Speed limit reminding method and device, storage medium, electronic device and vehicle

Abstract

The application discloses a speed limit reminding method and device, a storage medium, an electronic device and a vehicle, and relates to the technical field of vehicles. The speed limit reminding method comprises the following steps: in response to identifying a speed limit sign, performing speed limit reminding based on a speed limit value in the speed limit sign; and in response to the driving information of the vehicle meeting a speed limit reminding stop condition, stopping the speed limit reminding based on the speed limit value. Thus, when the vehicle drives away from a speed limit section or the road condition changes, the speed limit reminding that does not conform to the current scene can be timely terminated, interference on the driver is avoided, the accuracy and intelligent level of the speed limit reminding are improved, and the driving experience and driving safety are improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more particularly to a speed limit reminder method, device, storage medium, electronic device, and vehicle. Background Technology

[0002] Speed ​​limit sign recognition is a crucial function of advanced driver assistance systems (ADAS). It uses cameras to capture road speed limit signs, integrates this data with map information, and provides speed limit reminders to the driver to improve driving safety. However, in real-world traffic scenarios, when a vehicle enters a ramp or curve, the system continues to recognize and remind the driver of speed limit signs on the main road, leading to drivers receiving speed limit information that is inconsistent with current road conditions. Furthermore, when the vehicle is already steadily overtaking, continuous speed limit reminders can create redundant interference, impacting the driving experience. Therefore, achieving accurate and adaptive speed limit reminders under complex road conditions has become a pressing issue. Summary of the Invention

[0003] The purpose of this invention is to provide a speed limit reminder method, device, storage medium, electronic device, and vehicle, so as to automatically stop speed limit reminders that are inconsistent with the current scenario when the vehicle leaves the speed limit section or the driving conditions change, thereby reducing redundant interference to the driver, improving the accuracy and intelligence level of speed limit reminders, and improving the driving experience and driving safety.

[0004] In a first aspect, embodiments of the present invention provide a speed limit reminder method, comprising: in response to recognizing a speed limit sign, providing a speed limit reminder based on the speed limit value in the speed limit sign; and in response to the vehicle's driving information meeting the speed limit reminder stop condition, stopping the speed limit reminder based on the speed limit value.

[0005] In some embodiments, the speed limit reminder stopping conditions include: the vehicle is turning, and no new speed limit sign is detected within a first preset distance after turning; and / or, the vehicle is not turning, and the vehicle continues to travel at a speed greater than the target speed for a distance reaching a second preset distance, wherein the target speed is the sum of the speed limit value and the speed difference threshold.

[0006] In some embodiments, the method further includes: responding to the vehicle turning and identifying a new speed limit sign within a first preset distance after turning, providing a speed limit reminder based on the speed limit value in the new speed limit sign; and / or, responding to the vehicle not turning, the distance the vehicle has continuously traveled at a speed greater than a target speed is less than a second preset distance, or the vehicle speed is less than or equal to the target speed, and identifying a new speed limit sign, providing a speed limit reminder based on the speed limit value in the new speed limit sign, wherein the target speed is the sum of the speed limit value in the old speed limit sign and a speed difference threshold.

[0007] In some embodiments, providing a speed limit reminder based on the speed limit value includes: displaying the speed limit value and issuing a reminder message in response to the current speed of the vehicle exceeding the speed limit value; and / or, stopping the speed limit reminder based on the speed limit value includes: setting the displayed speed limit value to a null value and stopping the speed limit reminder.

[0008] In some embodiments, the method further includes: in response to receiving an instruction to calculate an availability index of the speed limit sign, calculating an availability index of the speed limit sign based on historical speed limit display information of the vehicle, wherein the availability index includes at least one of display error rate, function online rate, and function availability rate.

[0009] In some embodiments, before providing a speed limit reminder based on the speed limit value in the speed limit sign, the method further includes: determining that the speed limit sign is valid based on vehicle information of the vehicle in front, speed limit sign information of the speed limit sign, and road curb information.

[0010] In some embodiments, determining the validity of a speed limit sign based on the vehicle information, the speed limit sign information, and the curb information includes: determining whether the speed limit sign and the preceding vehicle meet a first preset condition based on the vehicle information and the speed limit sign information, wherein the first preset condition includes a positional correlation condition and a motion consistency condition; in response to meeting the first preset condition, determining whether the speed limit sign and the curb of the road meet a second preset condition based on the speed limit sign information and the curb information; and in response to not meeting the first preset condition, or in response to not meeting the second preset condition, determining the speed limit sign to be valid.

[0011] In some embodiments, the location correlation condition is used to determine whether the speed limit sign is located within the vehicle outline of the preceding vehicle. The vehicle information includes a first coordinate set representing the position of the preceding vehicle, and the speed limit sign information includes a second coordinate set representing the position of the speed limit sign. Determining whether the speed limit sign is located within the vehicle outline of the preceding vehicle includes: based on the first coordinate set and the second coordinate set, determining whether the area defined by the second coordinate set is included in the area defined by the first coordinate set.

[0012] In some embodiments, the first coordinate set includes first left boundary coordinates, first right boundary coordinates, first upper boundary coordinates, and first lower boundary coordinates; the second coordinate set includes second left boundary coordinates, second right boundary coordinates, second upper boundary coordinates, and second lower boundary coordinates; determining whether the region defined by the second coordinate set is included in the region defined by the first coordinate set includes: Determine if the following conditions are met simultaneously: The coordinates of the second left boundary are greater than or equal to the coordinates of the first left boundary. The second right boundary coordinate is less than or equal to the first right boundary coordinate. The second upper boundary coordinates are greater than or equal to the first upper boundary coordinates. The coordinates of the second lower boundary are less than or equal to the coordinates of the first lower boundary.

[0013] In some embodiments, the motion consistency condition is used to determine whether the speed difference between the speed limit sign and the preceding vehicle is within a corresponding speed threshold range. The vehicle information includes a first speed of the preceding vehicle in a first direction and a second speed in a second direction. The speed limit sign information includes a third speed of the speed limit sign in the first direction and a fourth speed in the second direction, wherein the first direction is perpendicular to the second direction. Determining whether the speed limit sign and the preceding vehicle meet the motion consistency condition includes: Determine if the following conditions are met simultaneously: |First speed - Third speed| ≤ First speed threshold |The second speed - the fourth speed| ≤ the second speed threshold.

[0014] In some embodiments, the second preset condition is used to determine whether the speed limit sign is located within a road area determined based on the curb information, wherein the speed limit sign information includes the coordinates of multiple vertices of the speed limit sign; determining whether the speed limit sign is located within a road area determined based on the curb information includes: for each vertex, determining whether the vertex is located within the road area based on the vertex coordinates of the vertex; if any vertex is located within the road area, then determining that the speed limit sign is located within the road area.

[0015] Secondly, embodiments of the present invention provide a computer storage medium storing a computer program thereon, wherein when the computer program is executed by a processor, it implements the speed limit reminder method described in the first aspect.

[0016] Thirdly, this invention provides a speed limit reminder device, comprising: a vehicle body sensor module for acquiring the current speed of the vehicle; a front camera module for capturing images of the vehicle ahead; and a controller connected to the vehicle body sensor module and the front camera module, configured to determine whether a speed limit sign is detected based on the images of the vehicle ahead, and when a valid speed limit sign is detected, to provide a speed limit reminder based on the speed limit value in the speed limit sign, and to stop providing a speed limit reminder based on the speed limit value when the driving information meets the conditions for stopping the speed limit reminder.

[0017] Fourthly, embodiments of the present invention provide an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to implement the speed limit reminder method described in the first aspect.

[0018] Fifthly, embodiments of the present invention provide a vehicle comprising: the speed limit reminder device described in the third aspect, and / or the electronic device described in the fourth aspect.

[0019] The speed limit reminder method, device, storage medium, electronic device, and vehicle of this invention, in response to a recognized speed limit sign, provide a speed limit reminder based on the speed limit value therein, and promptly terminate the current speed limit reminder when the vehicle's driving information meets preset speed limit reminder stopping conditions. Therefore, it can automatically stop speed limit reminders that are inconsistent with the current scenario when the vehicle leaves a speed-limited section or when road conditions change, effectively reducing redundant interference to the driver, improving the accuracy and intelligence level of speed limit reminders, and thus improving the driving experience and driving safety. Attached Figure Description

[0020] Figure 1 This is a flowchart of a speed limit reminder method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a turning scenario, an example of the present invention; Figure 3 This is a flowchart of a speed limit reminder method according to a specific embodiment of the present invention; Figure 4 This is a schematic diagram of a non-turning scenario, as an example of the present invention; Figure 5 This is a flowchart of a speed limit reminder method according to another specific embodiment of the present invention; Figure 6 This is a schematic diagram illustrating the positions of the vehicle in front and the speed limit sign, as an example of the present invention. Figure 7 This is a structural block diagram of the speed limit reminder device according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of a speed limit reminder device according to a specific embodiment of the present invention; Figure 9 This is a structural block diagram of a vehicle according to an embodiment of the present invention. Detailed Implementation

[0021] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0022] The following description, with reference to the accompanying drawings, outlines an embodiment of the speed limit reminder method, apparatus, storage medium, electronic device, and vehicle of the present invention.

[0023] Figure 1 This is a flowchart of a speed limit reminder method according to an embodiment of the present invention. The speed limit reminder method can be executed by a control module installed in the vehicle. This control module can be a SoC (System on Chip), an MCU (Microcontroller Unit), or a combination thereof. The vehicle is also equipped with a body sensor module, a front camera module, and a combination instrument cluster. The control module is electrically connected to the body sensor module, the front camera module, and the combination instrument cluster, respectively, and is used to receive data collected by each module and execute corresponding judgment and processing logic.

[0024] like Figure 1 As shown, speed limit reminder methods include: S11, in response to the recognition of a speed limit sign, provides a speed limit reminder based on the speed limit value in the speed limit sign.

[0025] Speed ​​limit signs can refer to fixed road speed limit signs on both sides of a road, used to indicate the legal speed limit for that section of road. Speed ​​limit reminders based on the speed limit values ​​in the speed limit signs can include: displaying the speed limit value and issuing a reminder message in response to the vehicle's current speed exceeding the speed limit value.

[0026] Specifically, the system can capture real-time images of the road environment via a front camera module. When a speed limit sign is detected, the speed limit value contained in the sign is extracted. Simultaneously, the system acquires the vehicle's current speed from vehicle sensor modules (such as a speed sensor) and compares it to the speed limit value. Monitoring continues as long as the vehicle speed does not exceed the speed limit; when the vehicle speed approaches or exceeds the speed limit, a warning message is issued to prompt the driver to control their speed.

[0027] The reminder information can be delivered in various ways. For example, the instrument cluster can send reminder information to the driver through sound, image, or vibration. Specifically, the instrument cluster display unit can show a speed limit reminder icon, a flashing speed limit value, or a "speeding" text prompt; the sound unit can issue a voice prompt (such as "You are speeding") or an alarm sound; the vibration unit can trigger steering wheel vibration or seat vibration to remind the driver through touch.

[0028] For example, the warning message can be implemented in stages according to the degree of speeding. When the speeding is small (e.g., exceeding the speed limit by less than 10%), only a visual warning is provided through the display unit; when the speeding is large (e.g., exceeding the speed limit by more than 10%), both sound and vibration warnings are activated to enhance the warning effect.

[0029] Speed ​​limit reminders help drivers get road speed limit information as soon as possible and enhance their awareness of safe driving.

[0030] For example, to ensure the accuracy and reliability of speed limit sign recognition, fusion verification can also be performed by combining navigation map data. For instance, the camera recognition results can be compared with the speed limit information of the current road segment in the map database. If the two are consistent or within a certain error range, the speed limit value of the speed limit sign is confirmed to be valid.

[0031] S12, in response to the fact that the vehicle's driving information meets the conditions for stopping the speed limit reminder, stop the speed limit reminder based on the speed limit value.

[0032] Specifically, the system can monitor the vehicle's driving information in real time, including speed, direction, distance traveled, navigation route planning information, turn signal status, and current road type. When a preset speed limit warning stop condition is met, the current speed limit warning based on the speed limit value is automatically terminated. For example, by continuously acquiring the vehicle's trajectory through onboard sensors and a positioning system, if the turn signal is activated and the trajectory matches turning characteristics, it is determined that the vehicle has entered a ramp or curve. If the distance traveled after the turn exceeds a first preset distance and no new speed limit sign is detected, the original speed limit warning is deemed invalid. Alternatively, if the vehicle continues to travel straight but its speed consistently exceeds the speed limit value by more than a speed difference threshold, and this state remains stable for a second preset distance, it indicates that the current speed limit value no longer meets actual driving needs. In this case, the displayed speed limit value can be set to null, and the speed limit warning can be stopped. This ensures that the start and stop of the speed limit warning matches the actual road conditions, avoiding misjudgments and repeated warnings.

[0033] In some embodiments of the present invention, the speed limit reminder stopping conditions include: the vehicle is turning, and no new speed limit sign is detected within a first preset distance after turning; and / or, the vehicle is not turning, and the vehicle continues to travel at a speed greater than the target speed for a distance reaching a second preset distance, wherein the target speed is the sum of the speed limit value and the speed difference threshold.

[0034] Specifically, for turning scenarios, to optimize the problem of false alarms caused by the lack of new speed limit signs at intersections, this invention introduces a speed limit delay reset strategy. This strategy can be calibrated with reference to the traffic sign construction standards of various regions. Taking Sydney as an example, the standards require speed limit signs to be installed within 120 meters of intersections to provide drivers with clear guidance. Accordingly, the waiting distance for speed limit reset (i.e., the first preset distance, such as...) is... Figure 2 X in the value is set to 120 meters.

[0035] like Figure 2 , Figure 3 As shown, upon detecting a speed limit sign (such as...) Figure 2 Top left corner After that, based on the speed limit value a (such as...) The system provides speed limit reminders and determines whether the vehicle is entering a turning state based on information collected by vehicle sensor modules (such as gyroscopes and steering angle sensors) or navigation positioning information. When it detects that the vehicle's turn signal is on, the steering wheel angle exceeds a preset angle, or the driving trajectory deviates from straight driving, it is determined to be turning, and the distance traveled from the end of the turn is calculated, entering an X-shaped waiting monitoring window. Within this window: if no new speed limit sign is detected after traveling X, it is determined that the current road segment lacks standardized speed limit guidance, the speed limit value is reset to a blank value "--" (invalid state), and the speed limit reminder stops. It can also prompt the driver through the instrument cluster: due to the lack of standardized road construction, the driver cannot rely entirely on the driver assistance system and must judge the safe speed based on experience.

[0036] By employing the aforementioned delayed reset strategy, the number of erroneous speed limit resets caused by the temporary absence of signs at intersections can be reduced, and false alarms caused by the vehicle using old road speed limits can be avoided. This effectively improves the availability of the speed limit sign function and the driver's trust in the system.

[0037] For non-turning scenarios (such as going straight), such as Figure 3 , Figure 4 As shown, this invention introduces a speed reverse correction strategy. The premise of this strategy is that the driver is not intentionally speeding, but rather willing to use driver assistance systems to reduce fatigue and improve safety. When, due to environmental interference or damaged signage, a speed limit sign that is lower than the current actual vehicle speed by a speed difference threshold Y (e.g., 10 km / h) is mistakenly identified (e.g.,...), the driver may misinterpret the speed limit sign. Figure 4 In When the speed exceeds a certain threshold, a second preset distance Z (e.g., 100 to 200 meters) speed reverse correction window will be activated to filter temporary speeding conditions such as overtaking, in order to avoid misjudgment.

[0038] If, during the vehicle's operation at the second preset distance Z, the difference between the vehicle's speed and the speed limit value a continuously exceeds the speed difference threshold Y, and no new speed limit sign is detected, then the previously detected speed limit sign is determined to be an incorrect recognition. In this case, it is determined that the current continuous speeding state reflects a significant deviation from the original speed limit requirements by the driver's intention or actual road conditions (such as traffic flow speed). Continuing to remind the driver would not only be ineffective but would also cause serious interference. Based on this judgment, a speed limit reset is immediately executed: the incorrect speed limit value is reset to a blank value "--" (invalid state), and the control and judgment of vehicle speed are completely returned to the driver, thereby eliminating frequent and invalid reminders caused by misrecognition.

[0039] Through the aforementioned dual judgment mechanism (curve logic + straight-ahead reverse correction logic), the speed limit reminder needs under different road conditions can be accurately distinguished: For ramps / curves: Utilize the first preset distance logic to avoid false alarms caused by bringing the main road speed limit into the curve.

[0040] For non-curve misidentification: By using a combination strategy of speed difference threshold Y and second preset distance Z, the vehicle is given a buffer period for self-correction, and can "let go" in time after confirming misidentification, thus eliminating the long-term and high-intensity interference to the driver caused by misidentification of speed limit signs.

[0041] This design not only improves the intelligence level and user acceptance of speed limit reminders, but also embodies the concept of "system serving people" in human-machine co-driving, making the driving experience smoother and more natural, and avoiding driver frustration or safety risks caused by stubbornly enforcing incorrect speed limits.

[0042] In some embodiments of the present invention, the speed limit reminder method further includes: responding to the vehicle turning and identifying a new speed limit sign within a first preset distance after turning, providing a speed limit reminder based on the speed limit value in the new speed limit sign; and / or, responding to the vehicle not turning, the distance the vehicle has continuously traveled at a speed greater than the target speed is less than a second preset distance or the vehicle speed is less than or equal to the target speed, and identifying a new speed limit sign, providing a speed limit reminder based on the speed limit value in the new speed limit sign.

[0043] Specifically, such as Figure 3 As shown, in a turning scenario, a first preset distance X is set as the monitoring window. After the vehicle turns, it continuously scans the roadside while traveling within this distance X. Once a new speed limit sign is detected, a warning is immediately issued based on the speed limit value b in the new speed limit sign. In a non-turning scenario, the relationship between the vehicle speed and the target speed is monitored in real time: if the vehicle is traveling at a speed exceeding the target speed but has not reached the second preset distance Z (i.e., within the correction window period), or if the vehicle speed does not exceed the target speed, the speed limit warning is immediately updated as soon as a new speed limit sign is detected.

[0044] This allows the vehicle to respond instantly to real-time speed limit signs under any conditions. When turning, it uses window monitoring to avoid missing new speed limits, and when driving straight, it can promptly correct course even during the correction period, eliminating policy blind spots and making speed limit reminders both accurate and timely, thus improving the reliability of speed limit reminders and the user experience.

[0045] In some embodiments of the present invention, the speed limit reminder method further includes: in response to receiving an instruction to calculate an availability index of the speed limit sign, calculating an availability index of the speed limit sign based on the historical speed limit value display information of the vehicle, wherein the availability index includes at least one of display error rate, function online rate, and function availability rate.

[0046] In this embodiment, in response to receiving an instruction to calculate the availability index of the speed limit sign (such as user triggering, after-sales diagnosis, or remote data collection), the historical speed limit value display information within a preset time period or preset distance window of the vehicle is retrieved, and at least one of the three indicators of display accuracy, function online rate, and function availability rate is calculated to describe the availability of the speed limit sign function.

[0047] Unlike traditional speed limit sign visual recognition metrics like accuracy and recall, these three metrics are user-centric, describing whether the speed limit reminder function can provide accurate speed limit information. Display accuracy is defined as the ratio of correctly displayed mileage to the total mileage within a preset time period or distance window. Incorrectly displayed mileage only includes mileage where the speed limit displayed on the instrument cluster differs from the actual road speed limit, excluding mileage where the speed limit is correctly displayed or in a reset state. This metric measures the system's ability to "avoid false alarms" from the user's perspective. Function online rate refers to the ratio of mileage with displayed values ​​on the instrument cluster to the total mileage. A reset status on the instrument cluster affects the function online rate. This metric reflects the system's ability to "continuously provide guidance." Function availability is a value derived from the first two metrics, comprehensively representing the usability of the speed limit sign function. Since display accuracy and function online rate may conflict (e.g., frequently resetting the speed limit to improve display accuracy will reduce function online rate), function availability aims to balance the two, comprehensively evaluating the actual usability of the function from the user's benefit perspective (the sense of security, comfort, and reliable assistance provided to the user).

[0048] The preset time period can refer to a fixed duration tracing back from the current moment. For example, it can be set to the past 1 hour, 7 days, 30 days, or the cumulative driving time since the vehicle was started. By statistically analyzing this time dimension, the stable performance of the speed limit sign function can be evaluated over different time periods, making it easier to identify performance degradation over time or seasonal factors.

[0049] The preset distance window can refer to a fixed mileage range traversed backward from the current time. For example, it can be set to the most recent 100 kilometers, 500 kilometers, or the cumulative mileage since the last maintenance. By statistically analyzing this mileage dimension, the interference of time factors (such as long-term parking) can be eliminated, and the performance of the function in actual driving scenarios can be more accurately reflected. It is especially suitable for evaluating the differences in functional usability under different road types (urban roads, highways).

[0050] Through the above indicators, the present invention achieves a comprehensive quantitative evaluation of the speed limit reminder function.

[0051] The following is combined with Figure 2 The explanation shows how the three metrics—accuracy rate, online functionality rate, and availability rate—are calculated.

[0052] See Figure 2 The distance corresponding to the preset distance window or preset time period is , and The displayed mileage values ​​are all based on the speed limit. The first preset distance, The mileage displayed as a blank value "--" for the speed limit is shown below. The formulas for calculating the three metrics—accuracy rate, online functionality rate, and availability rate—are as follows: Display accuracy

[0053] Functional online rate

[0054] Functional availability

[0055] Therefore, this invention constructs a three-dimensional indicator system from the user's perspective, encompassing display error rate, function online rate, and function availability, breaking through the traditional technical perspectives of accuracy and recall. This system can quantitatively evaluate the actual usability of speed limit reminders, and in particular, it can verify the effect of delayed reset strategies on improving function online rate, providing clear data support for function optimization and making system iteration more directional.

[0056] In some embodiments of the present invention, before providing a speed limit reminder based on the speed limit value in the speed limit sign, the method further includes: determining the validity of the speed limit sign based on vehicle information of the vehicle in front, the speed limit sign information of the speed limit sign, and road curb information. In this embodiment, speed limit signs can include two types: one is fixed road speed limit signs on both sides of the road, used to indicate the legal speed limit value for that road section; the other is speed limit signs affixed to the rear of the vehicle in front, such as those affixed to the rear of a large passenger bus according to national standards, which only indicate the maximum speed limit of that vehicle and do not represent the road speed limit. This embodiment aims to accurately distinguish between the above two types of speed limit signs by using information about the vehicle in front and information about the roadside, only reminding users of valid road speed limit signs, and filtering out false reminders caused by speed limit signs at the rear of the vehicle in front.

[0057] Specifically, vehicle information, speed limit sign information, and curb information can all be obtained by the control module through image recognition processing based on image data collected by the front camera module. The front camera module is installed behind the vehicle's windshield and is used to collect continuous frame images of the front of the vehicle, and to analyze and recognize the images using computer vision and deep learning algorithms.

[0058] Vehicle information may include the outline information of the preceding vehicle and the motion information of the preceding vehicle. The outline information of the preceding vehicle may refer to the bounding box coordinates of the preceding vehicle in the image, including the coordinates of the left, right, top, and bottom boundaries of the preceding vehicle; the motion information of the preceding vehicle refers to the speed of the preceding vehicle in the image coordinate system, including the first speed in the first direction (such as lateral speed) and the second speed in the second direction (such as longitudinal speed).

[0059] Speed ​​limit sign information may include speed limit sign outline information, speed limit sign location information, and speed limit value information. Speed ​​limit sign outline information refers to the bounding box coordinates of the speed limit sign in the image; speed limit sign location information refers to the distance and orientation of the speed limit sign relative to the vehicle; speed limit value information refers to the numerical value marked on the speed limit sign, such as "80", "100", etc.

[0060] Roadside information may include the location information of the roadside boundary line. The location information of the roadside boundary line refers to the fitted curve or polyline coordinates of the roadside on both sides in the image, which is used to define the inner and outer ranges of the road area.

[0061] After obtaining vehicle information, speed limit sign information, and curb information, the type of speed limit sign can be identified through dual judgment logic to determine whether the speed limit sign is valid.

[0062] The first step in the judgment is to determine the correlation between the vehicle in front and the speed limit sign.

[0063] The system determines whether the outlines of the preceding vehicle and the speed limit sign satisfy the condition of positional correlation. For example, it obtains the coordinates of the first bounding box of the preceding vehicle in the image and the coordinates of the second bounding box of the speed limit sign. If the second bounding box is completely within the range of the first bounding box, then the condition of positional correlation is satisfied.

[0064] Simultaneously, the system determines whether the speeds of the preceding vehicle and the speed limit sign meet the speed consistency requirement. For example, it acquires the speed of the preceding vehicle in the image (including longitudinal and lateral speeds) and the speed limit sign in the image. If the difference between their longitudinal and lateral speeds is within a preset threshold range, then the speed consistency is satisfied. If both positional correlation and speed consistency are satisfied, it is preliminarily determined that the speed limit sign may be affixed to the rear of the preceding vehicle; otherwise, it is preliminarily determined to be a fixed road speed limit sign.

[0065] The second judgment: judging the relationship between the speed limit sign and the roadside position.

[0066] Determine the positional relationship between the speed limit sign and the curb. For example, use the ray method to determine whether the vertices of the speed limit sign are located on the inside or outside of the road. If the speed limit sign is located on the side of the curb closer to the lane line (i.e., on the inside of the road), it is further confirmed as a speed limit sign for the rear of the vehicle ahead; if it is located on the side of the curb farther from the lane line (i.e., on the outside of the road), it is determined to be a fixed speed limit sign.

[0067] Then, the validity of the speed limit sign is determined by combining the results of the two assessments. For example, if the first assessment initially determines it to be a road speed limit sign, then the speed limit sign is determined to be valid regardless of the result of the second assessment; if the first assessment initially determines it to be a speed limit sign behind the vehicle in front, but the second assessment shows that it is located on the outer side of the road, then the situation is abnormal, and the speed limit sign is still determined to be valid for safety reasons; if the first assessment initially determines it to be a speed limit sign behind the vehicle in front, and the second assessment confirms that it is located on the inner side of the road, then the speed limit sign is determined to be invalid.

[0068] Taking a progressive dual-judgment logic as an example, by constructing a two-level spatial correlation judgment between the vehicle in front and the speed limit sign, and between the speed limit sign and the curb, invalid speed limit information is eliminated layer by layer, thereby reducing the false alarm rate. Figure 5 As shown, the specific steps are as follows: Step 1: Acquire an image of the area in front.

[0069] When the vehicle is in motion, it captures images of the area in front using a front camera module.

[0070] Step 2: Identify the vehicle in front, speed limit signs, and curb.

[0071] The front camera module transmits the image of the front to the control module, which then identifies the vehicle in front, speed limit signs, and curb based on the image.

[0072] Step 3: First judgment.

[0073] The system determines the correlation between the vehicle in front and the speed limit sign in terms of location and speed consistency. If the vehicle in front and the speed limit sign are correlated in location and have the same speed, the first judgment condition is met; if the above conditions are not met, the first judgment condition is not met, and a speed limit reminder is issued.

[0074] Step 4: Second judgment.

[0075] When the first judgment condition is met, the relationship between the speed limit sign and the roadside is judged. When the speed limit sign is on the side of the roadside closer to the lane line, the second judgment condition is met, and no speed limit reminder is given. When the speed limit sign is on the side of the roadside farther from the lane line, the second judgment condition is not met, and a speed limit reminder is given.

[0076] Through the above dual judgment logic, the speed limit sign at the rear of the vehicle in front can be accurately distinguished from the fixed speed limit sign on the road, effectively filtering out false warnings.

[0077] Therefore, by filtering the speed limit signs behind large vehicles based on the overlap between the preceding vehicle and the speed limit sign and the consistency of the speed, and then verifying the filtering based on the relationship between the speed limit sign and the curb, the speed limit information behind the preceding vehicle can be accurately identified, effectively preventing false alerts and improving the accuracy of the speed limit function and user experience.

[0078] In some embodiments of the present invention, determining whether a speed limit sign is valid based on vehicle information, speed limit sign information, and curb information includes: determining whether the speed limit sign and the preceding vehicle meet a first preset condition based on the vehicle information and speed limit sign information, wherein the first preset condition includes a positional correlation condition and a motion consistency condition; in response to meeting the first preset condition, determining whether the speed limit sign and the curb of the road meet a second preset condition based on the speed limit sign information and curb information; and in response to not meeting the first preset condition, or in response to not meeting the second preset condition, determining that the speed limit sign is valid.

[0079] In some examples, the positional correlation condition is used to determine whether a speed limit sign is located within the outline of the vehicle in front. Specifically, if the bounding box of the speed limit sign is completely inside the bounding box of the vehicle in front, then the positional correlation condition is satisfied.

[0080] For example, the vehicle information includes a first coordinate set representing the position of the preceding vehicle, and the speed limit sign information includes a second coordinate set representing the position of the speed limit sign; determining whether the speed limit sign is within the vehicle outline of the preceding vehicle includes: based on the first coordinate set and the second coordinate set, determining whether the area defined by the second coordinate set is included in the area defined by the first coordinate set.

[0081] For example, the first coordinate set includes the coordinates of the first left boundary, the first right boundary, the first upper boundary, and the first lower boundary; the second coordinate set includes the coordinates of the second left boundary, the second right boundary, the second upper boundary, and the second lower boundary; determining whether the region defined by the second coordinate set is contained within the region defined by the first coordinate set includes: Determine if the following conditions are met simultaneously: the coordinates of the second left boundary are greater than or equal to the coordinates of the first left boundary, the coordinates of the second right boundary are less than or equal to the coordinates of the first right boundary, the coordinates of the second upper boundary are greater than or equal to the coordinates of the first upper boundary, and the coordinates of the second lower boundary are less than or equal to the coordinates of the first lower boundary.

[0082] Taking a rectangular speed limit sign as an example, such as Figure 6 As shown, the coordinates of its four vertices are: top left (B_x_left, By_top), top right (B_x_right, By_top), bottom left (B_x_left, By_bottom), and bottom right (B_x_right, By_bottom). The preceding vehicle, as the target vehicle, can also be approximated as a rectangle, with the coordinates of its four vertices being: top left (A_x_left, A_y_top), top right (A_x_right, A_y_top), bottom left (A_x_left, A_y_bottom), and bottom right (A_x_right, A_y_bottom). Determine whether the following inequalities are simultaneously true: The coordinates of the second left boundary ≥ the coordinates of the first left boundary: B_x_left ≥ A_x_left; The coordinates of the second right boundary ≤ the coordinates of the first right boundary: B_x_right ≤ A_x_right; Second upper boundary coordinates ≥ First upper boundary coordinates: B_y_top ≥ A_y_top; Second lower boundary coordinates ≤ First lower boundary coordinates: B_y_bottom ≤ A_y_bottom; When all four inequalities mentioned above are true, it means that the upper left, upper right, lower left, and lower right corners of the speed limit sign are all located inside or on the boundary of the vehicle in front. In other words, the entire rectangular area of ​​the speed limit sign is completely contained within the rectangular outline of the vehicle in front, indicating that the speed limit sign is affixed to the rear of the vehicle in front.

[0083] Taking a circular speed limit sign as an example, its shape cannot be fully represented by a single bounding box. In this case, the center coordinates O(x_o, y_o) and radius R of the speed limit sign can be obtained. To determine whether the speed limit sign is within the outline of the preceding vehicle, it is necessary to verify whether all points on the circle are inside the rectangular outline of the preceding vehicle, that is, the distance from the center of the circle to each boundary of the preceding vehicle is not less than the radius R. Specifically, it is determined whether the following conditions are met simultaneously: Distance from the center of the circle to the left boundary: x_o - R ≥ A_x_left Distance from the center of the circle to the right boundary: x_o + R ≤ A_x_right Distance from center to top boundary: y_o - R ≥ A_y_top Distance from the center of the circle to the lower boundary: y_o + R ≤ A_y_bottom The four conditions above ensure that the leftmost point (x_o-R, y_o), rightmost point (x_o+R, y_o), topmost point (x_o, y_o-R), and bottommost point (x_o, y_o+R) of the circle are all located inside the outline of the preceding vehicle. When all four conditions are met simultaneously, it means that the entire circular area is completely contained within the rectangular outline of the preceding vehicle, indicating that the circular speed limit sign is affixed to the rear of the preceding vehicle.

[0084] It should be understood that the above inequalities are related to the coordinate system. This example uses an image pixel coordinate system with the top left corner as the origin, the x-axis positive to the right, and the y-axis positive downwards. In this coordinate system, the left boundary coordinate value is smaller, and the right boundary coordinate value is larger; the upper boundary coordinate value is smaller, and the lower boundary coordinate value is larger. Therefore, when determining the inclusion relationship, a combination of inequalities is used: "left boundary ≥ left boundary, right boundary ≤ right boundary, upper boundary ≥ upper boundary, lower boundary ≤ lower boundary".

[0085] If a different coordinate system is used, such as a Cartesian coordinate system with the bottom left corner of the image as the origin (x-axis positive to the right, y-axis positive upwards), the direction of the inequality used to determine the inclusion relationship needs to be adjusted accordingly. In the Cartesian coordinate system, the upper boundary coordinate value is larger and the lower boundary coordinate value is smaller. Therefore, the inclusion relationship should be determined as follows: second left boundary coordinate ≥ first left boundary coordinate, second right boundary coordinate ≤ first right boundary coordinate, second upper boundary coordinate ≤ first upper boundary coordinate, second lower boundary coordinate ≥ first lower boundary coordinate.

[0086] This example uses strict bounding box inclusion relationship judgment to accurately identify the situation where the speed limit sign is completely attached to the rear of the vehicle in front. The judgment logic is simple and intuitive, with low computational load and strong real-time performance. It is suitable for standard scenarios where the speed limit sign is fully visible.

[0087] In other examples, the location correlation condition is used to determine whether the intersection-union ratio (IUR) of the bounding boxes of the speed limit sign and the preceding vehicle is greater than a preset IUR threshold. Specifically, the ratio of the intersection area to the union area of ​​the bounding boxes of the speed limit sign and the preceding vehicle is calculated. If this ratio is greater than a preset threshold (e.g., 0.5), it is determined that there is a strong correlation between the two, and the location correlation condition is satisfied.

[0088] This example measures the degree of overlap between the two by using the intersection-union ratio. It can tolerate partial exceeding of the speed limit sign due to factors such as changes in viewing angle and changes in the posture of the vehicle in front, and has stronger robustness and adaptability, making it suitable for complex and ever-changing real-world road scenarios.

[0089] In some examples, the motion consistency condition is used to determine whether the speed difference between the speed limit sign and the vehicle in front is within the corresponding speed threshold range.

[0090] Specifically, the vehicle information includes the first speed A_velocity_x of the preceding vehicle in the first direction and the second speed A_velocity_y in the second direction. The speed limit sign information includes the third speed B_velocity_x of the speed limit sign in the first direction and the fourth speed B_velocity_y in the second direction. The first direction (e.g., lateral) is perpendicular to the second direction (e.g., longitudinal).

[0091] Determine whether the speed limit sign and the vehicle in front meet the motion consistency condition, including whether they meet the condition simultaneously: |First velocity - Third velocity| ≤ First velocity threshold: |A_velocity_x - B_velocity_x| ≤ velocity_threshold_x; |Second velocity - Fourth velocity| ≤ Second velocity threshold: |A_velocity_y - B_velocity_y| ≤ velocity_threshold_y.

[0092] The first speed threshold (velocity_threshold_x) and the second speed threshold (velocity_threshold_y) are preset speed difference thresholds in the x and y directions, which can be obtained through statistical calibration of a large amount of real vehicle test data. Factors considered include the positioning error of the image recognition algorithm, the slight relative motion caused by vehicle vibration, and the camera frame rate. For example, the longitudinal speed difference threshold can be set to 1.5 m / s, and the lateral speed difference threshold can be set to 0.5 m / s.

[0093] If both of the above conditions are met, it is determined that the speed limit sign and the vehicle in front are moving at the same speed, that is, the two are relatively stationary and meet the condition of consistent motion.

[0094] This example uses a comparison of speed differences in both longitudinal and lateral channels to accurately determine the consistency between the speed limit sign and the instantaneous motion of the vehicle in front. The calculation is simple and efficient, with strong real-time performance, making it suitable for scenarios with high real-time requirements.

[0095] In other examples, the motion consistency condition is used to determine whether the similarity between the speed limit sign and the trajectory of the preceding vehicle is greater than a preset similarity threshold.

[0096] Specifically, a first trajectory sequence T_A = {(x_A1,y_A1),(x_A2,y_A2),...,(x_An,y_An)} is formed by acquiring multiple historical location points of the preceding vehicle within a preset time period, and a second trajectory sequence T_B = {(x_B1,y_B1), (x_B2,y_B2),...,(x_Bn,y_Bn)} is formed by acquiring multiple historical location points of the speed limit sign. The similarity index between the two trajectories is calculated, for example, using methods such as the Pearson correlation coefficient.

[0097] Taking the Pearson correlation coefficient as an example, the correlation coefficients ρ_x and ρ_y between the vehicle in front and the speed limit sign in the x and y directions are calculated respectively. If ρ_x > ρ_threshold_x and ρ_y > ρ_threshold_y, then the two are considered to have highly similar motion trajectories, satisfying the motion consistency condition. ρ_threshold_x and ρ_threshold_y are preset correlation coefficient thresholds, for example, they can be set to 0.8.

[0098] This example replaces instantaneous velocity or acceleration comparison with trajectory matching, which can still accurately identify the motion correlation between the two even when there is noise, brief missing or periodic fluctuation in sensor data. This improves the robustness and fault tolerance of the algorithm and is suitable for complex and ever-changing real-world road scenarios.

[0099] In some examples, a second preset condition is used to determine whether the speed limit sign is located within a road area determined based on curb information, wherein the road area is determined based on curb information.

[0100] Specifically, the speed limit sign information includes the coordinates of multiple vertices of the speed limit sign (e.g., the four vertices of a rectangular speed limit sign, or the circumscribed rectangle vertices of a circular speed limit sign); determining whether the speed limit sign is located within the road area determined based on the curb information includes: for each vertex, determining whether the vertex is located within the road area based on the vertex coordinates; if any vertex is located within the road area, then the speed limit sign is determined to be located within the road area.

[0101] For example, determining whether a vertex is located within a road area includes: drawing a ray from the vertex along a direction that is not parallel to the road edge (such as a direction perpendicular to the road edge); counting the number of intersections between the ray and the road edge; if the number of intersections is odd, then determining that the vertex is located within a road area.

[0102] Taking two parallel lines (the left and right curbs) as an example, the road area is the strip between these two curbs. To determine if a vertex P(x,y) is within the road area, a ray is drawn from point P along the positive x-axis (the direction from the left curb to the right curb), and the number of intersections between this ray and the left and right curbs is counted. If the total number of intersections is odd, point P is within the road area; if the total number of intersections is 0 or even, point P is outside the road area. For example, when the ray intersects the right curb once and the left curb zero times, the total number of intersections is 1 (odd), indicating that point P is between the left and right curbs, i.e., within the road area; when the ray intersects both the left and right curbs once each, the total number of intersections is 2 (even), indicating that point P is outside the left side of the road; when the ray intersects no curbs, the total number of intersections is 0 (even), indicating that point P is outside the right side of the road.

[0103] This example uses the vertex ray method to determine whether a speed limit sign is located within a road area. It can make full use of roadside information to define the road range. The judgment logic is clear and the implementation is simple, making it suitable for regular road scenarios.

[0104] In other examples, the second preset condition is used to determine whether the speed limit sign is located on the side of the curb closer to the lane line (i.e., the inner side of the road). Here, "side closer to the lane line" refers to the inner side of the road area, that is, the area where vehicles normally travel; "side away from the lane line" refers to the outer side of the road area, that is, the shoulder, sidewalk, or non-driving area.

[0105] Specifically, the curb information includes the positions of the left and right curbs. The location of the road centerline or lane lines is determined, thereby defining the inner and outer sides of the road. It is then determined whether the geometric center or bounding box of the speed limit sign is located on the inner side of the road. For example, the coordinates of the speed limit sign's geometric center are calculated, and it is determined whether these coordinates are between the left and right curbs. If so, the speed limit sign is determined to be located on the inner side of the road (closer to the lane lines), satisfying the second preset condition; otherwise, it is determined to be located on the outer side of the road (farthest from the lane lines), not satisfying the second preset condition.

[0106] This example can directly distinguish between fixed road speed limit signs (located on the outside of the road) and speed limit signs behind vehicles (located on the inside of the road) by determining whether the speed limit sign is located on the inside of the road. The judgment is intuitive and requires little calculation.

[0107] In other embodiments of the present invention, determining whether a speed limit sign is valid based on vehicle information, speed limit sign information, and curb information includes: calculating a position overlap index and a speed consistency index between the speed limit sign and the preceding vehicle based on the vehicle information and speed limit sign information, and generating a first confidence level based on the position overlap index and speed consistency index; calculating a position relationship index between the speed limit sign and the curb based on the speed limit sign information and curb information, and generating a second confidence level based on the position relationship index; comprehensively calculating a validity confidence level of the speed limit sign based on the first confidence level and the second confidence level; and determining that the speed limit sign is valid if the validity confidence level is greater than a preset threshold.

[0108] Specifically, the positional overlap index can be calculated based on the intersection-over-union (IoU) ratio between the speed limit sign bounding box and the preceding vehicle's bounding box. The IoU calculation formula is: IoU = (A∩B) / (A∪B), where A is the area of ​​the preceding vehicle's bounding box and B is the area of ​​the speed limit sign's bounding box. The IoU value ranges from 0 to 1, with a higher value indicating a greater degree of overlap. The IoU value can be mapped to a positional overlap confidence score C_position; for example, C_position can be directly set to IoU.

[0109] The speed consistency index can be calculated based on the speed limit sign and the speed difference between the vehicle ahead and the vehicle in the longitudinal and lateral directions. For example, the longitudinal speed difference Δv_y = |A_velocity_y - B_velocity_y| is calculated, and the lateral speed difference Δv_x = |A_velocity_x - B_velocity_x| is calculated. The speed difference is then mapped to a speed consistency confidence score C_velocity, for example, using a Gaussian function: C_velocity = exp(-(Δv_x² / σ_x² + Δv_y² / σ_y²)), where σ_x and σ_y are preset scale parameters.

[0110] The first confidence level C1 is generated based on the position overlap index and the velocity consistency index. For example, a weighted summation method can be used: C1 = w1·C_position + w2·C_velocity, where w1 and w2 are weight coefficients, and w1 + w2 = 1.

[0111] Positional relationship indicators are used to characterize whether a speed limit sign is located on the inside or outside of the road. For example, the ray method is used to determine whether each vertex of the speed limit sign is located on the inside or outside of the road, and the number of vertices located on the inside, n_in, is counted. n_in is then mapped to a second confidence level C2, for example, C2 = 1 - n_in / 4, meaning that the more vertices located on the inside, the lower the confidence level (the more likely it is to be judged as a speed limit sign behind the vehicle in front).

[0112] The validity confidence score C_total of the speed limit sign is calculated by combining the first and second confidence scores. For example, a weighted summation can be used: C_total = α·C1 + β·C2, where α and β are weighting coefficients, and α + β = 1. Alternatively, a product form can be used: C_total = C1 × C2.

[0113] The preset threshold T can be set according to actual application needs, for example, T=0.6. If C_total>T, the speed limit sign is considered valid and a speed limit reminder is issued; otherwise, it is considered invalid and the speed limit sign is filtered out.

[0114] This embodiment integrates multi-dimensional information such as location overlap, speed consistency, and roadside position relationship into a single confidence index through a confidence-weighted fusion method. This enables more robust judgment of the validity of speed limit signs even when sensor data contains noise or missing information. The weighted fusion method allows for flexible adjustment of weights based on the reliability and importance of each index, adapting to different scenario requirements and improving judgment accuracy and system stability.

[0115] In summary, the speed limit reminder method of this invention aims to solve the problems of false alarms caused by the unjustified borrowing of speed limit values ​​from previous road segments on road sections without speed limit signs, and by misidentification of speed limit values. Specifically, existing solutions, when failing to identify a new speed limit value on a new road segment, will borrow the speed limit value from the previous segment for speed limit reminders. Alternatively, when identifying an incorrect speed limit value (such as the speed limit value in the speed limit sign attached to the rear of buses, coaches, or trucks, or the speed limit value of a passing ramp), it is often misjudged as the speed limit value of the current road segment and a reminder is issued, or even an overspeed alarm is triggered, causing unnecessary interference to the driver. To address this deficiency, this invention accurately identifies the speed limit value that matches the current scenario by judging the stopping conditions for speed limit reminders and constructing spatial correlation judgment logic, effectively reducing the false alarm rate of the speed limit function and improving the driving experience.

[0116] Figure 7 This is a structural block diagram of the speed limit reminder device according to an embodiment of the present invention.

[0117] like Figure 7 As shown, the speed limit reminder device 100 includes: a vehicle body sensor module 20, a front camera module 30, and a control module 40.

[0118] The vehicle body sensor module 20 may include a vehicle speed sensor for acquiring driving information of the vehicle; the front camera module 30 is used to capture images of the vehicle ahead. The control module 40 is connected to both the vehicle body sensor module 20 and the front camera module 30, and is configured to determine whether a speed limit sign is detected based on the images ahead, and to provide a speed limit reminder based on the speed limit value in the speed limit sign when the speed limit sign is detected, and to provide a speed limit reminder based on the speed limit value when the driving information meets the conditions for stopping the speed limit reminder.

[0119] In some examples, such as Figure 8 As shown, the speed limit reminder device 100 may also include a combination instrument cluster 10, and the control module 40 includes a SoC chip 41 and an MCU chip 42. The front camera module 30 is connected to the SoC chip 41 and is used to transmit the acquired forward image to the SoC chip 41 in real time. The vehicle body sensor module 20 is connected to the MCU chip 42 and is used to transmit the current vehicle speed to the MCU chip 42 in real time. The MCU chip 42 is connected to both the SoC chip 41 and the combination instrument cluster 30 for interaction of vehicle network data. In practical applications, to improve system integration, the control module 40 and the front camera module 30 can be integrated into an intelligent driving module (such as an integrated forward-facing camera assembly).

[0120] In this embodiment, the SoC chip 41 deploys a perception algorithm and a localization algorithm. The perception algorithm (such as the CNN+Transformer algorithm) is used to identify targets from the image ahead, including: the type and location of the vehicle ahead (such as a car, truck, etc.), the type and location of speed limit signs, and the location of road edges (such as curbs, lane lines). The localization algorithm can combine GNSS (Global Navigation Satellite System) and IMU (Inertial Measurement Unit) data to obtain the precise location of the vehicle, assisting in image recognition.

[0121] For example, the specific judgment logic for the control module 40 to execute the speed limit reminder can be as follows: First, the first level of judgment is performed. The MCU chip 42 transmits the current vehicle speed to the SoC chip 41. The SoC chip 41 combines the vehicle ahead and the speed limit sign identified by the perception algorithm to determine the correlation between the vehicle ahead and the speed limit sign. When the identified speed limit sign is related to a vehicle ahead in terms of location (for example, the speed limit sign is located in the cargo box or body of the vehicle ahead), and the speed of the vehicle ahead is basically the same as the speed limit sign, the SoC chip 41 determines that the speed limit sign is a "speed limit sign at the rear of the vehicle ahead", which is an invalid speed limit sign and does not trigger a speed limit reminder.

[0122] Secondly, if the first judgment condition is not met (i.e., the speed limit sign does not belong to the vehicle in front), the second judgment is executed. The SoC chip 41 determines the positional relationship between the speed limit sign and the road curb. If the speed limit sign is located on the side of the curb away from the lane line (e.g., a green belt, sidewalk, or roadside facility outside the curb), the speed limit sign is deemed valid, and a speed limit reminder is triggered. Conversely, if the speed limit sign is located on the side of the curb closer to the lane line, the speed limit sign is deemed invalid, and a speed limit reminder is not triggered.

[0123] Finally, when the speed limit sign is deemed valid, the SoC chip 41 sends the speed limit value to the instrument cluster 10 via the MCU chip 42. It can also send a reminder command to the instrument cluster 10 if the current vehicle speed exceeds the speed limit. Upon receiving the speed limit value, the instrument cluster 10 displays it in conjunction with the current vehicle speed and, upon receiving the reminder command, issues an audible and visual alarm to remind the driver to slow down.

[0124] The speed limit reminder device 100 adopts a forward-looking integrated configuration, integrating a front camera module 30 and a control module 40 into an intelligent driving module, achieving tight coupling between perception and decision-making. The control module 40 adopts a heterogeneous architecture of SoC chip 41 and MCU chip 42: the SoC chip 41 deploys forward-looking perception algorithms (such as CNN+Transformer), focusing on handling image recognition and spatial logic judgment with high computing power requirements with its parallel computing capabilities; the MCU chip 42 is responsible for vehicle network communication, acquiring vehicle speed data from the body sensor module 20 in real time and interacting with the instrument cluster 30. This architecture has a clear division of labor, avoiding resource conflicts of a single chip. Compared with the existing distributed architecture, data flow is faster and decision latency is lower, achieving efficient end-to-end processing from image acquisition to instrument display, and combining the characteristics of accurate algorithms and high computing efficiency.

[0125] It should be noted that for other specific embodiments of the speed limit reminder device 100 of the present invention, please refer to the specific embodiments of the speed limit reminder method described above.

[0126] The present invention also proposes a computer storage medium storing a computer program thereon, which, when executed by a processor, implements the speed limit reminder method of the above embodiments.

[0127] The present invention also proposes an electronic device.

[0128] The electronic device includes at least one processor and a memory communicatively connected to the at least one processor. The memory stores instructions executable by the at least one processor, which, when executed, implement the speed limit reminder method described in the above embodiment.

[0129] The present invention also proposes a vehicle.

[0130] Vehicle 1000 includes: the speed limit reminder device 100 of the above embodiment (e.g. Figure 9 (as shown), and / or, the electronic devices of the above embodiments.

[0131] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0132] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0133] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0134] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A speed limit reminder method, characterized in that, include: In response to the detection of a speed limit sign, a speed limit reminder is given based on the speed limit value in the speed limit sign; In response to the vehicle's driving information meeting the conditions for stopping the speed limit reminder, the speed limit reminder based on the speed limit value is stopped.

2. The speed limit reminder method according to claim 1, characterized in that, The conditions for stopping the speed limit reminder include: The vehicle is turning, and no new speed limit sign is detected within a first preset distance after the turn; and / or The vehicle is not turning, and the vehicle continues to travel at a speed greater than the target speed for a distance to reach the second preset distance, wherein the target speed is the sum of the speed limit value and the speed difference threshold value.

3. The speed limit reminder method according to claim 1 or 2, characterized in that, The method further includes: In response to the vehicle turning and detecting a new speed limit sign within a first preset distance after turning, a speed limit reminder is issued based on the speed limit value in the new speed limit sign; and / or In response to the vehicle not turning, if the distance the vehicle travels at a speed greater than the target speed is less than a second preset distance, or if the vehicle speed is less than or equal to the target speed, and a new speed limit sign is detected, a speed limit reminder is issued based on the speed limit value in the new speed limit sign, wherein the target speed is the sum of the speed limit value in the old speed limit sign and the speed difference threshold.

4. The speed limit reminder method according to claim 1, characterized in that, Speed ​​limit reminders based on the speed limit value include: displaying the speed limit value, and issuing a reminder message in response to the vehicle's current speed exceeding the speed limit value; and / or Stopping speed limit reminders based on the speed limit value includes: setting the displayed speed limit value to null and stopping the speed limit reminder.

5. The speed limit reminder method according to claim 4, characterized in that, The method further includes: In response to receiving an instruction to calculate the availability index of the speed limit sign, the availability index of the speed limit sign is calculated based on the historical speed limit value display information of the vehicle, wherein the availability index includes at least one of display error rate, function online rate, and function availability rate.

6. The speed limit reminder method according to claim 1, characterized in that, Before issuing the speed limit reminder based on the speed limit value in the speed limit sign, the method further includes: Based on the vehicle information of the vehicle in front, the speed limit sign information, and the road curb information, the validity of the speed limit sign is determined.

7. The speed limit reminder method according to claim 6, characterized in that, Determining the validity of the speed limit sign based on the vehicle information, the speed limit sign information, and the curb information includes: Based on the vehicle information and the speed limit sign information, it is determined whether the speed limit sign and the preceding vehicle meet a first preset condition, wherein the first preset condition includes a position correlation condition and a motion consistency condition. In response to the fulfillment of the first preset condition, based on the speed limit sign information and the curb information, it is determined whether the speed limit sign and the curb of the road meet the second preset condition; In response to the failure to meet the first preset condition, or in response to the failure to meet the second preset condition, the speed limit indicator is determined to be valid.

8. The speed limit reminder method according to claim 7, characterized in that, The location correlation condition is used to determine whether the speed limit sign is located within the vehicle outline of the preceding vehicle. The vehicle information includes a first coordinate set representing the position of the preceding vehicle, and the speed limit sign information includes a second coordinate set representing the position of the speed limit sign. Determining whether the speed limit sign is located within the outline of the vehicle in front includes: Based on the first coordinate set and the second coordinate set, determine whether the region defined by the second coordinate set is included in the region defined by the first coordinate set.

9. The speed limit reminder method according to claim 8, characterized in that, The first coordinate set includes the coordinates of the first left boundary, the coordinates of the first right boundary, the coordinates of the first upper boundary, and the coordinates of the first lower boundary; the second coordinate set includes the coordinates of the second left boundary, the coordinates of the second right boundary, the coordinates of the second upper boundary, and the coordinates of the second lower boundary. Determining whether the region defined by the second coordinate set is included in the region defined by the first coordinate set includes: Determine if the following conditions are met simultaneously: The coordinates of the second left boundary are greater than or equal to the coordinates of the first left boundary. The second right boundary coordinate is less than or equal to the first right boundary coordinate. The second upper boundary coordinates are greater than or equal to the first upper boundary coordinates. The coordinates of the second lower boundary are less than or equal to the coordinates of the first lower boundary.

10. The speed limit reminder method according to claim 7, characterized in that, The motion consistency condition is used to determine whether the speed difference between the speed limit sign and the preceding vehicle is within the corresponding speed threshold range. The vehicle information includes the first speed of the preceding vehicle in the first direction and the second speed in the second direction. The speed limit sign information includes the third speed of the speed limit sign in the first direction and the fourth speed in the second direction. The first direction is perpendicular to the second direction. Determining whether the speed limit sign and the vehicle in front meet the motion consistency condition includes: Determine if the following conditions are met simultaneously: |First speed - Third speed| ≤ First speed threshold |The second speed - the fourth speed| ≤ the second speed threshold.

11. The speed limit reminder method according to claim 7, characterized in that, The second preset condition is used to determine whether the speed limit sign is located within the road area determined based on the curb information, wherein the speed limit sign information includes the coordinates of multiple vertices of the speed limit sign; Determining whether the speed limit sign is located within the road area determined based on the curb information includes: For each vertex, determine whether the vertex is located within the road area based on the vertex coordinates; If any of the vertices is located within the road area, then the speed limit sign is determined to be located within the road area.

12. A computer storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the speed limit reminder method as described in any one of claims 1-11.

13. A speed limit reminder device, characterized in that, include: The vehicle body sensor module is used to acquire the vehicle's driving information; The front camera module is used to capture images of the front of the vehicle; The controller, connected to the vehicle body sensor module and the front camera module respectively, is configured to determine whether a speed limit sign is detected based on the forward image, and when the speed limit sign is detected to be valid, to provide a speed limit reminder based on the speed limit value in the speed limit sign, and to stop the speed limit reminder based on the speed limit value when the driving information meets the conditions for stopping the speed limit reminder.

14. An electronic device, characterized in that, include: At least one processor; as well as A memory that is communicatively connected to the at least one processor; The memory stores instructions that can be executed by the at least one processor, which are executed by the at least one processor to implement the speed limit reminder method as described in any one of claims 1-11.

15. A vehicle, characterized in that, include: The speed limit reminder device as claimed in claim 13, and / or the electronic device as claimed in claim 14.

Images