CN113870595A

CN113870595A - Driving guiding method and device, computer equipment and medium

Info

Publication number: CN113870595A
Application number: CN202111259656.1A
Authority: CN
Inventors: 房颜明; 李智; 郭虹宇
Original assignee: Beijing Wanji Technology Co Ltd
Current assignee: Beijing Wanji Technology Co Ltd
Priority date: 2021-10-28
Filing date: 2021-10-28
Publication date: 2021-12-31
Anticipated expiration: 2041-10-28
Also published as: CN113870595B

Abstract

The application relates to a driving guiding method, a driving guiding device, computer equipment and a driving guiding medium. The method comprises the following steps: acquiring first perception information of a target vehicle, wherein the first perception information is obtained by perceiving the target vehicle by a sensing device of a toll station, and the first perception information comprises a target identity of the target vehicle; determining overrun pre-judging information corresponding to the target vehicle according to the target identity, wherein the overrun pre-judging information comprises an overrun state of the target vehicle obtained through pre-judging; and determining a first reminding message corresponding to the overrun state according to the overrun pre-judgment information, and displaying the first reminding message through a preset screen, wherein the first reminding message is used for carrying out non-overrun traffic guidance or overrun return guidance on the target vehicle. By adopting the method, the passing efficiency of the toll station can be improved.

Description

Driving guiding method and device, computer equipment and medium

Technical Field

The present application relates to the field of intelligent transportation technologies, and in particular, to a driving guidance method, apparatus, computer device, and medium.

Background

With the acceleration of urbanization and the development of the automotive industry, more and more highways play an important role in urban traffic. In order to extend the life of a highway and improve the driving safety of vehicles on the highway, the weight of a portion of the type of vehicles entering the highway is typically limited.

Taking a truck as an example, at present, a toll station at the entrance of an expressway is usually provided with an overrun detection system on a side road, before the truck enters the toll station, the truck firstly needs to drive into a weighing area of the overrun detection system at a low speed (usually below 30 Km/h) for overweight detection, and the truck is allowed to drive into the toll station and then enter the expressway if the truck is not overweight.

However, in the above-mentioned scenario of weight limitation on the expressway, the toll station often has a congestion phenomenon, and the vehicle passing efficiency of the toll station is low. Therefore, how to improve the passing efficiency of the toll station becomes a problem to be solved urgently at present.

Disclosure of Invention

In view of the above, it is necessary to provide a driving guidance method, a driving guidance device, a computer device, and a medium that can improve the passing efficiency of a toll gate in order to solve the above technical problems.

In a first aspect, an embodiment of the present application provides a driving guidance method, where the method includes:

acquiring first perception information of a target vehicle, wherein the first perception information is obtained by perceiving the target vehicle by a sensing device of a toll station, and the first perception information comprises a target identity of the target vehicle;

determining overrun pre-judgment information corresponding to the target vehicle according to the target identity, wherein the overrun pre-judgment information comprises an overrun state of the target vehicle obtained through pre-judgment;

and determining a first reminding message corresponding to the overrun state according to the overrun pre-judgment information, and displaying the first reminding message through a preset screen, wherein the first reminding message is used for carrying out non-overrun passing guidance or overrun return guidance on the target vehicle.

In one embodiment, the method for determining the out-of-limit pre-determination information includes the following steps, after determining the out-of-limit pre-determination information corresponding to the target vehicle according to the target identity, the method further includes:

detecting whether the running state of the target vehicle is normal or not according to the running state information;

the determining, according to the overrun pre-determination information, a first prompting message corresponding to the overrun state includes:

and if the running state of the target vehicle is normal, determining the first reminding message according to the out-of-limit pre-judgment information.

In one embodiment, after detecting whether the driving state of the target vehicle is normal according to the driving state information, the method further includes:

and if the running state of the target vehicle is abnormal, displaying a second reminding message corresponding to the target vehicle through the preset screen, wherein the second reminding message is used for guiding the target vehicle to enter a preset overload control area of a toll station.

In one embodiment, the method for determining the out-of-limit pre-discrimination information includes determining a vehicle type of the target vehicle, and after determining the out-of-limit pre-discrimination information corresponding to the target vehicle according to the target identity, further includes:

detecting whether the vehicle type is a target vehicle type;

and if the vehicle type is the target vehicle type, determining the first reminding message according to the out-of-limit pre-judgment information.

In one embodiment, the first perception information further includes a vehicle location of the target vehicle, and before the displaying the first reminding message through a preset screen, the method further includes:

detecting whether the vehicle position meets a driving guide reminding condition, wherein the driving guide reminding condition is related to the distance between the vehicle position and the screen position of the preset screen;

the displaying the first reminding message through a preset screen includes:

and if the vehicle position meets the driving guide reminding condition, displaying the first reminding message through the preset screen.

In one embodiment, the detecting whether the vehicle position meets the driving guidance prompt condition includes:

acquiring the screen position of the preset screen, and detecting whether the distance between the vehicle position and the screen position is smaller than a first distance threshold value;

and if the distance between the vehicle position and the screen position is smaller than the first distance threshold, determining that the vehicle position meets the driving guide reminding condition.

In one embodiment, after the displaying the first reminding message through the preset screen, the method further includes:

detecting whether a distance between the vehicle position and the screen position is less than a second distance threshold, the second distance threshold being less than the first distance threshold;

and if the distance between the vehicle position and the screen position is smaller than the second distance threshold, performing enhanced display on the first reminding message in the preset screen.

In one embodiment, before determining the overrun pre-determination information corresponding to the target vehicle according to the target identity, the method further includes:

acquiring overrun pre-detection information of the target vehicle, wherein the overrun pre-detection information at least comprises vehicle weighing data and detection time of the target vehicle;

determining second perception information of the target vehicle corresponding to the detection time according to the detection time, wherein the second perception information is obtained by perceiving the target vehicle by a ramp perceiving device, the second perception information comprises a perception time and a perception identity of the target vehicle, and a difference value between the perception time and the detection time is smaller than a preset difference value threshold;

and generating the overrun pre-judgment information according to the overrun pre-detection information and the second sensing information, wherein the vehicle weighing data is used for acquiring the overrun state included in the overrun pre-judgment information.

In one embodiment, the generating the overrun pre-determination information according to the overrun pre-detection information and the second sensing information includes:

detecting whether the vehicle weighing data is larger than a preset weight threshold value or not to obtain a detection result, and generating the overrun state according to the detection result;

and at least storing the overrun state and the sensing identity as the overrun pre-judging information.

In one embodiment, before the generating the overrun pre-determination information according to the overrun pre-detection information and the second perception information, the method includes:

determining the detection position of the target vehicle according to the overrun pre-detection information, and determining the perception position of the target vehicle according to the overrun pre-detection information and the second perception information, wherein the detection position and the perception position are vehicle positions at the same moment;

detecting whether the detected location and the perceived location match;

the generating the overrun pre-determination information according to the overrun pre-detection information and the second sensing information includes:

and if the detection position is matched with the sensing position, generating the overrun pre-judgment information according to the overrun pre-detection information and the second sensing information.

In one embodiment, the overrun pre-detection information further includes a detection center position of the target vehicle and a detection size of the target vehicle, and the second perception information further includes a perception center position of the target vehicle, a perception size of the target vehicle, and a perception speed of the target vehicle; the determining the detection position of the target vehicle according to the overrun pre-detection information includes:

acquiring coordinates of a detection position frame corresponding to the target vehicle according to the detection center position and the detection size, and taking the coordinates of the detection position frame as the detection position;

the determining the perception position of the target vehicle according to the overrun pre-detection information and the second perception information includes:

and acquiring the coordinates of a perception position frame corresponding to the target vehicle according to the perception center position, the perception size, the detection time, the perception time and the perception speed, and taking the coordinates of the perception position frame as the perception position.

In one embodiment, the detecting whether the detected location and the perceived location match includes:

acquiring the overlapping rate of the detection position frame and the perception position frame according to the coordinates of the detection position frame and the coordinates of the perception position frame;

and if the overlapping rate is greater than a preset overlapping rate threshold value, determining that the detection position is matched with the perception position.

In one embodiment, the obtaining the overlapping rate of the detected position frame and the sensing position frame according to the coordinates of the detected position frame and the coordinates of the sensing position frame includes:

acquiring the overlapping area of the detection position frame and the perception position frame according to the coordinates of the detection position frame and the coordinates of the perception position frame;

acquiring the area of a union set of the detection position frame and the perception position frame according to the coordinates of the detection position frame and the coordinates of the perception position frame;

and dividing the overlapping area by the union area to obtain the overlapping rate.

In one embodiment, before the obtaining the overlapping rate of the detection position frame and the sensing position frame according to the coordinates of the detection position frame and the coordinates of the sensing position frame, the method further includes:

detecting whether the coordinates of the detection position frame and the coordinates of the perception position frame meet a preset position constraint relation or not;

the obtaining of the overlapping rate of the detection position frame and the perception position frame according to the coordinates of the detection position frame and the coordinates of the perception position frame includes:

and if the coordinates of the detection position frame and the coordinates of the perception position frame meet the position constraint relation, acquiring the overlapping rate of the detection position frame and the perception position frame according to the coordinates of the detection position frame and the coordinates of the perception position frame.

In a second aspect, an embodiment of the present application provides a driving guide device, where the device includes:

the system comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring first perception information of a target vehicle, the first perception information is obtained by perceiving the target vehicle by a toll station perceiving device, and the first perception information comprises a target identity of the target vehicle;

the determining module is used for determining the overrun pre-judging information corresponding to the target vehicle according to the target identity, wherein the overrun pre-judging information comprises an overrun state of the target vehicle obtained through pre-judging;

and the guiding module is used for determining a first reminding message corresponding to the overrun state according to the overrun pre-judging information, and displaying the first reminding message through a preset screen, wherein the first reminding message is used for carrying out non-overrun traffic guidance or overrun return guidance on the target vehicle.

In a third aspect, an embodiment of the present application provides a computer device, including a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the method according to the first or second aspect when executing the computer program.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps of the method of the first or second aspect as described above.

The beneficial effects brought by the technical scheme provided by the embodiment of the application at least comprise:

the driving guiding method, the driving guiding device, the computer equipment and the medium obtain the first sensing information of the target vehicle, the first sensing information is obtained by sensing the target vehicle by the toll station sensing equipment, the first sensing information comprises the target identity of the target vehicle, then the overrun pre-judging information corresponding to the target vehicle is determined according to the target identity, the overrun pre-judging information comprises the overrun state of the target vehicle obtained by pre-judging, then the first reminding message corresponding to the overrun state is determined according to the overrun pre-judging information, the first reminding message is displayed through a preset screen, the first reminding message is used for carrying out non-overrun traffic guidance on the target vehicle or carrying out overrun return guidance on the target vehicle, thus, the target vehicle is directly guided based on the overrun state of the target vehicle obtained by pre-judging, the overrun state can be that the target vehicle is overweight or the target vehicle is not overweight, for example, the target vehicle is guided to pass through the toll station under the condition that the target vehicle is not overweight, and the target vehicle is guided to return under the condition that the target vehicle is overweight, so that the toll station congestion caused by the fact that the target vehicle needs to sequentially drive into a weighing area of the toll station at a low speed to perform overweight detection in the traditional technology is avoided. According to the embodiment of the application, the target vehicle is guided to pass or return through the first reminding message, so that the rapid passing guidance of the target vehicle can be realized, and the passing efficiency of the toll station is improved.

Drawings

FIG. 1 is a schematic diagram of an implementation environment of a driving guiding method in one embodiment;

FIG. 2 is a flow chart illustrating a driving guiding method according to an embodiment;

FIG. 3 is a flow chart of a driving guiding method according to another embodiment;

FIG. 4 is a flow chart illustrating a driving guiding method according to another embodiment;

FIG. 5 is a flow chart illustrating a driving guiding method according to another embodiment;

FIG. 6 is a flow chart illustrating a driving guiding method according to another embodiment;

FIG. 7 is a flow chart illustrating a driving guiding method according to another embodiment;

FIG. 8 is a flow chart illustrating a driving guidance method according to another embodiment;

FIG. 9 is a flow chart illustrating a driving guidance method according to another embodiment;

FIG. 10 is a flowchart illustrating a driving guidance method according to another embodiment;

fig. 11 is a flowchart illustrating a driving guidance method according to another embodiment;

FIG. 12 is a flowchart illustrating an embodiment of obtaining overrun anticipation information;

FIG. 13 is a schematic diagram illustrating a process for obtaining overrun anticipation information in another embodiment;

FIG. 14 is a flowchart illustrating step 1302 in another embodiment;

FIG. 15 is a block diagram showing the construction of a traffic guiding apparatus according to an embodiment;

fig. 16 is a block diagram showing the construction of a traffic guidance apparatus according to another embodiment;

FIG. 17 is a diagram illustrating an internal structure of a computer device according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The driving guiding method, the driving guiding device, the computer equipment and the medium can improve the passing efficiency of the toll station. The technical solution of the present application will be specifically described below by way of examples with reference to the accompanying drawings. The following specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.

The driving guiding method provided by the embodiment of the application can be applied to the implementation environment shown in fig. 1. As shown in fig. 1, the implementation environment includes a computer device 101 and a toll booth aware device 102, and the computer device 101 and the toll booth aware device 102 can communicate with each other through a wired network or a wireless network.

The computer device 101 may be a roadside computing unit/terminal/edge server, optionally, the computer device 101 may also be a cloud server, a vehicle-mounted computing unit/terminal at a vehicle end, and the like, and the type of the computer device 101 is not specifically limited herein.

The toll booth sensing device 102 may be a roadside sensing device/system disposed at the toll booth, for example, an intelligent base station (also called roadside convergence sensing system or roadside base station) of the toll booth, or may also be at least one of a millimeter wave radar sensor, a laser radar sensor, and a camera, and the like, where the type of the toll booth sensing device 102 is not particularly limited.

In one embodiment, as shown in fig. 2, a driving guidance method is provided, which is illustrated by applying the method to the computer device in fig. 1. It should be noted that, the method in the embodiment of the present application may also be executed by a combined system of the vehicle-side, the cloud-side, and the road-side computing devices, and the specific task allocation in the method may be flexibly set based on the requirements, which is not limited in the embodiment of the present application.

The method comprises the following

steps

201, 202 and 203:

in step 201, a computer device obtains first perception information of a target vehicle.

The first perception information is obtained by perceiving the target vehicle by the toll station perception equipment. The toll station sensing equipment can be arranged on a portal frame of the toll station, can also be arranged on the road side near the toll station, and the like. As mentioned above, the toll station sensing device may be a smart base station, a millimeter wave radar sensor, or a lidar sensor, among others.

The target vehicle can be any vehicle entering the sensing coverage area of the toll station sensing equipment, and the toll station sensing equipment performs data sensing on the target vehicle to obtain first sensing information of the target vehicle, wherein the first sensing information can comprise a target identity of the target vehicle.

In this embodiment of the application, the toll station sensing device may add a corresponding temporary identifier to each vehicle in the sensing coverage area of the toll station sensing device to distinguish the vehicles, where the temporary identifier may be, for example, a vehicle number, and the target identity identifier included in the first sensing information is a unique temporary identifier added to the target vehicle by the toll station sensing device.

Step 202, the computer device determines the out-of-limit pre-judgment information corresponding to the target vehicle according to the target identity.

The overrun pre-judging information comprises an overrun state of the target vehicle, which is obtained by pre-judging, wherein the overrun state can be that the target vehicle is overweight or the target vehicle is not overweight, namely the vehicle weight of the target vehicle exceeds the vehicle weight limit of a road where a toll station is located, and the vehicle weight of the target vehicle is not overweight, namely the vehicle weight of the target vehicle does not exceed the vehicle weight limit of the road where the toll station is located.

Alternatively, the overrun state may be that the height of the target vehicle exceeds the vehicle height limit of the road on which the toll booth is located or that the height of the target vehicle does not exceed the vehicle height limit; the overrun condition may also be that the width of the target vehicle exceeds the vehicle width limit of the road on which the toll booth is located or that the width of the target vehicle does not exceed the vehicle width limit, or the like.

Hereinafter, embodiments of the present embodiment will be described with reference to the overrun state as an example in which the target vehicle is overweight or the target vehicle is not overweight.

In the embodiment of the application, before the target vehicle enters the toll station, the overrun detection system can be used for carrying out overrun detection on the target vehicle in advance, and a weighing area included by the overrun detection system can be arranged in a preset distance range of the toll station, for example, the weighing area can be arranged at a ramp of the toll station.

Illustratively, the overrun detection system acquires vehicle weighing data of the target vehicle as the target vehicle passes through the weighing area at the ramp, the vehicle weighing data including at least a vehicle weight of the target vehicle, the overrun detection system transmitting the acquired vehicle weighing data to the computer device. In this way, the computer device compares the vehicle weight of the target vehicle with the vehicle weight limit threshold of the road on which the toll station is located, and if the vehicle weight of the target vehicle is greater than the vehicle weight limit threshold, it indicates that the target vehicle is overweight, and if the vehicle weight of the target vehicle is less than or equal to the vehicle weight limit threshold, it indicates that the target vehicle is not overweight, thereby obtaining the overrun pre-determination information including the overrun state of the target vehicle.

In one possible implementation, the computer device may store the overrun pre-determination information corresponding to the target vehicle in association with a perception identity of the target vehicle, where the perception identity may be a temporary identity added to the target vehicle by the ramp perception device.

Therefore, after the target vehicle enters the toll station, the computer device acquires the first sensing information of the target vehicle, the overrun pre-judgment information corresponding to the target temporary identification is determined according to the target temporary identification in the first sensing information, and the sensing identity identification associated with the overrun pre-judgment information determined by the computer device and the target temporary identification can be the same. And then, the computer equipment guides the target vehicle to drive according to the overrun state of the target vehicle included in the overrun pre-judgment information.

And 203, the computer equipment determines a first reminding message corresponding to the overrun state according to the overrun pre-judgment information and issues the first reminding message through the directional sound equipment.

The first reminding message is used for carrying out non-overrun passing guidance or overrun returning guidance on the target vehicle.

As described above, the overrun state may be that the target vehicle is overweight or that the target vehicle is not overweight, so that, in the case that the overrun state is that the target vehicle is not overweight, the computer device outputs a first prompting message through a preset prompting device, wherein the first prompting message is used for performing non-overrun traffic guidance on the target vehicle, such as prompting the target vehicle to enter a toll lane; when the overrun state is that the target vehicle is overweight, the computer device outputs a first prompting message through a preset prompting device, wherein the first prompting message is used for carrying out overrun return guidance on the target vehicle, for example, prompting that the target vehicle is overweight and please return, and optionally, the computer device can also prompt the overrun value of the target vehicle.

In the embodiment of the application, the preset reminding device can be a directional sound device, and the computer device issues a first reminding message in a voice form through the directional sound device; optionally, the preset reminding device may also be a preset screen, and the computer device displays the first reminding message in the form of characters or animation and the like through the preset screen; optionally, the preset reminding device may also be a preset screen and a directional sound device, and the computer device may issue the first reminding message in different forms through the directional sound device and the preset screen.

In this embodiment, first, taking an example that the preset reminding device is a directional sound device, a description is given to an implementation manner of the driving guiding method in this embodiment.

The computer device may first detect whether a distance between the target vehicle and the directional acoustic device is less than a preset distance threshold, and if so, characterize that the target vehicle is close to the directional acoustic device, and then the computer device detects an overrun state of the target vehicle.

If the overrun state of the target vehicle is that the target vehicle is not overweight, the computer device issues a first reminding message through the directional sound device, and the directional sound device can be the directional sound device of the lane where the target vehicle is located. The first reminding message is used for carrying out non-overrun traffic guidance on the target vehicle, and the first reminding message may include, for example, a license plate number of the target vehicle and a guidance phrase, the license plate number may be included in vehicle weighing data of the target vehicle acquired by the overrun detection system, and the guidance phrase may prompt the target vehicle to enter a toll lane.

If the overrun state of the target vehicle is that the target vehicle is overweight, the computer device issues a first reminding message through the directional sound device, and the first reminding message is used for carrying out overrun return guidance on the target vehicle, for example, reminding that the target vehicle is overweight and please return. The first reminding message may include, for example, a license plate number of the target vehicle, a guidance phrase, and an over-limit value, where the guidance phrase may be a prompt that the target vehicle is overweight and please return.

In the embodiment, the first sensing information of the target vehicle is obtained by sensing the target vehicle by the toll station sensing equipment, the first sensing information comprises the target identity of the target vehicle, then the overrun pre-judging information corresponding to the target vehicle is determined according to the target identity, the overrun pre-judging information comprises the overrun state of the target vehicle obtained by pre-judging, then the first reminding message corresponding to the overrun state is determined according to the overrun pre-judging information, the first reminding message is issued by the directional sound equipment, the first reminding message is used for carrying out non-overrun traffic guidance or overrun return guidance on the target vehicle, so that the target vehicle is directly guided based on the overrun state of the target vehicle obtained by pre-judging, and the overrun state can be that the target vehicle is overweight or the target vehicle is not overweight, for example, the target vehicle is guided to pass through the toll station under the condition that the target vehicle is not overweight, and the target vehicle is guided to return under the condition that the target vehicle is overweight, so that the toll station congestion caused by the fact that the target vehicle needs to sequentially drive into a weighing area of the toll station at a low speed to perform overweight detection in the traditional technology is avoided. According to the embodiment of the application, the target vehicle is guided to pass or return through the first reminding message, so that the rapid passing guidance of the target vehicle can be realized, and the passing efficiency of the toll station is improved.

It should be noted that the directional sound device refers to a device that issues audio (e.g., a directional sound reminding message) by using a directional sound technology. Compared with the traditional sound source, the directional sound source can control the propagation direction of the sound source and the coverage range of sound waves, and the directional sound technology is realized. The directional sound technology provides an effective sound propagation mode, a large loudspeaker array is not needed, and sound can be projected to a specific area in a highly directional mode to create a specific audio space. Therefore, the computer equipment directionally propagates the first reminding message to the target vehicle based on the directional sound technology, and the content of the first reminding message is easily known by a driver of the target vehicle, so that the quick passing guidance of the target vehicle is facilitated, and the driving guidance effect is improved.

In one embodiment, based on the embodiment shown in fig. 2, referring to fig. 3, the present embodiment relates to a process how the computer device performs driving guidance on the target vehicle in conjunction with the traveling state of the target vehicle. In this embodiment, the overrun pre-determination information includes driving state information of the target vehicle, and as shown in fig. 3, the driving guidance method of this embodiment further includes:

in step 301, the computer device detects whether the driving state of the target vehicle is normal according to the driving state information.

In the embodiment of the application, when the target vehicle passes through the weighing area on the ramp, the vehicle weighing data of the target vehicle acquired by the overrun detection system may further include running state information of the target vehicle, and the running state information may include a cheating identifier corresponding to the target vehicle.

In the case that the cheating mark is cheating, characterizing that the driving state of the target vehicle is abnormal, such as the abnormal speed of the target vehicle; in the case where the cheating flag is not cheating, it indicates that the driving state of the target vehicle is normal, for example, the vehicle speed of the target vehicle is normal. It should be noted that, in the case that the driving state of the target vehicle is abnormal, there may be a phenomenon that the vehicle weight of the target vehicle obtained by the overrun detection system is inaccurate, and therefore, if the driving state of the target vehicle is abnormal, the target vehicle needs to be reweighed at the toll station to improve the weighing accuracy.

Step 302, if the driving state of the target vehicle is abnormal, the computer device issues a second reminding message corresponding to the target vehicle through the directional sound device.

The computer device may first detect whether a distance between the target vehicle and the directional sound device is smaller than a preset distance threshold, if so, characterize that the target vehicle approaches the directional sound device, and then detect whether the running state of the target vehicle is abnormal, if so, the computer device issues a second reminding message corresponding to the target vehicle through the directional sound device, where the directional sound device may be, for example, a directional sound device of a lane where the target vehicle is located, and the second reminding message is used to guide the target vehicle to enter a toll station preset override weighing area.

For example, the second reminding message may include a license plate number of the target vehicle, which may be included in the vehicle weighing data of the target vehicle acquired by the overrun detection system, and a guidance phrase, which may be a weighing lane prompting the target vehicle to enter the toll station, for example.

With continued reference to FIG. 3, the computer device may perform the process of step 2031 shown in FIG. 3 to implement step 203:

step 2031, if the driving state of the target vehicle is normal, the computer device determines a first reminding message according to the out-of-limit pre-judgment information, and issues the first reminding message through the directional sound device.

After the computer device detects that the target vehicle is close to the directional sound device, the computer device detects whether the running state of the target vehicle is abnormal or not, if the running state of the target vehicle is normal, the vehicle weight of the target vehicle obtained by the representation overrun detection system is accurate, therefore, the target vehicle does not need to be reweighed at a toll station, the computer device directly determines a first reminding message according to the overrun pre-judgment information, and the directional sound device issues the first reminding message.

The computer device determines the first prompting message according to the over-limit pre-determination information, and may refer to the implementation of the above embodiment through a process of issuing the first prompting message by the directional sound device, which is not described herein again.

Therefore, whether the running state of the target vehicle is normal or not is determined through the running state information of the target vehicle, and the vehicle weight of the target vehicle, which is acquired by the representation overrun detection system, is accurate under the condition that the running state of the target vehicle is normal, so that the target vehicle does not need to be reweighed at a toll station, the computer equipment directly determines a first reminding message according to the overrun pre-judgment information, and the first reminding message is issued through the directional sound equipment; and under the condition that the running state of the target vehicle is abnormal, the computer equipment guides the target vehicle to enter a super weighing control area preset in the toll station for re-weighing through the second reminding message, so that the weighing accuracy of the target vehicle is improved, and the driving guiding accuracy is improved. The embodiment of the application aims at guiding the over-limit truck, the cheating truck and the normal truck, and improves the passing efficiency of the toll station.

In one embodiment, based on the embodiment shown in fig. 2, referring to fig. 4, the present embodiment relates to a process how the computer device performs driving guidance on the target vehicle in combination with the vehicle type of the target vehicle. In this embodiment, the overrun pre-determination information includes a vehicle type of the target vehicle, as shown in fig. 4, the driving guidance method of this embodiment further includes:

in step 401, the computer device detects whether the vehicle type is a target vehicle type.

In the embodiment of the application, the overrun pre-determination information includes that the vehicle type of the target vehicle can be obtained by sensing the target vehicle by the ramp sensing device, and the vehicle type of the target vehicle can be a truck, a car and the like.

It will be appreciated that in a practical application scenario, it is common to limit the weight of a portion of the type of vehicle entering the highway, for example, trucks are typically limited, while other types of vehicles are not weight limited.

In view of this, in the embodiment of the present application, after determining the overrun pre-determination information corresponding to the target vehicle, the computer device first detects whether the vehicle type of the target vehicle is the target vehicle type according to the vehicle type of the target vehicle included in the overrun pre-determination information, where the target vehicle type may be, for example, a truck type. If the vehicle type of the target vehicle is a truck type, the process of the driving guidance method according to the embodiment of the present application is executed.

With continued reference to FIG. 4, the computer device may perform the process of step 2032 shown in FIG. 4 to implement step 203:

step 2032, if the vehicle type is the target vehicle type, the computer device determines a first reminding message according to the out-of-limit pre-judgment information, and issues the first reminding message through the directional sound device.

The computer device issues the first reminder message to pass through the target vehicle only if the vehicle type of the target vehicle is the target vehicle type. The computer device determines the first prompting message according to the over-limit pre-determination information, and reference may be made to the implementation of the above embodiment for a process of issuing the first prompting message by the directional sound device, which is not described herein again.

Optionally, the overrun pre-determination information may further include running state information of the target vehicle, and the computer device may further detect whether the running state of the target vehicle is normal according to the running state information when detecting that the vehicle type of the target vehicle is the target vehicle type; if the running state of the target vehicle is abnormal, the computer equipment issues a second reminding message corresponding to the target vehicle through the directional sound equipment, and the second reminding message is used for guiding the target vehicle to enter a super-weighing control area preset in a toll station for re-weighing; and if the running state of the target vehicle is normal, the computer equipment determines a first reminding message according to the out-of-limit pre-judgment information and issues the first reminding message through the directional sound equipment.

In this way, by distinguishing the vehicle type of the target vehicle, the computer device issues the first reminding message to guide the target vehicle to pass under the condition that the vehicle type of the target vehicle is the target vehicle type, namely, the computer device performs driving guidance on a certain type of vehicle in a targeted manner, so that the practicability and the accuracy of the routine vehicle guidance method implemented by the application are improved.

In one embodiment, based on the embodiment shown in fig. 2, referring to fig. 5, the present embodiment relates to a process of how a computer device issues a first reminder message by directing a sound device. In this embodiment, the first perception information further includes a vehicle position of the target vehicle, as shown in fig. 5, in this embodiment, step 203 includes step 2033 and step 2034:

step 2033, the computer device determines a first reminding message corresponding to the overrun state according to the overrun pre-determination information, and detects whether the vehicle position meets the driving guidance reminding condition.

Wherein the driving guidance alert condition is related to a distance between the vehicle location and a device location of the directional acoustic device.

For example, the first perception information further includes a lane identification of a lane in which the target vehicle is located, and the lane identification may be perceived by the toll station perception device as the target vehicle. The computer device may execute the following steps a1 and a2, and implement a process of detecting whether the vehicle position satisfies the driving guidance prompt condition:

step A1, the computer device obtains the device position of the directional sound device in the lane where the target vehicle is located according to the lane mark, and detects whether the distance between the vehicle position and the device position is smaller than a preset distance threshold value.

In the embodiment of the application, directional sound equipment can be arranged at a preset position on each lane of the toll station, and after the computer equipment determines the target lane where the target vehicle is located according to the lane mark, the equipment position of the directional sound equipment arranged on the target lane can be determined. The first perception information further comprises a vehicle position of the target vehicle, wherein the vehicle position can be a vehicle head center position, and after the computer device obtains the device position of the directional sound device in the lane where the target vehicle is located, the computer device calculates the distance between the vehicle position and the device position and detects whether the distance is smaller than a preset distance threshold value.

The preset distance threshold may be a maximum value corresponding to the broadcast coverage of the directional sound device, and of course, the preset distance threshold may also be smaller than the maximum value corresponding to the broadcast coverage of the directional sound device, which is not specifically limited herein.

Step A2, if the distance between the vehicle position and the device position is less than the preset distance threshold, the computer device determines that the vehicle position meets the driving guiding reminding condition.

If the distance between the vehicle position and the device position is smaller than a preset distance threshold value, the computer device determines that the target vehicle is in a broadcast coverage range of the directional sound device, namely, a message issued by the directional sound device can be known by an owner of the target vehicle, and the computer device further determines that the vehicle position meets a driving guide reminding condition.

Step 2034, if the vehicle position meets the driving guiding reminding condition, the computer device issues a first reminding message through the directional sound device.

If the position of the vehicle meets the driving guiding and reminding condition, the representation target vehicle is located in the broadcasting coverage range of the directional sound equipment, and the computer equipment issues the first reminding message through the directional sound equipment, so that the possibility that the first reminding message is heard by a driver is improved, and the guiding effect is improved.

In addition, compared with a mode that the reminding message is displayed through a preset screen and can be seen only by actively browsing the preset screen by a driver, the first reminding message is issued through the directional sound equipment of the target lane, the content of the first reminding message is easier to be known by the driver, the possibility of congestion of the toll station is reduced, and therefore the traffic rate of the toll station is improved.

In one embodiment, as shown in fig. 6, a driving guidance method is provided. The embodiment relates to a process of how a computer device performs driving guidance under the condition that a preset reminding device is a preset screen. As shown in fig. 6, the method includes step 201, step 202 and step 204:

The first perception information is obtained by perceiving the target vehicle by the toll station perception equipment, and the first perception information comprises a target identity of the target vehicle.

The overrun pre-judging information comprises an overrun state of the target vehicle, which is obtained through pre-judging.

The implementation processes of step 201 and step 202 in this embodiment are similar to those in the above embodiments, and for the specific implementation process, reference is made to the above embodiments, which are not described herein again.

And 204, the computer equipment determines a first reminding message corresponding to the overrun state according to the overrun pre-judgment information, and displays the first reminding message through a preset screen.

For example, the computer device may first detect whether a distance between the target vehicle and a preset screen is smaller than a preset distance threshold, where the preset screen may be, for example, a display screen on a toll station road side, and if so, the computer device may indicate that the target vehicle approaches the preset screen, and then detect an overrun state of the target vehicle.

As described above, the overrun state may be that the target vehicle is overweight or the target vehicle is not overweight, so that if the overrun state of the target vehicle is that the target vehicle is not overweight, the computer device issues the first reminding message through the preset screen. The first reminding message is used for carrying out non-overrun traffic guidance on the target vehicle, and the first reminding message may include, for example, a license plate number of the target vehicle and a guidance phrase, the license plate number may be included in vehicle weighing data of the target vehicle acquired by the overrun detection system, and the guidance phrase may prompt the target vehicle to enter a toll lane.

If the overrun state of the target vehicle is that the target vehicle is overweight, the computer equipment issues a first reminding message through the preset screen, and the first reminding message is used for carrying out overrun return guidance on the target vehicle, for example, reminding that the target vehicle is overweight and please return. The first alert message may include, for example, the license plate number of the target vehicle, a guidance phrase, which may be a prompt that the target vehicle is overweight and please return, and an overrun value.

It should be noted that in the embodiment of the present application, the number of the preset screens may be one, or may be multiple. Under the condition that the number of the preset screens is multiple, the computer device may display the first reminding message through the preset screen after detecting that the distance between the target vehicle and any one of the preset screens is smaller than a preset distance threshold, where no specific limitation is imposed on the number of the preset screens.

In the embodiment, the first sensing information of the target vehicle is obtained by sensing the target vehicle by the toll station sensing equipment, the first sensing information comprises the target identity of the target vehicle, then the overrun pre-judging information corresponding to the target vehicle is determined according to the target identity, the overrun pre-judging information comprises the overrun state of the target vehicle obtained by pre-judging, then the first reminding message corresponding to the overrun state is determined according to the overrun pre-judging information, the first reminding message is issued through a preset screen, the first reminding message is used for carrying out non-overrun traffic guidance or overrun return guidance on the target vehicle, so that the target vehicle is directly guided based on the overrun state of the target vehicle obtained by pre-judging, and the overrun state can be that the target vehicle is overweight or the target vehicle is not overweight, for example, the target vehicle is guided to pass through the toll station under the condition that the target vehicle is not overweight, and the target vehicle is guided to return under the condition that the target vehicle is overweight, so that the toll station congestion caused by the fact that the target vehicle needs to sequentially drive into a weighing area of the toll station at a low speed to perform overweight detection in the traditional technology is avoided. According to the embodiment of the application, the target vehicle is guided to pass or return through the first reminding message, so that the rapid passing guidance of the target vehicle can be realized, and the passing efficiency of the toll station is improved.

In one embodiment, based on the embodiment shown in fig. 6, referring to fig. 7, the present embodiment relates to a process of how the computer device performs driving guidance on the target vehicle in conjunction with the traveling state of the target vehicle. In this embodiment, the overrun pre-determination information includes driving state information of the target vehicle, and as shown in fig. 7, the driving guidance method of this embodiment further includes:

in step 701, the computer device detects whether the driving state of the target vehicle is normal according to the driving state information.

In the embodiment of the application, when the target vehicle passes through the weighing area on the ramp, the vehicle weighing data of the target vehicle acquired by the overrun detection system may further include running state information of the target vehicle, where the running state information may be a cheating identifier corresponding to the target vehicle. In the case that the cheating mark is cheating, characterizing that the driving state of the target vehicle is abnormal, such as the abnormal speed of the target vehicle; in the case where the cheating flag is not cheating, it indicates that the driving state of the target vehicle is normal, for example, the vehicle speed of the target vehicle is normal.

It should be noted that, in the case that the driving state of the target vehicle is abnormal, there may be a phenomenon that the vehicle weight of the target vehicle obtained by the overrun detection system is inaccurate, and therefore, if the driving state of the target vehicle is abnormal, the target vehicle needs to be reweighed at the toll station to improve the weighing accuracy.

Step 702, if the driving state of the target vehicle is abnormal, the computer device displays a second reminding message corresponding to the target vehicle through a preset screen.

The computer device may first detect whether a distance between the target vehicle and the preset screen is smaller than a preset distance threshold, if so, characterize that the target vehicle approaches the preset screen, and then detect whether the running state of the target vehicle is abnormal, if so, the computer device issues a second reminding message corresponding to the target vehicle through the preset screen, where the preset screen may be, for example, a preset screen of a lane where the target vehicle is located, and the second reminding message is used to guide the target vehicle to enter a preset override weighing area of a toll station.

With continued reference to fig. 7, the computer device may perform the process of step 2041 shown in fig. 7 to implement step 204:

step 2041, if the driving state of the target vehicle is normal, the computer device determines a first reminding message according to the out-of-limit pre-judgment information, and displays the first reminding message through a preset screen.

The computer device may first detect whether a distance between the target vehicle and the preset screen is smaller than a preset distance threshold, and if so, characterize that the target vehicle approaches the preset screen, and then detect whether the driving state of the target vehicle is abnormal. If the running state of the target vehicle is normal, the vehicle weight of the target vehicle obtained by the representation overrun detection system is accurate, so that the target vehicle does not need to be reweighed at a toll station, the computer equipment directly determines a first reminding message according to the overrun pre-judgment information, and the first reminding message is issued through a preset screen.

The process of determining, by the computer device, the first reminding message according to the over-limit pre-determination information and issuing the first reminding message through the preset screen may refer to the implementation of the above embodiment, which is not described herein again.

Therefore, whether the running state of the target vehicle is normal or not is determined through the running state information of the target vehicle, and the vehicle weight of the target vehicle, which is acquired by the representation overrun detection system, is accurate under the condition that the running state of the target vehicle is normal, so that the target vehicle does not need to be reweighed at a toll station, and the computer equipment directly determines a first reminding message according to the overrun pre-judgment information and issues the first reminding message through a preset screen; and under the condition that the running state of the target vehicle is abnormal, the computer equipment guides the target vehicle to enter a super weighing control area preset in the toll station for re-weighing through the second reminding message, so that the weighing accuracy of the target vehicle is improved, and the driving guiding accuracy is improved.

In one embodiment, based on the embodiment shown in fig. 6, referring to fig. 8, the present embodiment relates to a process how the computer device performs driving guidance on the target vehicle in combination with the vehicle type of the target vehicle. In this embodiment, the overrun pre-determination information includes a vehicle type of the target vehicle, as shown in fig. 8, the driving guidance method of this embodiment further includes:

in step 801, the computer device detects whether the vehicle type is a target vehicle type.

In the embodiment of the application, the overrun pre-determination information includes that the vehicle type of the target vehicle can be obtained by sensing the target vehicle by the ramp sensing device, and the vehicle type of the target vehicle can be a truck, a car and the like. Similar to the toll station sensing device, the ramp sensing device may be a smart base station, a millimeter wave radar sensor, or a lidar sensor, among others.

With continued reference to fig. 8, the computer device may perform step 2042 shown in fig. 8 to implement the process of step 204:

step 2042, if the vehicle type is the target vehicle type, the computer device determines a first reminding message according to the out-of-limit pre-judgment information, and displays the first reminding message through a preset screen.

The computer device issues the first reminder message to pass through the target vehicle only if the vehicle type of the target vehicle is the target vehicle type. The process of determining, by the computer device, the first reminding message according to the over-limit pre-determination information and issuing the first reminding message through the preset screen may refer to the implementation of the above embodiment, which is not described herein again.

Optionally, the overrun pre-determination information may further include running state information of the target vehicle, and the computer device may further detect whether the running state of the target vehicle is normal according to the running state information when detecting that the vehicle type of the target vehicle is the target vehicle type; if the running state of the target vehicle is abnormal, the computer equipment issues a second reminding message corresponding to the target vehicle through a preset screen, wherein the second reminding message is used for guiding the target vehicle to enter a super-weighing control area preset by a toll station for re-weighing; and if the running state of the target vehicle is normal, the computer equipment determines a first reminding message according to the out-of-limit pre-judgment information and issues the first reminding message through a preset screen.

In one embodiment, based on the embodiment shown in fig. 6, referring to fig. 9, the present embodiment relates to a process of how the computer device displays the first reminder message through the preset screen. In this embodiment, the first perception information further includes a vehicle position of the target vehicle, as shown in fig. 9, in this embodiment, step 204 includes the following steps 2043 and 2044:

step 2043, the computer device determines a first reminding message corresponding to the overrun state according to the overrun pre-judgment information, and detects whether the vehicle position meets the driving guidance reminding condition.

The driving guide reminding condition is related to the distance between the position of the vehicle and the position of the screen of the preset screen.

For example, the computer device may execute the following steps A3 and a4 to implement the process of detecting whether the vehicle position satisfies the driving guidance prompt condition:

step a3, the computer device obtains a screen position of a preset screen and detects whether a distance between the vehicle position and the screen position is less than a first distance threshold.

In this embodiment of the application, the preset screen may be a display screen disposed at an obvious position on a road side of the toll gate, or may also be a display screen disposed above a gantry of the toll gate, and the like, which is not limited herein. The screen position of the preset screen may be stored in advance in the computer device,

it should be noted that the screen position may be a projection position of a screen center of the preset screen on the ground, the screen position may also be a projection position of a center of a preset position area in the preset screen on the ground, the screen position may also be a spatial position of the screen center of the preset screen in the preset coordinate system, the screen position may also be a spatial position of the center of the preset position area in the preset screen in the preset coordinate system, and a specific implementation manner of the screen position of the preset screen is not limited herein.

The first perception information may further include a vehicle position of the target vehicle, where the vehicle position may be a vehicle head center position, and after the computer device acquires a screen position of the preset screen, the computer device calculates a distance between the vehicle position and the screen position, and detects whether the distance is smaller than a first distance threshold.

The first distance threshold may be less than or equal to the maximum value of the range of human eye visual range, and may be set to 200 meters, for example.

Step A4, if the distance between the vehicle position and the screen position is less than the first distance threshold, the computer device determines that the vehicle position meets the driving guidance reminding condition.

If the distance between the vehicle position and the screen position is smaller than the first distance threshold, the preset screen is represented to enter the range of the human eye visual distance of the driver in the target vehicle, specifically, the center of the screen of the preset screen can be represented to enter the range of the human eye visual distance of the driver, or a preset position area corresponding to the lane where the target vehicle is located in the preset screen is represented to enter the range of the human eye visual distance of the driver, so that the computer device determines that the vehicle position of the target vehicle meets the driving guidance reminding condition, namely, the reminding message displayed on the preset screen can be seen by the driver in the target vehicle.

Step 2044, if the vehicle position meets the driving guidance reminding condition, the computer device displays the first reminding message through a preset screen.

In one possible embodiment, the preset screen may display the warning message for the vehicles of each lane in a divisional manner. Specifically, different lanes in the toll station correspond to different position areas in the preset screen, for example, the preset screen is a display screen disposed above a portal frame of the toll station, each lane under the portal frame has a corresponding position area in the display screen, and optionally, the display screen area corresponding to right above each lane is the preset position area of the lane in the preset screen. In this way, the computer device may display the first reminding message through a preset position area corresponding to the lane where the target vehicle is located in the preset screen.

In another possible implementation manner, the preset screen may also display the reminding message for the vehicles in each lane without dividing the area, and optionally, the computer device may control the preset screen to display the first reminding message in the center of the screen; optionally, the computer device may also control the preset screen to display the first reminding message at the edge of any side of the screen, and control the first reminding message to scroll to the center of the screen of the preset screen, and the like, which is not limited herein.

Therefore, after the preset screen is ensured to enter the human eye visual range of the driver in the target vehicle, the first reminding message is displayed by the computer equipment through the preset screen, the possibility that the first reminding message is seen by the driver is improved, and the driving guiding effect is improved.

Optionally, based on the embodiment shown in fig. 9, referring to fig. 10, in the driving guiding method according to this embodiment, step 2044 may further include step 2051 and step 2052:

at step 2051, the computer device detects whether the distance between the vehicle position and the screen position is less than a second distance threshold.

The second distance threshold is less than the first distance threshold, for example, the first distance threshold may be set to a maximum value of the distance corresponding to the range of human eye visual range, the second distance threshold may be set to one-half, one-third, etc. of the distance corresponding to the range of maximum human eye visual range.

After the computer device detects that the distance between the vehicle position and the screen position is smaller than a first distance threshold value, the computer device displays a first reminding message to conduct non-overrun traffic guidance on the target vehicle or overrun return guidance on the target vehicle, and in order to avoid that a driver in the target vehicle does not see the first reminding message, the computer device continues to detect whether the distance between the vehicle position and the screen position is smaller than a second distance threshold value.

Step 2052, if the distance between the vehicle position and the screen position is smaller than the second distance threshold, the computer device performs enhanced display on the first reminding message in a preset screen.

If the distance between the vehicle position and the screen position is smaller than the second distance threshold, it is characterized that the target vehicle is very close to the preset screen, and the target vehicle may have entered a toll plaza of a toll station, and the computer device performs enhanced display on the first reminding message in the preset screen, for example, flashing display, animation display, and the like on the first reminding message.

In this embodiment, for preventing that the driver of target vehicle misses the first warning message of presetting the screen and the weighing area of mistake income toll station causes the toll station to block up, after target vehicle gets into the toll plaza, computer equipment carries out the reinforcement display to first warning message in presetting the screen to can promote the possibility that first warning message is seen by the driver, promote the guide effect, promote the current efficiency at toll station.

In one embodiment, as shown in fig. 11, a driving guidance method is provided. The embodiment relates to a process how a computer device conducts driving guidance under the condition that a preset reminding device is a preset screen and a directional sound device. As shown in fig. 11, the method includes step 201, step 202 and step 206:

And step 206, the computer equipment determines the directional sound reminding message and the screen reminding message corresponding to the overrun state according to the overrun pre-judgment information, issues the directional sound reminding message through the directional sound equipment, and displays the screen reminding message through a preset screen.

The directional sound reminding message and the screen reminding message are both used for carrying out non-overrun traffic guidance on the target vehicle, or the directional sound reminding message and the screen reminding message are both used for carrying out overrun return guidance on the target vehicle.

In a possible implementation manner, if the running state of the target vehicle is normal, the vehicle type of the target vehicle is the target vehicle type, the preset screen enters the range of the visual range of human eyes of a driver in the target vehicle, and the target vehicle is located in the broadcast coverage range of the directional sound device of the target lane where the target vehicle is located, the computer device determines that the vehicle position meets the driving guidance reminding condition, the computer device issues the directional sound reminding message through the directional sound device and displays the screen reminding message through the preset screen, the directional sound reminding message may be a first reminding message in a voice form, and the screen reminding message may be a first reminding message in a text form or an animation form.

The process that the computer device detects whether the running state of the target vehicle is normal, detects whether the vehicle type of the target vehicle is the target vehicle type, detects whether the preset screen enters the range of the visual range of human eyes of a driver in the target vehicle, detects whether the target vehicle is in the broadcast coverage range of the corresponding directional sound device, issues the directional sound reminding message through the directional sound device, and displays the screen reminding message through the preset screen is similar to the above embodiment, and is not repeated here.

Further, if the computer device detects that the preset screen enters one half of the range of the human eye visual range of the driver in the target vehicle (of course, the preset screen can be any value smaller than the range of the human eye visual range), the computer device displays the screen reminding message in an enhanced mode through the preset screen. The process of detecting whether the preset screen enters the range of the human visual range of the driver in the target vehicle by the computer device according to the vehicle position is similar to the above embodiment, and is not described herein again.

In the embodiment of the application, the target vehicle of the type of the target vehicle is subjected to global tracking, the time for issuing the reminding message is controlled, the target vehicle is reminded to carry out driving guidance through various modes, the guiding effect is improved, and the passing rate of the toll station is improved.

In one embodiment, based on the embodiment shown in fig. 2 or fig. 6, referring to fig. 12, the present embodiment relates to a process of how the computer device obtains the overrun pre-determination information. As shown in fig. 12, the process includes

steps

1201, 1202, and 1203:

step 1201, the computer device obtains the overrun pre-detection information of the target vehicle.

In the running process of the target vehicle, before the target vehicle enters a toll station, the overrun detection system can be used for carrying out overrun detection on the target vehicle in advance to obtain overrun pre-detection information. The overrun pre-detection information at least comprises vehicle weighing data and detection time of the target vehicle.

The weighing area comprised by the overrun detection system may be arranged within a preset distance range of the toll booth, for example at the ramp of the toll booth. Illustratively, when the target vehicle passes through the weighing area at the ramp, the overrun detection system acquires vehicle weighing data of the target vehicle and transmits the vehicle weighing data and the detection time as overrun pre-detection information to the computer device. The detection time can be the first-axis detection time when the weighing area senses the first axis of the target vehicle.

Step 1202, the computer device determines second perception information of the target vehicle corresponding to the detection time according to the detection time.

The second perception information is obtained by perceiving the target vehicle by the ramp perception device, the second perception information comprises perception time and perception identity identification of the target vehicle, and the difference value between the perception time and the detection time is smaller than a preset difference value threshold value.

Illustratively, for each vehicle entering the sensing coverage area of the ramp sensing device, the ramp sensing device performs data sensing on each vehicle to obtain second sensing information of each vehicle. After the computer equipment acquires the overrun pre-detection information of the target vehicle, traversing each second perception information output by the ramp perception equipment according to the detection time included by the overrun pre-detection information, and finding out the second perception information closest to the detection time as the second perception information of the target vehicle.

The sensing identity is a unique temporary identity added to the target vehicle by the ramp sensing device, and may be a vehicle number, for example.

And 1203, generating overrun pre-judgment information by the computer equipment according to the overrun pre-detection information and the second perception information.

The vehicle weighing data is used for acquiring the overrun state included by the overrun pre-judging information.

In step 1203, in a possible implementation manner, the computer device may detect whether the vehicle weighing data is greater than a preset weight threshold, obtain a detection result, and generate an overrun state according to the detection result, where the computer device stores at least the overrun state and the sensing identity as overrun pre-determination information.

The preset weight threshold may be a vehicle weight limit threshold of a road where the toll gate is located, if the vehicle weight represented by the vehicle weighing data of the target vehicle is greater than the preset weight threshold, the overrun state representing that the target vehicle is overweight, and if the vehicle weight of the target vehicle is less than or equal to the preset weight threshold, the overrun state representing that the target vehicle is not overweight.

And the computer equipment stores the overrun state and the sensing identity as overrun pre-discrimination information. Therefore, after the computer device acquires the first sensing information of the target vehicle, the computer device can match out the overrun pre-judgment information corresponding to the sensing identity which is the same as the target identity according to the target identity included in the first sensing information, and the overrun pre-judgment information is used as the overrun pre-judgment information corresponding to the target vehicle.

According to the embodiment, the second sensing information sensed by the ramp sensing equipment and the overrun pre-detection information detected by the overrun detection system can be matched and fused rapidly through the sensing time and the detection time, the overrun pre-detection information is obtained, and the matching efficiency of the second sensing information and the overrun pre-detection information is improved.

Based on the embodiment shown in fig. 12, referring to fig. 13, in another possible implementation manner of step 1203, step 1203 further includes step 1301 and step 1302:

step 1301, the computer device determines the detection position of the target vehicle according to the overrun pre-detection information, and determines the perception position of the target vehicle according to the overrun pre-detection information and the second perception information.

Wherein the detected position and the perceived position are vehicle positions at the same time.

For example, the overrun pre-detection information further includes a detection center position of the target vehicle and a detection size of the target vehicle, where the detection center position may be a head center position of the target vehicle, so that the computer device may obtain coordinates of a detection position frame corresponding to the target vehicle according to the detection center position and the detection size, and use the coordinates of the detection position frame as the detection position.

Suppose (x)_A，y_A) Indicating the detection center position of the target vehicle included in the overrun pre-detection information,

indicating the position of the upper left corner of the detected position box,

indicates the position of the lower right corner of the detection position frame, w_ATo detect the width of the target vehicle included in the size, L_AIs the length of the target vehicle included in the detected size; the computer equipment can calculate the position of the upper left corner of the detection position frame and the position of the lower right corner of the detection position frame according to the detection center position and the detection size by the following formula:

in the embodiment of the present application, x_AVehicle that may be a target vehicle detected by an over-limit detection systemDistance of head center to left boundary line of leftmost lane in direction perpendicular to driving direction, y_AThe distance from the center of the head of the target vehicle to the installation section of the ramp sensing device along the driving direction can be detected by the overrun detection system. In this way, the computer device obtains the position of the upper left corner of the detection position frame and the position of the lower right corner of the detection position frame as the detection positions.

Further, the second sensing information further includes a sensing center position of the target vehicle, a sensing size of the target vehicle, and a sensing speed of the target vehicle, where the sensing center position may be a head center position of the target vehicle, and thus, the computer device may obtain coordinates of a sensing position frame corresponding to the target vehicle according to the sensing center position, the sensing size, the detection time, the sensing time, and the sensing speed, and use the coordinates of the sensing position frame as the sensing position.

Suppose (x)_B，y_B) Indicating the perceived center position of the target vehicle that the second perception information includes,

the position of the upper left corner of the sensing position frame is shown,

represents the position of the lower right corner of the sensing position frame, w_BFor sensing the width of the target vehicle included in the size, L_BFor sensing the length of the target vehicle included in the size, T_BFor sensing time, T_ATo detect the time of day, V_BTo sense the speed; the computer equipment can calculate the position of the upper left corner of the sensing position frame and the position of the lower right corner of the sensing position frame by the following formulas:

in the embodiment of the present application, x_BThe distance y from the center of the head of the target vehicle to the left boundary line of the leftmost lane along the direction perpendicular to the driving direction can be sensed by the ramp sensing device_AThe distance from the center of the head of the target vehicle sensed by the ramp sensing device to the installation section of the ramp sensing device along the driving direction can be used. In this way, the computer device obtains the position of the upper left corner of the sensing position frame and the position of the lower right corner of the sensing position frame as the sensing positions.

At step 1302, the computer device detects whether the detected location and the perceived location match.

In one possible implementation of step 1302, referring to fig. 14, step 1302 may include

steps

1401 and 1402 shown in fig. 14:

step 1401, the computer device obtains the overlapping rate of the detection position frame and the sensing position frame according to the coordinates of the detection position frame and the coordinates of the sensing position frame.

The overlap ratio may be a ratio of an intersection area (i.e., an overlap area) of the detection position frame and the sensing position frame to a union area of the detection position frame and the sensing position frame.

In one possible implementation manner of step 1401, the computer device may obtain an overlapping area of the detected position frame and the sensing position frame according to the coordinates of the detected position frame and the coordinates of the sensing position frame, then obtain a union area of the detected position frame and the sensing position frame according to the coordinates of the detected position frame and the coordinates of the sensing position frame, and then divide the union area by the overlapping area to obtain an overlapping ratio.

Illustratively, the process of the computer device acquiring the overlapping area of the detection position frame and the perception position frame will be described first.

The computer device first calculates the width coincide _ x of the overlapping portion of the detected position frame and the perceived position frame (i.e., the length of the overlapping of the detected position frame and the perceived position frame in the x-axis direction) according to the following formula:

the meaning of each character combination is the same as that of the above embodiment, and is not described herein again, so that the computer device detects the width coincide _ x of the overlapping portion of the position frame and the sensing position frame.

Next, the computer device calculates the length coincide _ y of the overlapping portion of the detected position frame and the perceived position frame (i.e., the length of the overlapping of the detected position frame and the perceived position frame in the y-axis direction) according to the following formula:

the meaning of each character combination is the same as that of the above embodiment, and is not described herein again, so that the computer device detects the length coincide _ y of the overlapping portion of the position frame and the sensing position frame.

Further, the computer device may calculate the overlap area coincide _ S of the detected position frame and the perceived position frame by the following formula:

coincide_S＝coincide_x*coincide_y

secondly, a process of acquiring the union area of the detection position frame and the perception position frame by the computer device according to the coordinate of the detection position frame and the coordinate of the perception position frame is introduced.

The union area of the detected position frame and the sensing position frame may be equal to S_A+S_B-coincide _ S, wherein S_ATo detect the area of the position frame, S_BTo sense the area of the position frame, S_AAnd S_ACan be calculated by the following formula respectively:

the computer equipment calculates and obtains the overlapping area coincide _ S of the detection position frame and the perception position frame and the union area S of the detection position frame and the perception position frame_A+S_BAfter coincide _ S, the overlap ratio c is obtained by dividing the overlap area by the union areaoincide_ratio：

coincide_ratio＝coincide_S/(S_A+S_B-coincide_S)

Step 1402, if the overlap ratio is greater than the preset overlap ratio threshold, the computer device determines that the detected position matches the perceived position.

If the overlapping rate is larger than the preset overlapping rate threshold value, representing that the detection position frame and the perception position frame are highly overlapped, and determining that the detection position is matched with the perception position by the computer equipment.

The preset overlap rate threshold may be set by itself when implemented, for example, to 0.9, 0.95, and so on.

Optionally, before step 1401, the computer device may further detect whether the coordinates of the detected position frame and the coordinates of the sensing position frame satisfy a preset position constraint relationship, so that if the coordinates of the detected position frame and the coordinates of the sensing position frame satisfy the position constraint relationship, the computer device further performs step 1401, that is, obtains an overlapping rate of the detected position frame and the sensing position frame according to the coordinates of the detected position frame and the coordinates of the sensing position frame.

The position constraint relationship may be (By)₂<Ay₁)or(Ax₂<Bx₁)or(Ay₂<By₁)or(Bx₂<Ax₁) Failure to stand, i.e. if (By)₂<Ay₁)or(Ax₂<Bx₁)or(Ay₂<By₁)or(Bx₂<Ax₁) If not, the computer device determines that the coordinates of the detected position frame and the coordinates of the sensed position frame satisfy the position constraint relationship, and further performs step 1401, if (By)₂<Ay₁)or(Ax₂<Bx₁)or(Ay₂<By₁)or(Bx₂<Ax₁) If the matching is true, the position difference between the representation detection position frame and the perception position frame is large, and the matching is directly filtered.

With continued reference to FIG. 13, the computer device may perform the following process of step 1203a to implement step 1203:

and 1203a, if the detection position is matched with the sensing position, the computer equipment generates the overrun pre-judgment information according to the overrun pre-detection information and the second sensing information.

In the above embodiment, after the computer device matches the second sensing information of the target vehicle according to the detection time included in the overrun pre-detection information, it further detects whether the detection position and the sensing position of the target vehicle are matched according to the overrun pre-detection information and the second sensing information, and only under the condition that the detection position and the sensing position are matched, the overrun pre-determination information is generated according to the overrun pre-detection information and the second sensing information, so that the accuracy of the overrun pre-determination information is improved, and the accuracy of the driving guidance is improved.

It should be understood that, although the steps in the above-described flowcharts are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps of the above-mentioned flowcharts may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or the stages is not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a part of the steps or the stages in other steps.

In one embodiment, as shown in fig. 15, there is provided a driving guide apparatus including:

the acquisition module 1501 is configured to acquire first sensing information of a target vehicle, where the first sensing information is obtained by sensing the target vehicle by a toll station sensing device, and the first sensing information includes a target identity of the target vehicle;

a determining module 1502, configured to determine, according to the target identity, overrun pre-determination information corresponding to the target vehicle, where the overrun pre-determination information includes an overrun state of the target vehicle obtained through pre-determination;

the guidance module 1503 is configured to determine, according to the overrun pre-determination information, a first prompting message corresponding to the overrun state, and issue the first prompting message through a directional sound device, where the first prompting message is used to perform unrestricted traffic guidance or overrun return guidance on the target vehicle.

Optionally, the overrun pre-determination information includes running state information of the target vehicle, and the apparatus further includes:

the first detection module is used for detecting whether the running state of the target vehicle is normal or not according to the running state information;

the guidance module 1503 is specifically configured to determine the first prompting message according to the out-of-limit pre-determination information if the driving state of the target vehicle is normal.

Optionally, the apparatus further comprises:

and the issuing module is used for issuing a second reminding message corresponding to the target vehicle through the directional sound equipment if the running state of the target vehicle is abnormal, wherein the second reminding message is used for guiding the target vehicle to enter a preset overload control area of a toll station.

Optionally, the over-limit pre-determination information includes a vehicle type of the target vehicle, and the apparatus further includes:

the second detection module is used for detecting whether the vehicle type is a target vehicle type;

the guidance module 1503 is specifically configured to determine the first prompting message according to the out-of-limit pre-determination information if the vehicle type is the target vehicle type.

Optionally, the first perception information further includes a vehicle position of the target vehicle, and the apparatus further includes:

the third detection module is used for detecting whether the vehicle position meets a driving guide reminding condition, wherein the driving guide reminding condition is related to the distance between the vehicle position and the equipment position of the directional sound equipment;

the guidance module 1503 is specifically configured to issue the first prompting message through the directional sound device if the vehicle position meets the driving guidance prompting condition.

Optionally, the first perception information further includes a lane identification of a lane where the target vehicle is located, and the third detection module is specifically configured to obtain the device position of the directional sound device in the lane where the target vehicle is located according to the lane identification, and detect whether a distance between the vehicle position and the device position is smaller than a preset distance threshold; and if the distance between the vehicle position and the equipment position is smaller than the preset distance threshold, determining that the vehicle position meets the driving guide reminding condition.

Optionally, the apparatus further comprises:

the system comprises a pre-detection information acquisition module, a pre-detection information acquisition module and a detection module, wherein the pre-detection information acquisition module is used for acquiring overrun pre-detection information of the target vehicle, and the overrun pre-detection information at least comprises vehicle weighing data and detection time of the target vehicle;

the perception information determining module is used for determining second perception information of the target vehicle corresponding to the detection time according to the detection time, wherein the second perception information is obtained by perceiving the target vehicle by a ramp perception device, the second perception information comprises perception time and a perception identity of the target vehicle, and a difference value between the perception time and the detection time is smaller than a preset difference value threshold;

and the generating module is used for generating the overrun pre-judgment information according to the overrun pre-detection information and the second sensing information, wherein the vehicle weighing data is used for acquiring the overrun state included by the overrun pre-judgment information.

Optionally, the generating module is specifically configured to detect whether the vehicle weighing data is greater than a preset weight threshold, obtain a detection result, and generate the overrun state according to the detection result; and at least storing the overrun state and the sensing identity as the overrun pre-judging information.

Optionally, the apparatus further comprises:

the position determining module is used for determining the detection position of the target vehicle according to the overrun pre-detection information and determining the perception position of the target vehicle according to the overrun pre-detection information and the second perception information, wherein the detection position and the perception position are vehicle positions at the same moment;

a matching module for detecting whether the detected position and the perceived position match;

the generating module is specifically configured to generate the out-of-limit pre-determination information according to the out-of-limit pre-detection information and the second sensing information if the detection position matches the sensing position.

Optionally, the overrun pre-detection information further includes a detection center position of the target vehicle and a detection size of the target vehicle, and the second perception information further includes a perception center position of the target vehicle, a perception size of the target vehicle, and a perception speed of the target vehicle; the position determining module is specifically configured to obtain coordinates of a detection position frame corresponding to the target vehicle according to the detection center position and the detection size, and use the coordinates of the detection position frame as the detection position; and acquiring the coordinates of a perception position frame corresponding to the target vehicle according to the perception center position, the perception size, the detection time, the perception time and the perception speed, and taking the coordinates of the perception position frame as the perception position.

Optionally, the matching module includes:

an overlapping rate acquiring unit, configured to acquire an overlapping rate of the detection position frame and the sensing position frame according to the coordinates of the detection position frame and the coordinates of the sensing position frame;

and the matching unit is used for determining that the detection position is matched with the perception position if the overlapping rate is greater than a preset overlapping rate threshold value.

Optionally, the overlap ratio obtaining unit is specifically configured to obtain an overlap area of the detection position frame and the sensing position frame according to the coordinate of the detection position frame and the coordinate of the sensing position frame; acquiring the area of a union set of the detection position frame and the perception position frame according to the coordinates of the detection position frame and the coordinates of the perception position frame; and dividing the overlapping area by the union area to obtain the overlapping rate.

Optionally, the overlap ratio obtaining unit is specifically configured to detect whether the coordinates of the detection position frame and the coordinates of the sensing position frame satisfy a preset position constraint relationship; and if the coordinates of the detection position frame and the coordinates of the perception position frame meet the position constraint relation, acquiring the overlapping rate of the detection position frame and the perception position frame according to the coordinates of the detection position frame and the coordinates of the perception position frame.

In one embodiment, as shown in fig. 16, there is provided a driving guide apparatus including:

an obtaining module 1601, configured to obtain first sensing information of a target vehicle, where the first sensing information is obtained by sensing the target vehicle by a toll station sensing device, and the first sensing information includes a target identity of the target vehicle;

a determining module 1602, configured to determine, according to the target identity, overrun pre-determination information corresponding to the target vehicle, where the overrun pre-determination information includes an overrun state of the target vehicle obtained through pre-determination;

a guidance module 1603, configured to determine a first prompting message corresponding to the overrun state according to the overrun pre-determination information, and display the first prompting message through a preset screen, where the first prompting message is used to perform unrestricted traffic guidance or overrun return guidance on the target vehicle.

the guidance module 1603 is specifically configured to determine the first prompting message according to the out-of-limit pre-determination information if the running state of the target vehicle is normal.

Optionally, the apparatus further comprises:

and the first display module is used for displaying a second reminding message corresponding to the target vehicle through the preset screen if the running state of the target vehicle is abnormal, wherein the second reminding message is used for guiding the target vehicle to enter a preset overload control area of a toll station.

Optionally, the apparatus further comprises:

the guidance module 1603 is specifically configured to determine the first prompting message according to the overrun pre-determination information if the vehicle type is the target vehicle type.

Optionally, the apparatus further comprises:

the third detection module is used for detecting whether the vehicle position meets a driving guide reminding condition, wherein the driving guide reminding condition is related to the distance between the vehicle position and the screen position of the preset screen;

the guidance module 1603 is specifically configured to display the first reminding message through the preset screen if the vehicle position meets the driving guidance reminding condition.

Optionally, the third detecting module is specifically configured to obtain the screen position of the preset screen, and detect whether a distance between the vehicle position and the screen position is smaller than a first distance threshold; and if the distance between the vehicle position and the screen position is smaller than the first distance threshold, determining that the vehicle position meets the driving guide reminding condition.

Optionally, the apparatus further comprises:

a fourth detection module for detecting whether a distance between the vehicle position and the screen position is less than a second distance threshold, the second distance threshold being less than the first distance threshold;

and the second display module is used for performing strengthened display on the first reminding message in the preset screen if the distance between the vehicle position and the screen position is smaller than the second distance threshold.

Optionally, the apparatus further comprises:

Optionally, the matching module includes:

In one embodiment, there is provided a driving guide apparatus including:

and the guiding module is used for determining the directional sound reminding message and the screen reminding message corresponding to the overrun state according to the overrun pre-judgment information, issuing the directional sound reminding message through directional sound equipment, and displaying the screen reminding message through a preset screen, wherein the directional sound reminding message and the screen reminding message are both used for carrying out non-overrun traffic guidance on the target vehicle, or the directional sound reminding message and the screen reminding message are both used for carrying out overrun return guidance on the target vehicle.

For the specific limitations of each vehicle guiding device, reference may be made to the above limitations of the vehicle guiding method, which are not described herein again. The modules in the driving guiding device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, the internal structure of which may be as shown in fig. 17. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data of the driving guidance method. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of driving guidance.

Those skilled in the art will appreciate that the architecture shown in fig. 17 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:

and determining a first reminding message corresponding to the overrun state according to the overrun pre-judgment information, and issuing the first reminding message through directional sound equipment, wherein the first reminding message is used for carrying out non-overrun traffic guidance or overrun return guidance on the target vehicle.

In one embodiment, the overrun pre-determination information includes driving state information of the target vehicle, the processor when executing the computer program further implements the steps of:

In one embodiment, the processor, when executing the computer program, further performs the steps of:

and if the running state of the target vehicle is abnormal, issuing a second reminding message corresponding to the target vehicle through the directional sound equipment, wherein the second reminding message is used for guiding the target vehicle to enter a toll station preset overload control area.

In one embodiment, the over-limit pre-determination information includes a vehicle type of the target vehicle, and the processor when executing the computer program further performs the steps of:

detecting whether the vehicle type is a target vehicle type;

In one embodiment, the first perception information further comprises a vehicle location of the target vehicle, the processor when executing the computer program further performs the steps of:

detecting whether the vehicle position meets a driving guide reminding condition, wherein the driving guide reminding condition is related to the distance between the vehicle position and the equipment position of the directional sound equipment;

the issuing of the first reminder message by the directional acoustic device includes:

and if the vehicle position meets the driving guide reminding condition, issuing the first reminding message through the directional sound equipment.

In one embodiment, the first perception information further comprises a lane identification of a lane in which the target vehicle is located, the processor when executing the computer program further performs the steps of:

acquiring the equipment position of the directional sound equipment in the lane where the target vehicle is located according to the lane mark, and detecting whether the distance between the vehicle position and the equipment position is smaller than a preset distance threshold value;

and if the distance between the vehicle position and the equipment position is smaller than the preset distance threshold, determining that the vehicle position meets the driving guide reminding condition.

detecting whether the detected location and the perceived location match;

In one embodiment, the overrun pre-detection information further includes a detection center position of the target vehicle and a detection size of the target vehicle, and the second perception information further includes a perception center position of the target vehicle, a perception size of the target vehicle, and a perception speed of the target vehicle; the processor, when executing the computer program, further performs the steps of:

detecting whether the vehicle type is a target vehicle type;

the displaying the first reminding message through a preset screen includes:

detecting whether the detected location and the perceived location match;

and determining a directional sound reminding message and a screen reminding message corresponding to the overrun state according to the overrun pre-judgment information, issuing the directional sound reminding message through directional sound equipment, and displaying the screen reminding message through a preset screen, wherein the directional sound reminding message and the screen reminding message are both used for carrying out unlimited traffic guidance on the target vehicle, or the directional sound reminding message and the screen reminding message are both used for carrying out overrun return guidance on the target vehicle.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

In one embodiment, the overrun pre-determination information comprises driving state information of the target vehicle, the computer program when executed by a processor further realizing the steps of:

In one embodiment, the computer program when executed by the processor further performs the steps of:

In one embodiment, the over-limit pre-determination information comprises a vehicle type of the target vehicle, the computer program when executed by the processor further performs the steps of:

detecting whether the vehicle type is a target vehicle type;

In one embodiment, the first perception information further comprises a vehicle position of the target vehicle, the computer program when executed by the processor further implementing the steps of:

In one embodiment, the first perception information further comprises a lane identification of a lane in which the target vehicle is located, the computer program, when executed by the processor, further implementing the steps of:

detecting whether the detected location and the perceived location match;

In one embodiment, the overrun pre-detection information further includes a detection center position of the target vehicle and a detection size of the target vehicle, and the second perception information further includes a perception center position of the target vehicle, a perception size of the target vehicle, and a perception speed of the target vehicle; the computer program when executed by the processor further implements the steps of:

detecting whether the vehicle type is a target vehicle type;

the displaying the first reminding message through a preset screen includes:

detecting whether the detected location and the perceived location match;

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A method of driving guidance, the method comprising:

2. The method according to claim 1, wherein the overrun pre-determination information includes driving state information of the target vehicle, and after determining the overrun pre-determination information corresponding to the target vehicle according to the target identity, the method further includes:

3. The method according to claim 2, wherein after detecting whether the running state of the target vehicle is normal according to the running state information, further comprising:

4. The method of claim 1, wherein the over-limit pre-determination information includes a vehicle type of the target vehicle, and after determining the over-limit pre-determination information corresponding to the target vehicle according to the target identity, the method further includes:

detecting whether the vehicle type is a target vehicle type;

5. The method of claim 1, wherein the first perception information further comprises a vehicle location of the target vehicle, and wherein prior to displaying the first reminder message via a preset screen, further comprising:

the displaying the first reminding message through a preset screen includes:

6. The method of claim 5, wherein the detecting whether the vehicle position meets a driving guidance prompt condition comprises:

7. The method of claim 6, wherein after displaying the first reminder message via the preset screen, further comprising:

8. The method of claim 1, wherein before determining the over-limit pre-determination information corresponding to the target vehicle according to the target identity, the method further comprises:

9. The method of claim 8, wherein the generating the over-limit pre-determination information according to the over-limit pre-detection information and the second sensing information comprises:

10. The method of claim 8, wherein before the generating the overrun pre-determination information from the overrun pre-detection information and the second perception information, the method comprises:

detecting whether the detected location and the perceived location match;

11. The method of claim 10, wherein the over-limit-advance-detection information further includes a detected-center-position of the target vehicle and a detected-size of the target vehicle, and the second perception information further includes a perceived-center-position of the target vehicle, a perceived-size of the target vehicle, and a perceived speed of the target vehicle; the determining the detection position of the target vehicle according to the overrun pre-detection information includes:

12. The method of claim 11, wherein said detecting whether said detected location and said perceived location match comprises:

13. The method according to claim 12, wherein the obtaining the overlapping ratio of the detected position frame and the sensing position frame according to the coordinates of the detected position frame and the coordinates of the sensing position frame comprises:

14. The method according to claim 12, wherein before the obtaining of the overlapping ratio of the detected position frame and the perceived position frame according to the coordinates of the detected position frame and the coordinates of the perceived position frame, the method further comprises:

15. A driving guide apparatus, characterized in that the apparatus comprises:

16. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 14.

17. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 14.