CN110281945B - Vehicle driving auxiliary monitoring method, device and system - Google Patents
Vehicle driving auxiliary monitoring method, device and system Download PDFInfo
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- CN110281945B CN110281945B CN201910579848.7A CN201910579848A CN110281945B CN 110281945 B CN110281945 B CN 110281945B CN 201910579848 A CN201910579848 A CN 201910579848A CN 110281945 B CN110281945 B CN 110281945B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
- G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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Abstract
The application discloses a vehicle driving auxiliary monitoring method, which comprises the steps of obtaining a depth image of a current vehicle driving road; acquiring pavement information of the driving road according to the depth image, wherein the pavement information comprises that the driving road is a turnout road and the driving road is a turnout-free road; and executing corresponding operation according to the road surface information. According to the vehicle driving auxiliary monitoring method, the depth image of the driving road is acquired, whether the driving road is a turnout road or not is acquired from the depth image, different operations are executed according to different road surface information, the condition that the road is observed by the eyes of a driver is avoided, the energy of the driver is reduced, and therefore the probability of occurrence of an accident is reduced. In addition, the application also provides equipment and a system with the advantages.
Description
Technical Field
The application relates to the technical field of automobile driving assistance, in particular to a method, equipment and system for assisting and monitoring vehicle driving.
Background
The driving auxiliary system is an important content of current international intelligent traffic system research, and realizes real-time notification of the surrounding environmental conditions of a driver by using machine vision and sensor technology, and warns the driver to take effective measures in time when the vehicle is possibly in a potential danger, so that accident potential is eliminated. The driving auxiliary system comprises a lane keeping auxiliary system, an automatic parking auxiliary system, a brake auxiliary system, a driving auxiliary system, a vehicle infrared night vision auxiliary system and the like.
At present, a driver can only observe road conditions by eyes in the driving process, when the driver meets a branch intersection and other vehicles enter the branch intersection, the driver needs to take corresponding measures according to the conditions of the other vehicles at the branch intersection, and when obvious obstacles such as potholes, stones and the like appear on the road on the front side, the driver needs to take corresponding measures to avoid the abnormal conditions; however, under the condition of darker light, the road condition may be found out untimely, and the operation of making a sudden brake or hurrying the steering wheel is performed when the distance from the abnormal condition is relatively close, so that the driving insecurity is increased. The above conditions can only be observed by the eyes of the driver, which consumes much energy and is not intelligent enough, and meanwhile, the occurrence probability of the accident is increased.
Disclosure of Invention
The application aims to provide a vehicle driving auxiliary monitoring system and a vehicle driving auxiliary monitoring method so as to reduce the probability of traffic accidents.
In order to solve the above technical problem, the present application provides a vehicle driving assistance monitoring method, including:
acquiring a depth image of a current vehicle driving road acquired by a depth camera arranged on a current vehicle;
analyzing the depth image to acquire road surface information of the driving road; wherein the road surface information comprises that the driving road is a turnout road and the driving road is a turnout-free road;
and executing corresponding operation according to the road surface information.
Optionally, the executing, according to the road surface information, a corresponding operation includes:
when the road surface information is that the driving road is a turnout road, sending a positioning instruction to a positioning device so that the positioning device can acquire the number of vehicles at the turnout of the road;
and receiving the quantity sent by the positioning device, and sending a deceleration instruction to a prompting device when the quantity is greater than a first threshold value so that the prompting device sends deceleration prompting information.
Optionally, the executing, according to the road surface information, a corresponding operation includes:
when the road surface information indicates that the driving road is a turnout-free road, analyzing the depth image to obtain an analysis result of whether the driving road has an abnormal condition or not;
and when the driving road has abnormal conditions, sending a prompt instruction to the prompt device so that the prompt device can send out corresponding prompt information.
Optionally, when the driving road is in an abnormal condition, sending a prompt instruction to the prompt device so that the prompt device sends a corresponding prompt message, further comprising:
sending an analysis result of an abnormal condition of a driving road to a cloud server so that the cloud server can store the analysis result;
the method comprises the steps that a positioning device is controlled to send position information of a current vehicle to a cloud server, so that the cloud server can store the position information;
controlling the positioning device to send new position information of the current vehicle to the cloud server so that the cloud server can obtain a matching result of the new position information and the position information;
when the matching results are the same, receiving the same position matching information sent by the cloud server;
and sending the prompt instruction to the prompt device according to the same position matching information so that the prompt device sends the prompt information.
The present application further provides a vehicle driving assistance monitoring apparatus, including:
the vehicle driving auxiliary monitoring processor is used for acquiring a depth image of a current vehicle driving road acquired by a depth camera arranged on a current vehicle; acquiring pavement information of the driving road according to the depth image, wherein the pavement information comprises that the driving road is a turnout road and the driving road is a turnout-free road; executing corresponding operation according to the road surface information;
a depth camera to acquire the depth image.
Optionally, the method further includes:
the system comprises a positioning device, a cloud server and a prompting device.
Optionally, the cloud server is further configured to send the prompt instruction to the prompt device of the other vehicle when the position information of the other vehicle is the same as the position information of the current vehicle, so that the prompt device of the other vehicle sends out a prompt message.
Optionally, the depth camera is a depth camera with an ultra-wide angle lens.
Optionally, the depth camera is any one of a structured light depth camera, a TOF depth camera, and a laser scanning depth camera.
The vehicle driving auxiliary monitoring method comprises the steps of obtaining a depth image of a current vehicle driving road; acquiring pavement information of the driving road according to the depth image, wherein the pavement information comprises that the driving road is a turnout road and the driving road is a turnout-free road; and executing corresponding operation according to the road surface information. According to the vehicle driving auxiliary monitoring method, the depth image of the driving road is acquired, whether the driving road is a turnout road or not is acquired from the depth image, different operations are executed according to different road surface information, the condition that the road is observed by the eyes of a driver is avoided, the energy of the driver is reduced, and therefore the probability of occurrence of an accident is reduced. In addition, the application also provides equipment and a system with the advantages.
Drawings
For a clearer explanation of the embodiments or technical solutions of the prior art of the present application, the drawings needed for the description of the embodiments or prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow chart of a vehicle driving assistance monitoring method according to an embodiment of the present disclosure;
FIG. 2 is a flow chart of another method for monitoring driving assistance of a vehicle according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a vehicle driving assistance monitoring apparatus provided in the present application.
Detailed Description
In order that those skilled in the art will better understand the disclosure, the following detailed description will be given with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
As described in the background section, currently, a driver observes the condition of a road ahead by eyes, needs to pay attention to make reasonable judgment when facing different road conditions, consumes much effort of the driver, is easy to cause fatigue driving, and further improves the probability of traffic accidents.
In view of the above, the present application provides a vehicle driving assistance monitoring method, please refer to fig. 1, where fig. 1 is a flowchart of a vehicle driving assistance monitoring method provided in an embodiment of the present application, and the method includes:
step S101: acquiring a depth image of a current vehicle driving road acquired by a depth camera arranged on a current vehicle;
it should be noted that, in the present embodiment, the position where the depth camera is disposed on the current vehicle is not particularly limited as long as the depth image of the current vehicle in front of the driving road can be obtained. For example, the depth camera may be disposed above the inside of the vehicle windshield, or at the current vehicle nose, and so forth.
In an embodiment of the present application, before acquiring the depth image of the current driving road of the vehicle acquired by the depth camera disposed on the current vehicle, an instruction to acquire the depth image is further included, but the present application is not particularly limited thereto.
Step S102: analyzing the depth image to acquire road surface information of the driving road; wherein the road surface information comprises that the driving road is a turnout road and the driving road is a turnout-free road;
specifically, depth image analysis is performed by depth image surface feature extraction and depth data acquisition, and road surface information of a driving road is obtained.
Step S103: and executing corresponding operation according to the road surface information.
Specifically, when the road surface information indicates that the driving road is a turnout road, the following operations are performed:
step S1031: sending a positioning instruction to a positioning device so that the positioning device can acquire the number of vehicles at the road intersection;
it should be noted that, the vehicles at the road intersection are also provided with positioning devices, and the positioning device of the current vehicle is associated with the positioning device of the vehicle at the road intersection through a network, so that the positioning device of the current vehicle can acquire the number of vehicles at the road intersection.
Step S1032: and receiving the quantity sent by the positioning device, and sending a deceleration instruction to a prompting device when the quantity is greater than a first threshold value so that the prompting device sends deceleration prompting information.
It should be noted that, in this embodiment, the communication mode is not limited, and the user may set according to an actual situation, for example, the communication mode may be a wired communication mode or a wireless communication mode, and further, for the wired communication mode, the embodiment does not limit a corresponding communication protocol, and the user selects according to an actual requirement; for the wireless communication mode, bluetooth, wifi and other modes can be utilized.
It should be further noted that, in this embodiment, the deceleration prompting information is not specifically limited, and the deceleration prompting information may be a deceleration prompting information in a voice form, a deceleration prompting information in a text form, or a deceleration prompting information combining voice and text.
When the number of vehicles at the road fork exceeds the first threshold value, the number of vehicles at the road fork is more, after the deceleration prompt information is known, the driver can reduce the vehicle speed according to the deceleration prompt information without relying on eyes to judge whether deceleration is needed, the energy consumed by the driver is reduced, and therefore the driving safety is improved.
When the road surface information indicates that the driving road is a turnout-free road, executing the following operations:
step S1033: analyzing the depth image to obtain an analysis result of whether the driving road has abnormal conditions;
it should be noted that, in the present embodiment, the analyzing the depth image includes processes of depth image edge detection, depth image processing, depth image analysis, and the like. The depth image edge detection may be performed by using a gradient operator, a Robert operator, a Sobel operator, or the like, and the depth image processing may be performed by using an image processing method based on a neural network or an image processing method based on an image fusion technology. The depth image analysis is to segment, model and recognize three-dimensional object. The above specific processes and principles are well known to those skilled in the art and will not be described in detail herein.
Step S1034: and when the driving road has abnormal conditions, sending a prompt instruction to the prompt device so that the prompt device can send out corresponding prompt information.
Specifically, the abnormal condition may include a pothole on a driving road, or various objects which may damage the vehicle, such as stones and nails, which may not be driven away from the vehicle.
It should be noted that, in this embodiment, the prompt information is not specifically limited, and may be set by itself. For example, the reminding information may be any one of the following information or combination information: voice reminding information, steering wheel vibration and whistling. Similarly, the prompt information corresponding to each abnormal condition is not specifically limited in this embodiment.
When the abnormal condition of the front driving road is obtained through the depth image analysis, the prompting device sends out prompting information, and a driver can take corresponding measures in advance according to the prompting information so as to improve the driving safety.
The vehicle driving auxiliary monitoring method provided by the embodiment comprises the steps of obtaining a depth image of a current vehicle driving road; acquiring pavement information of the driving road according to the depth image, wherein the pavement information comprises that the driving road is a turnout road and the driving road is a turnout-free road; and executing corresponding operation according to the road surface information. According to the vehicle driving auxiliary monitoring method, the depth image of the driving road is obtained, whether the driving road is a turnout road or not is obtained from the depth image, different operations are executed according to different road surface information, the condition that the road is observed by the eyes of a driver is avoided, the energy of the driver is reduced, and therefore the probability of occurrence of an accident is reduced.
Referring to fig. 2, fig. 2 is a flowchart of another driving assistance monitoring method for a vehicle according to an embodiment of the present application, the method including:
step S201: acquiring a depth image of a current vehicle driving road acquired by a depth camera arranged on a current vehicle;
step S202: analyzing the depth image to acquire road surface information of the driving road; wherein the road surface information comprises that the driving road is a turnout road and the driving road is a turnout-free road;
step S2033: when the road surface information indicates that the driving road is a turnout-free road, analyzing the depth image to obtain an analysis result of whether the driving road has an abnormal condition or not;
step S2034: when the driving road has abnormal conditions, sending a prompt instruction to a prompt device so that the prompt device can send out corresponding prompt information;
step S204: sending an analysis result of an abnormal condition of a driving road to a cloud server so that the cloud server can store the analysis result;
it should be noted that, in this embodiment, a manner of sending an analysis result of an abnormal condition existing on a driving road to the cloud server is not particularly limited, as the case may be. For example, a transmission method such as bluetooth or wifi, or a wired transmission method may be selected.
Step S205: the method comprises the steps that a positioning device is controlled to send position information of a current vehicle to a cloud server, so that the cloud server can store the position information;
specifically, the positioning device acquires the position information of the current vehicle, sends a control instruction to the positioning device, enables the positioning device to send the position information of the current vehicle to the cloud server, and the cloud server stores the position information, and the analysis result stored by the cloud server has a corresponding relation with the position information.
Step S206: controlling the positioning device to send new position information of the current vehicle to the cloud server so that the cloud server can obtain a matching result of the new position information and the position information;
specifically, the positioning device acquires new position information of the current vehicle, and sends a control instruction to the positioning device, so that the positioning device sends the position information of the current vehicle to the cloud server, and the cloud server matches the new position information with the stored position information to obtain a matching result.
Step S207: when the matching results are the same, receiving the same position matching information sent by the cloud server;
step S208: and sending the prompt instruction to the prompt device according to the same position matching information so that the prompt device sends the prompt information.
Specifically, when the new position information is the same as the stored matching result of certain position information, a prompt instruction is sent to the prompt device, and the prompt device sends prompt information corresponding to the position information because the stored position information and the analysis result have a corresponding relationship.
According to the vehicle driving auxiliary monitoring method provided by the embodiment, when the driving road where the current driving vehicle passes has an abnormal condition, the position information with the abnormal condition and the analysis result of the abnormal condition are stored in the cloud server, and when the matching result of the new position information and the stored position information is the same, a prompt instruction is sent to the prompting device, so that the prompting device sends out the prompting information, the driver is prompted in advance when the vehicle runs to the same position, and the driving safety is further improved.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a vehicle driving assistance monitoring device provided in the present application, where the device includes:
the vehicle driving auxiliary monitoring processor 1 is used for acquiring a depth image of a current vehicle driving road acquired by a depth camera arranged on a vehicle; acquiring pavement information of the driving road according to the depth image, wherein the pavement information comprises that the driving road is a turnout road and the driving road is a turnout-free road; executing corresponding operation according to the road surface information;
a depth camera 2 for acquiring the depth image.
It should be noted that, in this embodiment, the type of the depth camera is not specifically limited, and may be selected by itself. For example, the depth camera may be any one of a structured light depth camera, a TOF depth camera, a laser scanning depth camera.
Preferably, the depth camera is the depth camera that has super wide angle lens for the visual angle of depth camera is wider, and then drives the scope of road in the depth image that obtains is wider, thereby makes vehicle driving auxiliary monitoring equipment's detection scope wider, acquires more comprehensive road surface information, makes the information that the driver obtained more comprehensive, accurate.
The vehicle driving auxiliary monitoring equipment provided by the embodiment acquires the depth image of the current vehicle driving road; acquiring pavement information of the driving road according to the depth image, wherein the pavement information comprises that the driving road is a turnout road and the driving road is a turnout-free road; and executing corresponding operation according to the road surface information. According to the vehicle driving auxiliary monitoring method, the depth image of the driving road is obtained, whether the driving road is a turnout road or not is obtained from the depth image, different operations are executed according to different road surface information, the condition that the road is observed by the eyes of a driver is avoided, the energy of the driver is reduced, and therefore the probability of occurrence of an accident is reduced.
Further, on the basis of the above-described embodiment, in an embodiment of the present application, the driving assistance monitoring apparatus for vehicle further includes:
the system comprises a positioning device, a cloud server and a prompting device; the positioning device is used for acquiring the position information of the current vehicle when the road surface information indicates that the driving road has no fork road; the cloud server is used for storing the position information and the analysis result of the abnormal condition of the driving road; acquiring a matching result of the new position information and the stored position information, and sending the same position matching information to a vehicle driving auxiliary monitoring processor when the matching results are the same; the reminding device is used for receiving the reminding instruction and sending out reminding information.
Further, the positioning device is also used for acquiring the number of vehicles at a road intersection when the road surface information indicates that the driving road is a road with an intersection; the reminding device is used for receiving the deceleration instruction and sending deceleration prompt information.
Further, on the basis of the above embodiment, in an embodiment of the present application, the cloud server is further configured to send the prompt instruction to the prompt device of the other vehicle when the location information of the other vehicle is the same as the location information of the current vehicle, so that the prompt device of the other vehicle sends out the prompt information.
In this embodiment, other vehicles install vehicle driving auxiliary monitoring equipment equally, when the positional information of other vehicles is the same with the positional information of the current vehicle of storage in the high in the clouds server, just can send the suggestion device of suggestion instruction to other vehicles to the suggestion device of other vehicles sends warning information, makes the driver of other vehicles know the place ahead road conditions, in time makes counter measures, improves the security of driving.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The vehicle driving assistance monitoring method, device and system provided by the present application are described in detail above. The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
Claims (6)
1. A vehicle driving assist monitoring method, characterized by comprising:
acquiring a depth image of a current vehicle driving road acquired by a depth camera arranged on a current vehicle;
analyzing the depth image to acquire road surface information of the driving road; wherein the road surface information comprises that the driving road is a turnout road and the driving road is a turnout-free road;
executing corresponding operation according to the road surface information;
wherein the executing the corresponding operation according to the road surface information comprises:
when the road surface information is that the driving road is a turnout road, sending a positioning instruction to a positioning device so that the positioning device can acquire the number of vehicles at the turnout of the road;
receiving the number sent by the positioning device, and sending a deceleration instruction to a prompting device when the number is larger than a first threshold value so that the prompting device sends deceleration prompting information;
when the road surface information indicates that the driving road is a turnout-free road, analyzing the depth image to obtain an analysis result of whether the driving road has an abnormal condition or not; the abnormal conditions comprise potholes on the driving road, or stones and nails;
when the driving road has abnormal conditions, sending a prompt instruction to the prompt device so that the prompt device can send out corresponding prompt information;
sending an analysis result of an abnormal condition of a driving road to a cloud server so that the cloud server can store the analysis result;
the method comprises the steps that a positioning device is controlled to send position information of a current vehicle to a cloud server, so that the cloud server can store the position information;
controlling the positioning device to send new position information of the current vehicle to the cloud server so that the cloud server can obtain a matching result of the new position information and the position information;
when the matching results are the same, receiving the same position matching information sent by the cloud server;
and sending the prompt instruction to the prompt device according to the same position matching information so that the prompt device sends the prompt information.
2. A vehicle driving assistance monitoring apparatus, characterized by comprising:
the vehicle driving auxiliary monitoring processor is used for acquiring a depth image of a current vehicle driving road acquired by a depth camera arranged on a current vehicle; acquiring pavement information of the driving road according to the depth image, wherein the pavement information comprises that the driving road is a turnout road and the driving road is a turnout-free road; executing corresponding operation according to the road surface information; wherein the executing the corresponding operation according to the road surface information comprises: when the road surface information is that the driving road is a turnout road, sending a positioning instruction to a positioning device so that the positioning device can acquire the number of vehicles at the turnout of the road; receiving the number sent by the positioning device, and sending a deceleration instruction to a prompting device when the number is larger than a first threshold value so that the prompting device sends deceleration prompting information; when the road surface information indicates that the driving road is a turnout-free road, analyzing the depth image to obtain an analysis result of whether the driving road has an abnormal condition or not; the abnormal conditions comprise potholes on the driving road, or stones and nails; when the driving road has abnormal conditions, sending a prompt instruction to the prompt device so that the prompt device can send out corresponding prompt information; sending an analysis result of an abnormal condition of a driving road to a cloud server so that the cloud server can store the analysis result; the method comprises the steps that a positioning device is controlled to send position information of a current vehicle to a cloud server, so that the cloud server can store the position information; controlling the positioning device to send new position information of the current vehicle to the cloud server so that the cloud server can obtain a matching result of the new position information and the position information; when the matching results are the same, receiving the same position matching information sent by the cloud server; sending the prompt instruction to the prompt device according to the same position matching information so that the prompt device can send the prompt information;
a depth camera to acquire the depth image.
3. The vehicular driving assist monitoring apparatus according to claim 2, characterized by further comprising:
the system comprises a positioning device, a cloud server and a prompting device.
4. The vehicle driving assistance monitoring device according to claim 3, wherein the cloud server is further configured to send a prompt instruction to a prompt device of another vehicle when the position information of the other vehicle is the same as the position information of the current vehicle, so that the prompt device of the other vehicle sends out a prompt message.
5. The vehicular driving assist monitoring device according to any one of claims 2 to 4, wherein the depth camera is a depth camera having an ultra wide angle lens.
6. The vehicular driving assist monitoring apparatus according to any one of claims 2 to 4, wherein the depth camera is any one of a structured light depth camera, a TOF depth camera, a laser scanning depth camera.
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| CN109080633B (en) * | 2018-07-27 | 2020-10-16 | 吉利汽车研究院（宁波）有限公司 | Cruise vehicle speed control device and method under intersection scene |
| CN109241893B (en) * | 2018-08-27 | 2021-08-06 | 广州大学 | Road selection method and device based on artificial intelligence technology and readable storage medium |
| CN109615866A (en) * | 2019-01-16 | 2019-04-12 | 南京奥杰智能科技有限公司 | Traffic monitoring system Internet-based |
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