hardware and / or software, and can be configured in an electronic device. The electronic device can be a tollgate device with processing capability, or another electronic device with processing capability, such as a server, as shown in the figure, and the method comprises the following steps. Figure 1

[0033] S110, detecting a target vehicle by a tollgate device, determining distance information of two adjacent target vehicles on the same lane, and determining a target projection degree according to the distance information.

[0034] Wherein, the tollgate is an entrance and exit with defensive and inspection facilities. On urban roads, the tollgate is a system constructed at the intersection of urban roads, which can monitor all motor vehicles passing through the point. The tollgate device can include tollgate cameras, tollgate radars, tollgate sensors and other devices. The two adjacent target vehicles on the same lane are two target vehicles driving in front and behind. The distance information can include the distance between the two adjacent target vehicles.

[0035] ​Exemplarily, the example of the toll gate device is that the toll gate device generally has a specific detection range, and if a target vehicle appears in the detection range of the toll gate device, the target vehicle is detected by the toll gate device. When the target vehicle is detected by the toll gate device, it is not necessary that the two adjacent target vehicles on the same lane appear in the detection range at the same time to be detected, but as long as the target vehicle appears in the detection range, the target vehicle can be detected by the toll gate device. When the target vehicle appears in the detection range, the speed of the target vehicle, the time when the target vehicle is detected, the vehicle identification, the vehicle type and other information of the target vehicle can be detected and recorded by the toll gate device, and when another target vehicle appears in the detection range on the same lane, the speed of the other target vehicle, the time when the other target vehicle is detected, the vehicle identification, the vehicle type and other information of the other target vehicle can be detected and recorded by the toll gate device. According to the detected and recorded information, the distance information of the two adjacent target vehicles on the same lane is calculated.

[0036] In the embodiment of the present application, a virtual identification of a target vehicle can be projected to remind the target vehicle to drive, and the target projection degree of the projection can be determined according to the distance information of the two adjacent target vehicles to reflect the driving risk degree of the two adjacent target vehicles. Generally, the closer the distance between the two adjacent target vehicles, the higher the driving risk degree, and different risk degrees can correspond to different target projection degrees, so as to directly and intuitively remind the driver of the target vehicle to adjust the driving mode to improve the driving safety.

[0037] S120, determining a target projection position in front of the target vehicle according to the size information of the target vehicle and the target projection angle.

[0038] The size information can include the height of the target vehicle. The target projection angle can be an angle between a line of sight of a driver in the target vehicle looking at the ground and a horizontal direction, or an angle between the line of sight of the driver in the target vehicle looking at the ground and a vertical direction. The target projection angle can be determined in advance according to actual conditions, and the target projection angles corresponding to different vehicle types can be different. For example, the position of the driver of a large vehicle is relatively high, and the front part of the vehicle has no engine compartment, the position of the driver of a small vehicle is relatively low, and the front part of the vehicle has an engine compartment, and the field of view ranges are different, so the target projection angle corresponding to the large vehicle and the target projection angle corresponding to the small vehicle can be different.

[0039] In the embodiment of the present application, it can be defaulted that the height of the target vehicle is approximately consistent with the height of the eyes of the driver. The projection length of the line of sight of the driver on the ground can be calculated according to the height of the target vehicle and the target projection angle, so as to determine the target projection position which can be seen by the driver after projection.

[0040] In the embodiment of the present application, the speed of the target vehicle driving on the road is relatively high, the real-time requirement of the driving reminding is relatively high, in order to improve the processing efficiency and save the processing time, the height of the target vehicle can be directly identified by the socket camera, so as to quickly obtain the height of the target vehicle, calculate the target projection position, and improve the real-time performance of the driving reminding.

[0041] In the embodiment of the present application, if the identification accuracy and efficiency of the socket camera are relatively high, the position of the driver in the target vehicle can also be identified by the socket camera, the height of the driver's eyes is further identified, and the height of the driver's eyes is replaced by the height of the target vehicle in the embodiment of the present application to calculate the target projection position.

[0042] S130, displaying a virtual mark at the target projection position by the projection device at the socket based on the target projection degree, to remind the target vehicle to drive.

[0043] The projection device can be a device pre-set at the socket, for example, can be set beside the socket device, the projection device can include at least one, and at least one projection device can be set for each lane. The specific form of the virtual mark can be determined according to the actual situation. For example, when reminding the target vehicle driving behind to drive, the shape, color, size and other information of the virtual mark can be determined according to the vehicle model, color, size and other information of the target vehicle driving in front.

[0044] For example, the driving reminding device can send the target projection degree and the target projection position to the projection device, control the projection device to project and display the virtual mark at the target projection position in front of the target vehicle based on the target projection degree, remind the target vehicle to drive through the virtual mark, so that the driver of the target vehicle sees the virtual mark and adjusts the driving mode of the target vehicle.

[0045] The technical scheme of the embodiment of the present application detects the adjacent two target vehicles on the same lane by the socket device, determines the distance information of the adjacent two target vehicles, and determines the target projection degree according to the distance information; determines the target projection position in front of the target vehicle according to the size information of the target vehicle and the target projection angle; and displays a virtual mark at the target projection position by the projection device at the socket based on the target projection degree, to remind the target vehicle to drive. The above scheme can make full use of the socket device to detect the adjacent two target vehicles on the lane, accurately detect the target vehicle without increasing hardware devices, and realize more rich functions by using the existing devices. The projection device at the socket displays a virtual mark for the target vehicle to remind the driver to drive, displays a more intuitive and visual vehicle driving situation for the driver, and improves the driving safety.

[0046] Figure 2 A flowchart of a driving reminding method provided for another embodiment of the application is based on the above-described embodiment and is optimized. The solutions not described in detail in this embodiment are described in the above-described embodiments. As shown in the figure, the method of this embodiment specifically includes the following steps: Figure 2

[0047] S210, detecting target vehicles by a card hole device to determine distance information of two adjacent target vehicles in the same lane.

[0048] S220, determining a braking distance after braking of the two adjacent target vehicles based on the current distance and the braking distance of the two adjacent target vehicles.

[0049] The current distance of the two adjacent target vehicles is the distance in the lane direction before braking of the two target vehicles. The braking distance is the distance from the current position to the stopping position of the target vehicle. Based on the current distance and the braking distance of the two adjacent target vehicles, the braking distance after braking of the two target vehicles can be determined, assuming that the two target vehicles start braking from the current position. Specifically, assuming that the current distance of the two target vehicles is D1, the braking distance of the target vehicle in front is r1, and the braking distance of the target vehicle behind is r2, then the braking distance after braking D2 = D1 + r1 - r2.

[0050] S230, determining a target projection degree negatively correlated with the braking distance after braking; wherein the target projection degree includes at least one of projection flicker frequency, projection color depth, projection brightness, and projection size.

[0051] For example, the braking distance after braking directly affects the driving safety of the two adjacent target vehicles. If the braking distance after braking is greater than a safe distance, the two target vehicles will not collide after braking, otherwise, a rear-end collision accident will occur after braking of the two target vehicles. The smaller the braking distance after braking, the greater the possibility of collision after braking, and the greater the driving risk. Therefore, the target projection degree negatively correlated with the braking distance after braking can be determined. The smaller the braking distance after braking, the stronger the target projection degree. The greater the braking distance after braking, the weaker the target projection degree.

[0052] Specifically, the target projection degree can include at least one of projection flicker frequency, projection color depth, projection brightness, and projection size. The smaller the braking distance after braking, the higher the projection flicker frequency, the deeper the projection color depth, the brighter the projection brightness, and the larger the projection size. The above solution can set the correlation between the target projection degree and the braking distance after braking, so that the target projection degree intuitively reflects the size of the braking distance after braking, and further reflects the driving safety of the adjacent target vehicles.

[0053] S240, identifying the height of the target vehicle by the card hole camera.​

[0054] Exemplarily, the width of the lane is generally known. The image of the target vehicle is collected by the lens camera, the number of pixels occupied by the width of the lane and the number of pixels occupied by the height of the target vehicle are determined, and the actual height of the target vehicle is calculated. The actual height H of the target vehicle is h*(n1 / n2), wherein h is the width of the lane, n1 is the number of pixels occupied by the height of the target vehicle, and n2 is the number of pixels occupied by the width of the lane.

[0055] S250, selecting a target projection angle from the visual angle range of the driver in the target vehicle.

[0056] Exemplarily, when the driver looks at the front environment in the target vehicle, there is a visual blind area, for example, the height of a large vehicle is high, the driver is blocked by the lower part of the front windshield, and a part of the area in front of the lower part of the front windshield is the visual blind area of the driver. Affected by the visible range of the human eye, the visual range of the driver is not infinite. Therefore, the visual range of the driver is limited, and the visual angle range of the driver can be determined. The visual angle range can change with the movement of the target vehicle, for example, the visual angle range is updated in real time when the target vehicle goes uphill, downhill, turns, etc.

[0057] The target projection angle can be selected from the visual angle range of the driver in the target vehicle, for example, the target projection angle can be selected in the visual angle range, and the distance between the projection point and the target vehicle when the target projection angle is projected meets the distance requirement. The distance requirement can be determined according to the most comfortable viewing state of the human eye without squinting under normal circumstances.

[0058] S260, determining a target projection distance according to the height and the target projection angle, and taking the position in front of the target vehicle at the target projection distance as a target projection position.

[0059] Exemplarily, as shown in Figure 3 The height of the target vehicle is H, the target projection angle is a, and the target projection distance d is H*tan a. The position in front of the target vehicle at a distance d from the target vehicle is taken as the target projection position.

[0060] S270, projecting and displaying a virtual mark at the target projection position by the projection device at the lens based on the target projection degree, to remind the target vehicle to drive.

[0061] The embodiment of the present application provides a driving reminding method, target vehicles are detected through a socket device, distance information of two adjacent target vehicles in the same lane is determined, a braking distance after the two adjacent target vehicles are assumed to be braked and stopped is determined according to current distance and braking distance of the two adjacent target vehicles, and a target projection degree negatively correlated with the braking distance after braking is determined, so that a safety prompt is provided for a driver of the target vehicle through the projection degree, distance information of other target vehicles is reflected, and safety information that cannot be effectively mastered by the driver through the naked eye is prompted through visual information. The height of the target vehicle is recognized through the socket camera, a target projection angle is selected from a visual angle range of the driver in the target vehicle, a target projection distance is determined according to the height and the target projection angle, a position at the target projection distance in front of the target vehicle is taken as a target projection position, and the driver can conveniently view the visual virtual mark in a regular and comfortable state.

[0062] In the embodiment of the present application, the target projection position in front of the target vehicle can also be determined according to other manners, for the purpose that the driver of the target vehicle can naturally and easily observe.

[0063] In one implementable scheme, the height of the target vehicle is determined, the height is multiplied by a preset proportion, the driver's eye height is taken as the default, the target projection distance is determined based on the eye height and the target projection angle. The preset proportion can be determined according to actual conditions, for example, the height of the driver's seat is determined according to the vehicle type, the proportion of the eye height relative to the vehicle height is determined according to the conventional driver's height, and the proportion is taken as the preset proportion corresponding to the vehicle type.

[0064] In another implementable scheme, the width of the target vehicle can be determined according to the number of width pixel points of the target vehicle, the number of pixel points of the lane and the width of the lane. The position of the driver's eye in the width direction of the target vehicle is determined according to the position of the driver in the target vehicle under the conventional condition. For example, the distance between the driver's eye and the left side of the target vehicle is determined in advance, the ratio of the distance to the width of the target vehicle is determined, the product of the width of the target vehicle and the ratio is taken as the position of the driver's eye in the width direction of the target vehicle. The target projection distance on the ground in front of the position is taken as the target projection position. As shown in Figure 4 The distance between the target projection position and the target vehicle is still the target projection distance, but it is deviated to the side of the main driver, so as to facilitate the main driver to view.

[0065] In another implementation, if the target projection distance is not the minimum distance in the driver's field of view, positions in the range in front of the target vehicle that are less than or equal to the target projection distance and greater than the minimum distance in the driver's field of view can be used as target projection positions, so that the projection is performed at both the far and near distances within the target projection distance, meeting the viewing needs of drivers with different visual acuity. Figure 5 As shown in FIG. 13, the target projection positions are distributed between the minimum distance and the target projection distance, so that the projection and display are performed at both the far and near distances.

[0066] Figure 6 A flowchart of a driving reminding method according to another embodiment of the present application is provided. The embodiment is optimized based on the above-described embodiments, and the solutions not described in detail in the embodiment are described in the above-described embodiments. As shown in FIG. 14, the method according to the embodiment of the present application specifically includes the following steps: Figure 6

[0067] S310, detecting the target vehicle by the card hole device, determining distance information of two adjacent target vehicles in the same lane, and determining a target projection degree according to the distance information.

[0068] S320, determining a target projection position in front of the target vehicle according to the size information of the target vehicle and the target projection angle.

[0069] S330, for a first target vehicle driving at the back of the two adjacent target vehicles, a virtual roadblock is projected and displayed at the target projection position of the first target vehicle by the projection device at the card hole based on the target projection degree, so as to remind that there is another target vehicle in front of the first target vehicle.

[0070] For example, for a first target vehicle driving at the back of the two adjacent target vehicles, it is necessary to show that there is a second target vehicle in front of the first target vehicle and reflect the distance between the second target vehicle and the first target vehicle, so as to remind the driver of the first target vehicle to control the distance between the two vehicles. A virtual roadblock can be projected and displayed at the target projection position in front of the first target vehicle by the projection device at the card hole based on the target projection degree, so as to remind that there is another target vehicle in front of the first target vehicle.

[0071] Specifically, the form of the virtual roadblock can be determined according to the actual situation. For example, the model, size, color and other information of the second target vehicle can be recognized by the card hole camera, and a virtual roadblock similar to the second target vehicle is determined according to the above information of the second target vehicle. For example, the second target vehicle is a two-door small car, and the color is white, so the virtual roadblock can also be an icon of a white two-door small car.

[0072] ​S340. For the second target vehicle traveling in front of two adjacent target vehicles, if the post-braking distance between the two adjacent target vehicles after braking to a stop is less than the safety distance, a virtual avoidance guide is projected and displayed at the target projection position of the second target vehicle based on the target projection degree by the projection device at the checkpoint to remind the second target vehicle to change lanes or adjust the driving direction to avoid the first target vehicle.

[0073] Exemplary, for the second target vehicle traveling in front, if the braking distance after the first target vehicle and the second target vehicle is less than the safe distance, then determine that at this moment, if the second target vehicle brakes urgently, and the first target vehicle also brakes urgently, a rear-end collision will occur.Especially when the first target vehicle is a large vehicle, the first target vehicle is difficult to stop by braking quickly, and it is easy to run into the second target vehicle in front.Can be projected in front of the second target vehicle to remind the second target vehicle to give way, prevent the second target vehicle from being rear-ended by the first target vehicle and causing serious injury.Specifically, can project and display virtual avoidance guidance at the target projection position in front of the second target vehicle based on the target projection degree by the projection device at the bayonet, remind the second target vehicle to change lanes or adjust the direction of travel to give way to the first target vehicle.

[0074] The embodiment of the present application provides a driving reminder method, for the first target vehicle traveling behind two adjacent target vehicles, a projection device at a checkpoint projects a virtual roadblock at the target projection position of the first target vehicle based on the target projection degree, so as to remind the first target vehicle that there are other target vehicles in front of the first target vehicle; for the second target vehicle traveling ahead of the two adjacent target vehicles, if the post-braking distance between the two adjacent target vehicles after braking to a stop is less than the safe distance, a virtual avoidance guide is projected at the target projection position of the second target vehicle based on the target projection degree, so as to remind the second target vehicle to change lanes or adjust the driving direction to avoid the first target vehicle. By projecting and displaying different virtual signs for the first target vehicle traveling behind and the second target vehicle traveling ahead respectively, different functional reminders are achieved, thereby improving the driving safety of the two target vehicles.

[0075] In an embodiment of the present application, projecting and displaying a virtual marker at the target projection position based on the target projection degree by a projection device at the bayonet includes:

[0076] According to the detection information of the two adjacent target vehicles by the bayonet device, the target projection degree and the target projection position are updated in real time according to a preset frequency;

[0077] Based on the updated target projection degree and the target projection position, the virtual marker is updated and displayed through the projection device at the bayonet.

[0078] Exemplarily, the card hole device detects a target vehicle appearing in a detection range in real time to obtain detection information. The target vehicle is in movement, and during movement of the target vehicle, the target projection degree and the target projection position can be updated in real time according to a preset frequency, so as to update and display the virtual mark in real time.

[0079] Figure 7 A flowchart of a driving reminding method provided for another embodiment of the application is based on optimization of the above-described embodiments, and the solutions not described in detail in the embodiment of the application are described in the above-described embodiments. As shown in the figure, the method of the embodiment of the application specifically includes the following steps: Figure 7

[0080] S410, detecting, by the card hole radar, a first distance of a first target vehicle driving behind from a projection point of the card hole radar and a second distance of a second target vehicle driving in front from the projection point of the card hole radar.

[0081] S420, determining a current distance between the first target vehicle and the second target vehicle according to a time when the card hole radar detects the first target vehicle and a speed, a time when the card hole radar detects the second target vehicle and a speed, the first distance, the second distance, and a distance between the projection point of the card hole radar and the intersection.

[0082] Exemplarily, the distance information includes the current distance between two adjacent target vehicles. Assuming that the card hole radar detects the second target vehicle driving in front at time t1 and the speed v1, the second distance of the second target vehicle from the projection point of the card hole radar can be calculated as p1. Assuming that when the second target vehicle is detected for the first time, the card hole radar is located between the intersection and the second target vehicle, and the second target vehicle drives to the intersection, the distance between the card hole radar and the intersection is p, and the distance between the second target vehicle and the intersection is p1+p. Assuming that the card hole radar detects the first target vehicle driving behind at time t2 and the speed v2, the first distance of the first target vehicle from the projection point of the card hole radar can be calculated as p2, and the distance between the first target vehicle and the intersection is p2+p. When the first target vehicle is detected, the distance between the second target vehicle and the intersection is p1+p-(t2-t1)*v1. If (t2-t1)*v1>p1, that is, the first target vehicle and the second target vehicle are located on both sides of the card hole radar, the distance between the second target vehicle and the intersection is p′=p-(v1*(t2-t1-p1 / v1)+a / 2*(t2-t1-p1 / v1) 2 ​, that is, by default, the second target vehicle is decelerated at an acceleration a when passing the speed trap radar to the intersection, and is uniformly moving at a speed v1 when not passing the speed trap radar. The current distance between the first target vehicle and the second target vehicle is p2 + p - p'.

[0083] The above scheme has the beneficial effect that the current distance is not calculated until both adjacent target vehicles are in the detection range of the speed trap radar, and the speed and time information is detected and recorded every time a target vehicle appears. When there is a subsequent need, for example, when it is detected that the target vehicle behind is a large vehicle and needs to be reminded of driving safety, the distance information of the two target vehicles at a certain moment in the future is calculated according to the detected and recorded information, and the subsequent virtual identification display scheme is executed, thereby effectively saving processing resources and improving processing efficiency.

[0084] S430, identifying the vehicle type of the target vehicle according to the speed trap camera, and determining the braking force and mass of the target vehicle according to the vehicle type.

[0085] The distance information further includes the braking distance of the target vehicle. For example, the braking force of different vehicles may be different, and the mass may be different. The vehicle type of the target vehicle can be identified by the speed trap camera, and the corresponding braking force and mass are determined according to the vehicle type.

[0086] S440, determining the braking distance of the target vehicle according to the braking force, mass and speed of the target vehicle.

[0087] For example, the braking distance S = mv 2 / 2F, where m is the mass of the target vehicle, v is the speed of the target vehicle, and F is the braking force of the target vehicle.

[0088] In the embodiments of the present application, the braking distance of the target vehicle can also be determined according to the current detected information and the braking distance reference. The braking distance reference can be as shown in Table 1.

[0089] Table 1

[0090] The model, weight, speed, road type, road temperature, road humidity and friction coefficient of the target vehicle can be detected, and the corresponding braking distance of the target vehicle can be obtained by comparison with Table 1. Specifically, the target vehicle can be identified by a bayonet camera, and the length of the vehicle can be determined based on the time it takes for the front of the vehicle to pass a certain point, the time it takes for the rear of the vehicle to pass a certain point, and the speed, and the weight of the target vehicle can be estimated based on the length of the vehicle. The load status of the target vehicle (for example, fully loaded, half loaded or empty) can be determined based on the identification of the target vehicle by the bayonet camera. The actual weight of the target vehicle can be determined. The model of the target vehicle can be determined based on the identification of the target vehicle by the bayonet camera. After the bayonet camera obtains the information of the target vehicle, it can also transmit it to other bayonet cameras. It should be noted that Table 1 is only an example, and the specific comparison relationship data of the braking distance and other information can be determined according to the actual situation. For example, it can be determined by experimental testing on each road section.

[0091] S450: Determine a target projection degree according to the current distance and the braking distance.

[0092] S460: Determine a target projection position in front of the target vehicle according to the size information of the target vehicle and the target projection angle.

[0093] S470 , projecting and displaying a virtual sign at the target projection position based on the target projection degree by a projection device at the checkpoint, so as to provide a driving reminder to the target vehicle.

[0094] The embodiment of the present application provides a driving reminder method, which detects the first distance between the first target vehicle traveling behind and the projection point of the checkpoint radar, and the second distance between the second target vehicle traveling in front and the projection point of the checkpoint radar through a checkpoint radar; according to the time and speed at which the checkpoint radar detects the first target vehicle, the time and speed at which the second target vehicle is detected, the first distance, the second distance, and the distance between the projection point of the checkpoint radar and the intersection, the current distance between the first target vehicle and the second target vehicle is determined. The vehicle type of the target vehicle is identified by the checkpoint camera, and the braking force and mass of the target vehicle are determined according to the vehicle type; the braking distance of the target vehicle is determined according to the braking force, mass and speed of the target vehicle. The above scheme can link the checkpoint equipment to detect the target vehicle in a timely and accurate manner, provide rich information for subsequent projection, and achieve richer and more practical functions with existing conventional equipment, thereby improving driving safety.

[0095] Figure 8 This is a schematic diagram of the structure of a driving reminder device provided in an embodiment of the present application. The device can execute the driving reminder method provided in any embodiment of the present application and has the corresponding functional modules and beneficial effects of the execution method. Figure 8 As shown, the device includes:

[0096] The target projection degree determination module 510 is configured to detect target vehicles by the fisheye device, determine distance information of two adjacent target vehicles in the same lane, and determine a target projection degree according to the distance information.

[0097] The target projection position determination module 520 is configured to determine a target projection position in front of the target vehicle according to size information of the target vehicle and a target projection angle.

[0098] The virtual sign display module 530 is configured to project and display a virtual sign at the target projection position based on the target projection degree by the projection device at the fisheye, so as to remind the target vehicle of driving.

[0099] In the embodiment of the present application, the target projection degree determination module 510 determines the target projection degree according to the distance information, including:

[0100] determining a braking distance after stopping of the two adjacent target vehicles according to the current distance and the braking distance of the two adjacent target vehicles;

[0101] determining a target projection degree negatively correlated with the braking distance after stopping; wherein the target projection degree includes at least one of projection flicker frequency, projection color depth, projection brightness, and projection size.

[0102] In the embodiment of the present application, the target projection position determination module 520 determines the target projection position in front of the target vehicle according to the size information of the target vehicle and the target projection angle, including:

[0103] identifying a height of the target vehicle by the fisheye camera;

[0104] selecting a target projection angle from a visual angle range of a driver in the target vehicle;

[0105] determining a target projection distance according to the height and the target projection angle, and taking a position at the target projection distance in front of the target vehicle as the target projection position.

[0106] In the embodiment of the present application, the virtual sign display module 530 projects and displays a virtual sign at the target projection position based on the target projection degree by the projection device at the fisheye, including:

[0107] for a first target vehicle driving at the back of the two adjacent target vehicles, projecting and displaying a virtual roadblock at the target projection position of the first target vehicle based on the target projection degree by the projection device at the fisheye, so as to remind the first target vehicle that there is another target vehicle in front of the first target vehicle;

[0108] For the second target vehicle driving in front of the two adjacent target vehicles, if the braking distance after braking of the two adjacent target vehicles is less than the safety distance, a virtual avoidance guide is projected and displayed at a target projection position of the second target vehicle by a projection device at the card hole based on a target projection degree, so as to remind the second target vehicle to change lanes or adjust the driving direction to avoid the first target vehicle.

[0109] In the embodiment of the present application, the virtual identification display module 530 projects and displays the virtual identification at the target projection position by the projection device at the card hole based on the target projection degree, including:

[0110] According to the detection information of the card hole device on the two adjacent target vehicles, the target projection degree and the target projection position are updated in real time at a preset frequency;

[0111] Based on the updated target projection degree and the target projection position, the virtual identification is updated and displayed by the projection device at the card hole.

[0112] In the embodiment of the present application, the distance information includes the current distance of the two adjacent target vehicles;

[0113] The target projection degree determination module 510 detects the target vehicles by the card hole device, determines the distance information of the two adjacent target vehicles on the same lane, including:

[0114] The first distance between the first target vehicle driving behind and the card hole radar projection point is detected by the card hole radar, and the second distance between the second target vehicle driving in front and the card hole radar projection point is detected;

[0115] According to the time and speed of detecting the first target vehicle, the time and speed of detecting the second target vehicle, the first distance, the second distance, and the distance between the card hole radar projection point and the intersection, the current distance between the first target vehicle and the second target vehicle is determined.

[0116] In the embodiment of the present application, the distance information further includes the braking distance of the target vehicle;

[0117] The target projection degree determination module 510 detects the target vehicles by the card hole device, determines the distance information of the two adjacent target vehicles on the same lane, including:

[0118] According to the vehicle type of the target vehicle recognized by the card hole camera, the braking force and mass of the target vehicle are determined according to the vehicle type;

[0119] According to the braking force, mass and speed of the target vehicle, the braking distance of the target vehicle is determined.

[0120] The driving reminding device provided by the embodiments of the present application can execute the driving reminding method provided by any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0121] Figure 9 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application described and / or claimed in this document.

[0122] As shown in Figure 9 The electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which are in data processing connection with the at least one processor 11, wherein the memory stores a computer program that can be executed by the at least one processor. The processor 11 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0123] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, a loudspeaker, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a data processing unit 19, such as a network card, a modem, a wireless data processing transceiver, etc. The data processing unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0124] The processor 11 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, and the like. The processor 11 performs various methods and processes described above, such as the travel reminder method.

[0125] In some embodiments, the travel reminder method can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the data processing unit 19. When the computer program is loaded onto the RAM 13 and executed by the processor 11, one or more steps of the travel reminder method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the travel reminder method by any other suitable means, such as by means of firmware.

[0126] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0127] Computer programs used to implement the methods of the application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor of the machine, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0128] In the context of this application, a computer readable storage medium can be a tangible medium that can contain or store computer programs for use by or in connection with an instruction execution system, apparatus, or device. Computer readable storage media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer readable storage medium can be a machine readable signal medium. More specific examples of the machine readable storage medium will include a one or more lines of a electrical connection, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0129] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0130] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), blockchain networks, and the Internet.

[0131] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a data-processing network, which is often the Internet. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0132] It should be understood that the various forms of flow shown above can be reordered, added to, or have steps deleted. For example, the steps described in this application can be performed in parallel, in series, or in a different order, as long as the desired information of the technical solutions of the present application can be achieved, which is not limited herein.

[0133] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A travel reminding method characterized by comprising: The method comprises: detecting target vehicles through a periscope device, determining distance information of two adjacent target vehicles in the same lane, and determining target projection degree according to the distance information; determining a target projection position in front of the target vehicle according to size information of the target vehicle and a target projection angle; displaying a virtual mark at the target projection position based on the target projection degree through a projection device at the periscope to remind the target vehicle of driving.

2. The method of claim 1, wherein, The target projection degree is determined according to the distance information, comprising: determining a braking distance after the two adjacent target vehicles are braked and stopped according to the current distance and the braking distance of the two adjacent target vehicles; determining the target projection degree negatively correlated with the braking distance after braking; wherein the target projection degree comprises at least one of projection flicker frequency, projection color depth, projection brightness, and projection size.

3. The method of claim 1, wherein, The target projection position in front of the target vehicle is determined according to the size information of the target vehicle and the target projection angle, comprising: recognizing the height of the target vehicle through a periscope camera; selecting a target projection angle from the visual angle range of the driver in the target vehicle; determining a target projection distance according to the height and the target projection angle, and taking the position at the target projection distance in front of the target vehicle as the target projection position.

4. The method of claim 1, wherein, The virtual mark is displayed at the target projection position based on the target projection degree through the projection device at the periscope, comprising: for a first target vehicle driving in the rear of the two adjacent target vehicles, the virtual roadblock is displayed at the target projection position of the first target vehicle based on the target projection degree through the projection device at the periscope to remind that there is another target vehicle in front of the first target vehicle; for a second target vehicle driving in the front of the two adjacent target vehicles, if the braking distance after the two adjacent target vehicles are braked and stopped is less than a safe distance, the virtual avoidance guide is displayed at the target projection position of the second target vehicle based on the target projection degree through the projection device at the periscope to remind the second target vehicle to change lanes or adjust the driving direction to avoid the first target vehicle.

5. The method according to any one of claims 1-4, characterized in that, The virtual mark is displayed at the target projection position based on the target projection degree through the projection device at the periscope, comprising: updating the target projection degree and the target projection position in real time according to the detection information of the two adjacent target vehicles through the periscope device at a preset frequency; updating and displaying the virtual mark through the projection device at the periscope based on the updated target projection degree and the target projection position.

6. The method of claim 1, wherein, The distance information comprises the current distance of the two adjacent target vehicles; The distance information of the two adjacent target vehicles in the same lane is determined through the periscope device, comprising: detecting a first distance from a periscope radar projection point of a first target vehicle driving in the rear and a second distance from the periscope radar projection point of a second target vehicle driving in the front through the periscope radar; According to the time when the first target vehicle is detected by the fisheye radar and the vehicle speed, the time when the second target vehicle is detected and the vehicle speed, the first distance, the second distance, and the distance between the fisheye radar projection point and the intersection, the current distance between the first target vehicle and the second target vehicle is determined.

7. The method of claim 6, wherein, The distance information further includes a braking distance of the target vehicle. The distance information of the adjacent two target vehicles on the same lane is determined by detecting the target vehicles through the fisheye device, including: According to the vehicle type of the target vehicle identified by the fisheye camera, the braking force and the mass of the target vehicle are determined according to the vehicle type; According to the braking force, the mass and the speed of the target vehicle, the braking distance of the target vehicle is determined.

8. A travel reminding apparatus characterized by comprising: The device includes: A target projection degree determination module is configured to detect the target vehicles through the fisheye device, determine the distance information of the adjacent two target vehicles on the same lane, and determine the target projection degree according to the distance information; A target projection position determination module is configured to determine the target projection position in front of the target vehicle according to the size information of the target vehicle and the target projection angle; A virtual mark display module is configured to project and display a virtual mark at the target projection position based on the target projection degree through the projection device at the fisheye, so as to provide driving reminding for the target vehicle.

9. An electronic device, comprising: The electronic device includes: At least one processor; and A memory connected with the at least one processor for data processing; wherein The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the driving reminding method in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, and the computer instructions are used to enable the processor to execute the driving reminding method in any one of claims 1-7 when executed.

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