A signal light visibility judgment and reminding method and system

Abstract

This invention provides a method and system for judging and alerting on traffic light visibility, belonging to the field of automotive control technology. The method includes: acquiring the position, color, and type of the traffic light; acquiring lane information and vehicle dynamic parameters; detecting the driver's field of vision to determine whether the traffic light is within the driver's field of vision; judging the visibility of the traffic light based on the traffic light position and whether it is within the driver's field of vision; if the traffic light visibility is insufficient, calculating the risk level based on the traffic light position, color, and type, lane information, and vehicle dynamic parameters; and outputting corresponding alert information based on the risk level. This invention can intelligently sense the driver's field of vision coverage, solving the problem of blind spots caused by traffic light obstruction; this invention integrates vehicle speed, acceleration, and distance information to achieve dynamic risk classification alerts; this invention only processes traffic lights in relevant lanes, significantly reducing the false alert rate.

Description

Technical Field

[0001] This invention relates to the field of automotive control technology, and in particular to a method and system for judging and alerting traffic light visibility. Background Technology

[0002] In urban traffic scenarios, traffic lights are typically located above intersections or on the far left of the road. When the road is wide, has multiple main and auxiliary lanes, or a central divider, drivers in the right lane may have difficulty seeing the traffic lights directly. Add to this factors such as A-pillar obstruction, glare, and differences in driver height, and drivers' perception of traffic light changes may be delayed, potentially leading to the risk of running a red light or emergency braking.

[0003] While existing driver assistance systems can recognize traffic light status, most only focus on autonomous driving control and do not consider the driver's subjective field of vision. In particular, there is no intelligent mechanism to determine whether the driver can see the traffic lights when they are obstructed or far away. Summary of the Invention

[0004] The present invention aims to solve at least one of the above-mentioned problems in the prior art by proposing an intelligent assistance technology solution that integrates driver line of sight, lane position and vehicle dynamic parameters, and actively reminds drivers when the traffic lights are not visible to them, thereby improving driving safety.

[0005] In a first aspect, embodiments of the present invention provide a method for determining and alerting on the visibility of traffic lights, including:

[0006] Obtain the location, color, and type of traffic lights; obtain lane information and vehicle dynamic parameters.

[0007] Detect the driver's field of vision to determine whether the traffic lights are within the driver's field of vision;

[0008] Based on the location of the traffic light and whether the traffic light is within the driver's field of vision, the visibility of the traffic light is determined.

[0009] If the visibility of the traffic lights is insufficient, the risk level is calculated based on the location, color and type of the traffic lights, lane information and vehicle dynamic parameters.

[0010] Output corresponding alert information based on the risk level.

[0011] In a preferred embodiment, the steps of obtaining the traffic light location, color, and type, and obtaining lane information and vehicle dynamic parameters include:

[0012] The location, color, and type of traffic lights are identified in real time from high-precision maps, V2X, or forward-facing cameras, and the location of the traffic lights is converted into three-dimensional coordinates in the vehicle coordinate system.

[0013] By using high-precision maps and lane line detection, the current lane number and lane type of the vehicle can be determined in real time.

[0014] Vehicle speed and acceleration are collected in real time via the CAN bus;

[0015] Real-time calculation of vehicle distance, which is the distance from the vehicle to the stop line at the intersection or the relative distance from the vehicle to the vehicle in front.

[0016] In a preferred embodiment, the step of detecting the driver's field of vision and determining whether the traffic light is within the driver's field of vision includes:

[0017] Based on the driver's head posture and gaze direction captured by the DMS camera, and combined with the vehicle A-pillar model and windshield boundary, a driver's field of view model is established.

[0018] Determine whether the traffic light is within the field of view by combining its three-dimensional coordinates.

[0019] In a preferred embodiment, the step of determining the visibility of the traffic light based on the position of the traffic light and whether the traffic light is within the driver's field of vision includes:

[0020] If the traffic light is not within the field of view, confirm that the traffic light is invisible;

[0021] If the angle between the traffic light and the driver's line of sight is less than or equal to the first preset angle, it is confirmed that the driver is looking at the traffic light and the traffic light is visible.

[0022] If the angle between the traffic light and the driver's line of sight is greater than the second preset angle, the traffic light is confirmed to be invisible.

[0023] If the traffic light is visible and the distance to the vehicle is greater than the first preset distance, the traffic light is confirmed to be low visibility.

[0024] In a preferred embodiment, the step of calculating the risk level based on the traffic light location, color, type, lane information, and vehicle dynamic parameters if the traffic light visibility is insufficient includes:

[0025] If the traffic light is invisible or barely visible, the risk level is ordinary risk.

[0026] If the traffic light is low visibility, the traffic light type matches the current lane type, the traffic light is red, and the vehicle speed is greater than the first preset speed or the vehicle is still accelerating, the risk level is high risk.

[0027] If the traffic light is invisible, the traffic light type matches the current lane type, the traffic light is red, the vehicle has not slowed down, and the distance between the vehicle and the stop line at the intersection is less than the second preset distance, the risk level is high risk.

[0028] In a preferred embodiment, the step of outputting corresponding reminder information based on the risk level includes:

[0029] If the risk level is ordinary risk, only the status of the traffic lights will be indicated;

[0030] If the risk level is high, the system will display the status of the indicator lights, flashing prompts, and a voice warning.

[0031] In a preferred embodiment, the method further includes: determining whether the driver is looking at the traffic light or the vehicle is slowing down; if not, recalculating the risk level and outputting corresponding reminder information based on the risk level; if yes, terminating the reminder.

[0032] In a second aspect, embodiments of the present invention provide a traffic light visibility judgment and alert system, configured to implement any of the methods described in the first aspect, the system comprising:

[0033] The acquisition module is used to acquire the location, color, and type of traffic lights, as well as lane information and vehicle dynamic parameters.

[0034] The driver's field of vision detection module is used to detect the driver's field of vision and determine whether the traffic lights are within the driver's field of vision.

[0035] The traffic light visibility determination module is used to determine the visibility of the traffic light based on the position of the traffic light and whether the traffic light is located within the driver's field of vision.

[0036] The risk level calculation module is used to calculate the risk level based on the location, color and type of the traffic light, lane information and vehicle dynamic parameters if the visibility of the traffic light is insufficient.

[0037] The safety alert output module is used to output corresponding alert information based on the risk level.

[0038] Thirdly, embodiments of the present invention provide an electronic device, including:

[0039] One or more processors;

[0040] Memory, used to store one or more programs;

[0041] When the one or more programs are executed by the one or more processors, the one or more processors implement any of the methods described in the first aspect.

[0042] Fourthly, embodiments of the present invention provide a computer-readable medium storing a computer program that, when executed by a processor, implements the steps of any of the methods described in the first aspect.

[0043] Beneficial effects of this invention:

[0044] This invention can intelligently sense the driver's field of vision coverage and solve the problem of blind spots caused by traffic lights;

[0045] This invention integrates vehicle speed, acceleration, and distance information to achieve dynamic risk classification and alerts;

[0046] This invention only processes the relevant lane traffic lights, significantly reducing the false alarm rate;

[0047] This invention requires no new hardware and can be deployed based on existing DMS and navigation systems.

[0048] This invention improves driving safety and comfort, and avoids the risk of running red lights due to blind spots caused by traffic lights. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the overall process of a traffic light visibility judgment and reminder method provided in an embodiment of the present invention.

[0050] Figure 2 This is one of the flowcharts for a traffic light visibility judgment and reminder method provided in an embodiment of the present invention.

[0051] Figure 3 This is a second schematic diagram of a traffic light visibility judgment and reminder method provided in an embodiment of the present invention.

[0052] Figure 4 This is a schematic diagram of a traffic light visibility judgment and reminder system provided in an embodiment of the present invention.

[0053] Figure 5 This is a structural block diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0054] To enable those skilled in the art to better understand the technical solutions of the present invention, exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to aid understanding. These should be considered merely exemplary. Therefore, those skilled in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0055] Where there is no conflict, the various embodiments of the present invention and the features thereof may be combined with each other.

[0056] As used herein, the term “and / or” includes any and all combinations of one or more related enumerated entries.

[0057] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein, the singular forms “a” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that when the terms “comprising” and / or “made of” are used in this specification, the presence of the stated feature, integral, step, operation, element, and / or component is specified, but the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof is not excluded. Terms such as “connected” or “linked” are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect.

[0058] Unless otherwise specified, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having the meaning consistent with their meaning in the context of the relevant art and the invention, and will not be interpreted as having an idealized or overly formal meaning unless expressly so defined herein.

[0059] In the technical solution of this invention, the collection, storage, use, processing, transmission, provision, and disclosure of user personal information all comply with relevant laws and regulations and do not violate public order and good morals. The use of user data in this technical solution follows relevant national laws and regulations (e.g., the "Information Security Technology - Personal Information Security Specification"). For example: appropriate measures are taken for personal information access control; restrictions are imposed on the display of personal information; the purpose of using personal information does not exceed the scope of direct or reasonable association; and explicit identity targeting is eliminated when using personal information to avoid precisely locating a specific individual.

[0060] Some abbreviations and key terms in this invention are defined as follows:

[0061] DMS (Driver Monitoring System): A driver monitoring system used to detect the driver's head posture, gaze direction, and gaze point.

[0062] Lane location information: Lane-level positioning results provided by high-precision maps, vehicle cameras, or navigation systems, including the current lane number and type.

[0063] Traffic light visibility: This indicates the degree to which a driver can observe the traffic lights ahead from their current perspective.

[0064] Visibility alert: When the system determines that the visibility of the traffic light is insufficient, it will provide a traffic light status alert through the instrument panel, HUD, or voice output.

[0065] Vehicle speed (v): The real-time speed of the vehicle, used to assess the level of danger and when to issue a warning.

[0066] Acceleration (a): The longitudinal acceleration of the vehicle, used to determine whether the driver has performed a deceleration operation.

[0067] Vehicle distance (d): The distance from the current vehicle to the stop line at the intersection or the vehicle in front, used to determine the alert trigger threshold.

[0068] Red light type: The direction indicated by the traffic light (such as straight, left turn, right turn), used to filter traffic lights that are not related to the current lane.

[0069] The technical principle of this invention is as follows: by judging whether the driver can see the traffic lights in different lanes, at different speeds, and at different distances, intelligent hierarchical reminders can be achieved when the visibility of traffic lights is insufficient, which can improve the reliability of the system and avoid false alarms or repeated reminders.

[0070] Figure 1 This is a schematic diagram of the overall process of a traffic light visibility judgment and warning method provided in an embodiment of the present invention. Figure 1 As shown, the overall process of this method includes:

[0071] The process begins;

[0072] Get the location and type of the traffic light;

[0073] Acquire lane information and vehicle dynamic parameters;

[0074] Detect the driver's line of sight;

[0075] Determine the visibility of traffic lights;

[0076] Is visibility insufficient? If not, maintain normal status; if so, calculate the risk level.

[0077] Determine if it is a high-risk scenario. If it is, output a strong alert with HUD and voice; otherwise, output a normal alert with only HUD display.

[0078] Determine if the driver refocuses or the vehicle slows down. If not, recalculate the risk level. If yes, terminate the alert and the process ends.

[0079] In the following embodiments of the present invention, for ease of description, the vehicle control unit is used as the executing entity. The executing entity can also be a software module, or other electronic devices capable of performing the following functions.

[0080] Figure 2 This is one of the flowcharts illustrating a traffic light visibility judgment and alert method provided in an embodiment of the present invention. Figure 2 As shown, the method includes:

[0081] Step S1: Obtain the location, color, and type of the traffic lights, and obtain lane information and vehicle dynamic parameters;

[0082] Step S2: Detect the driver's field of vision and determine whether the traffic light is within the driver's field of vision.

[0083] Step S3: Determine the visibility of the traffic light based on the position of the traffic light and whether the traffic light is within the driver's field of vision.

[0084] Step S4: If the visibility of the traffic lights is insufficient, calculate the risk level based on the location, color and type of the traffic lights, lane information and vehicle dynamic parameters.

[0085] Step S5: Output corresponding reminder information according to the risk level.

[0086] The above steps of this invention can determine whether the driver can see the traffic lights under different lanes and different vehicle dynamic parameters (such as vehicle speed, acceleration, and distance), and realize intelligent hierarchical reminders when the visibility of traffic lights is insufficient, thereby improving system reliability and avoiding false alarms or repeated reminders.

[0087] In some embodiments, step S1, which involves obtaining the location, color, and type of traffic lights, as well as lane information and vehicle dynamic parameters, includes:

[0088] The system uses high-precision maps, V2X, or forward-facing cameras to identify the location, color (red, yellow, green), and type (straight / left turn / right turn) of traffic lights in real time, and converts the traffic light location into three-dimensional coordinates in the vehicle coordinate system.

[0089] By using high-precision maps and lane line detection, the current lane number and lane type of the vehicle can be determined in real time.

[0090] Vehicle speed v and acceleration a are collected in real time via CAN bus;

[0091] The vehicle distance d is calculated in real time, where d is the distance from the vehicle to the stop line at the intersection or the relative distance from the vehicle to the vehicle in front.

[0092] Among them, acceleration 'a' is used to determine whether the driver is accelerating or decelerating; distance 'd' is used to determine the advance warning amount; all these parameters together serve as additional inputs for traffic light visibility judgment, making the warning decision more accurate.

[0093] In some embodiments, step S2, detecting the driver's field of vision and determining whether the traffic light is within the driver's field of vision, includes:

[0094] Based on the driver's head posture and gaze direction (Yaw, Pitch, Roll) captured by the DMS camera, and combined with the vehicle A-pillar model and windshield boundary, a driver's field of view model is established.

[0095] The system uses the three-dimensional coordinates of the traffic lights to determine whether they are within the field of view. If the traffic lights are within the field of view, it means they are not obstructed; if they are not within the field of view, it means they are obstructed.

[0096] In some embodiments, step S3, which involves determining the visibility of the traffic light based on the position of the traffic light and whether the traffic light is within the driver's field of vision, includes:

[0097] If the traffic light is not within the field of view, confirm that the traffic light is invisible;

[0098] If the angle between the traffic light and the driver's line of sight is less than or equal to the first preset angle (e.g., the driver's line of sight angle ≤...), =30°), confirm that the driver is looking at the traffic light and the traffic light is visible;

[0099] If the angle between the traffic light and the driver's line of sight is greater than the second preset angle (e.g., the driver's line of sight angle > ... =60°), confirming the traffic light is invisible;

[0100] If the traffic light is visible and the distance d between vehicles is greater than the first preset distance (e.g., distance d > 60m), then the traffic light is confirmed to be low visibility.

[0101] Specifically, if the traffic light is visible and the distance d between vehicles is greater than the first preset distance, the traffic light is confirmed to be of low visibility. Further judgment can be made based on the brightness of the traffic light. If the traffic light is visible and the distance d between vehicles is greater than the first preset distance and the confidence level of the traffic light brightness recognition is less than the set threshold, the traffic light is confirmed to be of low visibility.

[0102] In some embodiments, step S4, if the traffic light visibility is insufficient, includes the step of calculating the risk level based on the traffic light location, color, and type, lane information, and vehicle dynamic parameters, which includes:

[0103] If the traffic light is invisible or barely visible, the risk level is ordinary risk.

[0104] If the traffic light is low visibility, the traffic light type matches the current lane type, the traffic light is red, and the vehicle speed is greater than the first preset speed (e.g., vehicle speed v> =If the vehicle is still accelerating (e.g., at 30 km / h) or the speed is 0, the risk level is high.

[0105] If the traffic light is invisible, the traffic light type matches the current lane type, the traffic light is red, the vehicle has not slowed down (a ≈ 0), and the vehicle's distance from the intersection stop line is less than the second preset distance (e.g., the vehicle's distance from the intersection stop line < ...). =30m), the risk level is high risk.

[0106] In some embodiments, step S5, which involves outputting corresponding alert information based on the risk level, includes:

[0107] If the risk level is ordinary risk, only the status of the traffic lights will be indicated;

[0108] If the risk level is high, the system will display the status of the indicator lights, flashing prompts, and a voice warning.

[0109] The warning signal status is a visual reminder: a virtual signal light icon is displayed on the instrument panel or HUD, and the color changes synchronously with the corresponding signal light in the current lane; the voice warning is a voice / prompt reminder: a short prompt or voice message is played in high-risk scenarios, such as "Red light ahead, please slow down".

[0110] In some embodiments, such as Figure 3 As shown, it also includes: step S6, determining whether the driver is looking at the traffic lights or the vehicle is slowing down; if not, recalculating the risk level and outputting the corresponding reminder information according to the risk level; if yes, terminating the reminder.

[0111] Among them, when the driver refocuses on the direction of the traffic light or the vehicle has slowed down (a < - If the driver does not pay attention to the traffic lights and the vehicle does not slow down, the risk level will be recalculated and the corresponding warning message will be output.

[0112] In some embodiments, if the vehicle is not equipped with a DMS system, it can be replaced by a steering wheel touch sensor or a driving posture estimation model; if the map does not have traffic light coordinates, the location of the traffic lights can be identified and matched by a camera; if the vehicle system has AR navigation, virtual traffic lights can be overlaid on the AR screen; it can be extended to scenarios of "pedestrian traffic light reminder" or "synchronous display of left turn waiting area signals".

[0113] Based on the same inventive concept, such as Figure 4 As shown, this embodiment of the invention also provides a traffic light visibility judgment and reminder system, configured to implement any of the methods described in the above embodiments, the system comprising:

[0114] The acquisition module is used to acquire the location, color, and type of traffic lights, as well as lane information and vehicle dynamic parameters.

[0115] The driver's field of vision detection module is used to detect the driver's field of vision and determine whether the traffic lights are within the driver's field of vision.

[0116] The traffic light visibility determination module is used to determine the visibility of the traffic light based on the position of the traffic light and whether the traffic light is located within the driver's field of vision.

[0117] The risk level calculation module is used to calculate the risk level based on the location, color and type of the traffic light, lane information and vehicle dynamic parameters if the visibility of the traffic light is insufficient.

[0118] The safety alert output module is used to output corresponding alert information based on the risk level.

[0119] Based on the same inventive concept, embodiments of the present invention also provide an electronic device. Figure 5 This is a structural block diagram of an electronic device provided in an embodiment of the present invention. Figure 5 As shown, an embodiment of the present invention provides an electronic device including: one or more processors 101, a memory 102, and one or more I / O interfaces 103. The memory 102 stores one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement any of the methods described in the above embodiments; the one or more I / O interfaces 103 are connected between the processor and the memory, configured to enable information interaction between the processor and the memory.

[0120] The processor 101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU); the memory 102 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and flash memory (FLASH); the I / O interface (read / write interface) 103 is connected between the processor 101 and the memory 102, and can realize information interaction between the processor 101 and the memory 102, including but not limited to a data bus (Bus).

[0121] In some embodiments, the processor 101, memory 102, and I / O interface 103 are interconnected via bus 104, and thus connected to other components of the computing device.

[0122] In some embodiments, the one or more processors 101 include a field-programmable gate array.

[0123] Based on the same inventive concept, embodiments of the present invention also provide a computer-readable medium. This computer-readable medium stores a computer program, wherein, when executed by a processor, the program implements the steps of any of the methods described in the above embodiments. The computer-readable storage medium may be a volatile or non-volatile computer-readable storage medium.

[0124] Those skilled in the art will understand that all or some of the steps, systems, and apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software can be distributed on a computer-readable storage medium, which may include computer storage media (or non-transitory media) and communication media (or transient media).

[0125] As is known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable program instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), static random access memory (SRAM), flash memory or other memory technologies, portable compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, it is known to those skilled in the art that communication media typically contain computer-readable program instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0126] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0127] The computer program instructions used to perform the operations of this invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing state information from the computer-readable program instructions. This electronic circuitry can execute the computer-readable program instructions to implement various aspects of the invention.

[0128] The computer program product described herein can be implemented specifically through hardware, software, or a combination thereof. In one alternative embodiment, the computer program product is specifically embodied in a computer storage medium; in another alternative embodiment, the computer program product is specifically embodied in a software product, such as a software development kit (SDK), etc.

[0129] Various aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0130] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0131] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0132] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0133] Example embodiments have been disclosed herein, and while specific terminology has been used, it is for illustrative purposes only and should be construed as such, and is not intended to be limiting. In some instances, it will be apparent to those skilled in the art that features, characteristics, and / or elements described in conjunction with particular embodiments may be used alone, or in combination with features, characteristics, and / or elements described in conjunction with other embodiments, unless otherwise expressly indicated. Therefore, those skilled in the art will understand that various changes in form and detail may be made without departing from the scope of the invention as set forth in the appended claims.

Claims

1. A signal light visibility determination and alerting method, characterized by, include: Obtain the location, color, and type of traffic lights; obtain lane information and vehicle dynamic parameters. Detect the driver's field of vision to determine whether the traffic lights are within the driver's field of vision; Based on the location of the traffic light and whether the traffic light is within the driver's field of vision, the visibility of the traffic light is determined. If the visibility of the traffic lights is insufficient, the risk level is calculated based on the location, color and type of the traffic lights, lane information and vehicle dynamic parameters. Output corresponding alert information based on the risk level.

2. The method of claim 1, wherein, The steps of obtaining the location, color, and type of traffic lights, and obtaining lane information and vehicle dynamic parameters include: The location, color, and type of traffic lights are identified in real time from high-precision maps, V2X, or forward-facing cameras, and the location of the traffic lights is converted into three-dimensional coordinates in the vehicle coordinate system. By using high-precision maps and lane line detection, the current lane number and lane type of the vehicle can be determined in real time. Vehicle speed and acceleration are collected in real time via the CAN bus; Real-time calculation of vehicle distance, which is the distance from the vehicle to the stop line at the intersection or the relative distance from the vehicle to the vehicle in front.

3. The method according to claim 2, characterized in that, The step of detecting the driver's field of vision and determining whether the traffic light is within the driver's field of vision includes: Based on the driver's head posture and gaze direction captured by the DMS camera, and combined with the vehicle A-pillar model and windshield boundary, a driver's field of view model is established. Determine whether the traffic light is within the field of view by combining its three-dimensional coordinates.

4. The method according to claim 3, characterized in that, The step of determining the visibility of the traffic light based on the position of the traffic light and whether the traffic light is within the driver's field of vision includes: If the traffic light is not within the field of view, confirm that the traffic light is invisible; If the angle between the traffic light and the driver's line of sight is less than or equal to the first preset angle, it is confirmed that the driver is looking at the traffic light and the traffic light is visible. If the angle between the traffic light and the driver's line of sight is greater than the second preset angle, the traffic light is confirmed to be invisible. If the traffic light is visible and the distance to the vehicle is greater than the first preset distance, the traffic light is confirmed to be low visibility.

5. The method according to claim 4, characterized in that, If the traffic light visibility is insufficient, the step of calculating the risk level based on the traffic light location, color, type, lane information, and vehicle dynamic parameters includes: If the traffic light is invisible or barely visible, the risk level is ordinary risk. If the traffic light is low visibility, the traffic light type matches the current lane type, the traffic light is red, and the vehicle speed is greater than the first preset speed or the vehicle is still accelerating, the risk level is high risk. If the traffic light is invisible, the traffic light type matches the current lane type, the traffic light is red, the vehicle has not slowed down, and the distance between the vehicle and the stop line at the intersection is less than the second preset distance, the risk level is high risk.

6. The method according to claim 5, characterized in that, The step of outputting corresponding reminder information based on the risk level includes: If the risk level is ordinary risk, only the status of the traffic lights will be indicated; If the risk level is high, the system will display the status of the indicator lights, flashing prompts, and a voice warning.

7. The method according to claim 6, characterized in that, Also includes: Determine whether the driver is looking at the traffic lights or the vehicle is slowing down. If not, recalculate the risk level and output the corresponding reminder information based on the risk level. If yes, terminate the reminder.

8. A traffic light visibility judgment and alert system, characterized in that, The system, configured to implement the method as described in any one of claims 1 to 7, comprises: The acquisition module is used to acquire the location, color, and type of traffic lights, as well as lane information and vehicle dynamic parameters. The driver's field of vision detection module is used to detect the driver's field of vision and determine whether the traffic lights are within the driver's field of vision. The traffic light visibility determination module is used to determine the visibility of the traffic light based on the position of the traffic light and whether the traffic light is located within the driver's field of vision. The risk level calculation module is used to calculate the risk level based on the location, color and type of the traffic light, lane information and vehicle dynamic parameters if the visibility of the traffic light is insufficient. The safety alert output module is used to output corresponding alert information based on the risk level.

9. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1 to 7.

10. A computer-readable medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 7.

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