TWI758713B - Warning method for vehicle changing lane, vehicle-mounted device - Google Patents
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Abstract
Description
本發明涉及一種汽車輔助安全管理技術領域,尤其涉及一種車輛變換車道的警示方法、車載裝置。 The invention relates to the technical field of vehicle auxiliary safety management, in particular to a warning method and a vehicle-mounted device for changing lanes of vehicles.
車輛已成為人們生活的必備工具。駕駛員在開車過程中也常常有變換車道的需求。然而,若變換車道沒有按照交通規則來執行,則除了收到罰款通知之外,往往還影響交通出行安全。 Vehicles have become an essential tool in people's lives. Drivers often need to change lanes while driving. However, if changing lanes is not carried out in accordance with traffic rules, in addition to receiving a fine notice, traffic safety is often affected.
鑒於以上內容,有必要提供一種車輛變換車道的警示方法、車載裝置,可在車輛正在執行變換車道的操作時,根據交通標線的樣式確定車輛是否違反交通規則,並於確定違反交通規則時發出提示,從而達到及時對駕駛員的違規行為進行提醒,以制止駕駛員的違規行為。 In view of the above, it is necessary to provide a vehicle lane changing warning method and a vehicle-mounted device, which can determine whether the vehicle violates the traffic rules according to the pattern of the traffic markings when the vehicle is performing the operation of changing lanes, and send out a warning message when it is determined that the traffic rules are violated. Prompt, so as to achieve timely reminders of the driver's violations, in order to stop the driver's violations.
所述車輛變換車道的警示方法,包括:識別車輛所在車道所對應的兩條交通標線的樣式;確定所述車輛是否正在執行變換車道的操作;當確定所述車輛正在執行變換車道的操作時,根據所述兩條交通標線的樣式確定所述車輛變換車道是否違反交通規則;及當確定所述車輛變換車道違反交通規則時,按照預設的提示方式發出提示。 The method for warning a vehicle to change lanes includes: identifying patterns of two traffic markings corresponding to the lane where the vehicle is located; determining whether the vehicle is performing an operation of changing lanes; when it is determined that the vehicle is performing an operation of changing lanes , determining whether the vehicle changes lanes violates traffic rules according to the patterns of the two traffic markings; and when it is determined that the vehicle changes lanes violates traffic rules, a prompt is issued according to a preset prompt mode.
優選地,所述識別車輛所在車道所對應的兩條交通標線的樣式包括:利用定位設備在預設的高精地圖上定位所述車輛所在車道;及從所述預設的高 精地圖獲得所述車輛所在車道所對應的兩條交通標線的樣式。 Preferably, the identifying the patterns of the two traffic lines corresponding to the lane where the vehicle is located includes: using a positioning device to locate the lane where the vehicle is located on a preset high-precision map; The precise map obtains the styles of the two traffic markings corresponding to the lane where the vehicle is located.
優選地,所述識別車輛所在車道所對應的兩條交通標線的樣式包括:利用攝像頭拍攝圖像,所述圖像包括所述車輛所在車道所對應的兩條交通標線;及利用圖像識別演算法從所述圖像中識別所述車輛所在車道所對應的兩條交通標線的樣式。 Preferably, the recognizing the styles of the two traffic markings corresponding to the lane where the vehicle is located comprises: using a camera to capture an image, the image including the two traffic markings corresponding to the lane where the vehicle is located; and using the image The recognition algorithm recognizes, from the image, patterns of two traffic markings corresponding to the lane in which the vehicle is located.
優選地,所述利用圖像識別演算法從所述圖像中識別所述車輛所在車道所對應的兩條交通標線的樣式包括:利用圖像識別演算法從所述圖像中識別所述兩條交通標線的圖像特徵,其中,所述圖像特徵包括顏色特徵或形狀特徵。 Preferably, using an image recognition algorithm to identify the patterns of the two traffic lines corresponding to the lane where the vehicle is located from the image includes: using an image recognition algorithm to recognize the pattern from the image. Image features of two traffic markings, wherein the image features include color features or shape features.
優選地,所述確定所述車輛是否正在執行變換車道的操作包括:即時檢測所述車輛與所述兩條交通標線之間的距離;及基於所述車輛與所述兩條交通標線之間的距離確定所述車輛是否正在執行變換車道的操作;其中,當所述車輛與所述兩條交通標線中的其中一條交通標線之間的距離逐漸變小,同時與另外一條交通標線之間的距離逐漸變大,於識別到所述車輛與所述其中一條交通標線重疊時,確定所述車輛正在執行變換車道的操作。 Preferably, the operation of determining whether the vehicle is changing lanes comprises: detecting the distance between the vehicle and the two traffic lines in real time; and based on the distance between the vehicle and the two traffic lines The distance between the two traffic markings determines whether the vehicle is performing an operation of changing lanes; wherein, when the distance between the vehicle and one of the two traffic markings becomes gradually smaller, and the other traffic marking The distance between the lines gradually increases, and when it is recognized that the vehicle overlaps with one of the traffic markings, it is determined that the vehicle is performing an operation of changing lanes.
優選地,所述車輛變換車道的警示方法利用攝像頭即時檢測所述車輛與所述兩條交通標線之間的距離。 Preferably, the vehicle lane changing warning method utilizes a camera to detect the distance between the vehicle and the two traffic markings in real time.
優選地,所述確定所述車輛是否正在執行變換車道的操作包括:利用定位設備在預設的高精地圖上即時定位所述車輛所在座標;當所述車輛所在座標位於所述高精地圖之另一車道時,確定所述車輛正在執行變換車道的操作。 Preferably, the operation of determining whether the vehicle is changing lanes includes: using a positioning device to instantly locate the coordinates of the vehicle on a preset high-precision map; when the coordinates of the vehicle are located on the high-precision map When the vehicle is in another lane, it is determined that the vehicle is performing an operation of changing lanes.
優選地,所述確定所述車輛變換車道是否違反交通規則還包括:獲取所述車輛的方向燈的電訊號;當所述方向燈的電訊號指示所述車輛沒有開啟方向燈;及/或所述其中一條交通標線的樣式指示禁止變換車道時,確定所述車輛違反交通規則;當所述方向燈的電訊號指示所述車輛有開啟方向燈;且所述其中一條交通標線的樣式指示可變換車道時,確定所述車輛沒有違反交通規則。 Preferably, the determining whether the vehicle changes lanes violates traffic rules further comprising: acquiring an electrical signal of the direction light of the vehicle; when the electrical signal of the direction light indicates that the vehicle does not turn on the direction light; and/or all When the style of one of the traffic markings indicates that lane changing is prohibited, it is determined that the vehicle violates the traffic rules; when the electrical signal of the direction light indicates that the vehicle has turned on the direction light; and the style of the one of the traffic markings indicates that the vehicle is in violation of the traffic rules; When changing lanes, it is determined that the vehicle does not violate traffic rules.
優選地,該車輛變換車道的警示方法還包括:當確定所述車輛違反交通規則時,儲存所述車輛的相關資訊,所述相關資訊包括所述車輛的駕駛員資 訊、所述車輛的車牌號、所述車輛所在位置、違反交通規則的時間。 Preferably, the method for warning a vehicle to change lanes further includes: when it is determined that the vehicle violates traffic rules, storing relevant information of the vehicle, the relevant information including driver information of the vehicle. information, the license plate number of the vehicle, the location of the vehicle, and the time when the traffic rules were violated.
所述車載裝置包括儲存器和至少一個處理器,所述儲存器中儲存有至少一個指令,所述至少一個指令被所述至少一個處理器執行時實現所述車輛變換車道的警示方法。 The in-vehicle device includes a memory and at least one processor, wherein the memory stores at least one instruction, and when the at least one instruction is executed by the at least one processor, implements the warning method for changing lanes of the vehicle.
相較於習知技術,所述車輛變換車道的警示方法、車載裝置,可在車輛正在執行變換車道的操作時,根據交通標線的樣式確定車輛是否違反交通規則,並於確定違反交通規則時發出提示,及時制止駕駛員的違規行為。 Compared with the prior art, the vehicle lane-changing warning method and the vehicle-mounted device can determine whether the vehicle violates the traffic rules according to the pattern of the traffic markings when the vehicle is performing the lane-changing operation, and when it is determined that the traffic rules are violated. Issue prompts to stop driver violations in a timely manner.
100:車輛 100: Vehicle
3:車載裝置 3: Vehicle device
32:處理器 32: Processor
31:儲存器 31: Storage
30:車輛變換車道的警示系統 30: Warning system for vehicle lane change
301:識別模組 301: Identify the module
302:判斷模組 302: Judgment Module
303:執行模組 303: Execute the module
34:攝像頭 34: Camera
35:顯示螢幕 35: Display screen
36:定位設備 36: Positioning Devices
37:方向燈 37: Directional lights
39:高精地圖 39: High-precision map
2:道路 2: Road
圖1是本發明較佳實施例的車載裝置的架構圖。 FIG. 1 is a structural diagram of a vehicle-mounted device according to a preferred embodiment of the present invention.
圖2是本發明較佳實施例的車輛變換車道的警示系統的功能模組圖。 FIG. 2 is a functional module diagram of a warning system for vehicle lane changing according to a preferred embodiment of the present invention.
圖3是本發明較佳實施例的車輛變換車道的警示方法的流程圖。 FIG. 3 is a flowchart of a warning method for vehicle lane changing according to a preferred embodiment of the present invention.
圖4舉例說明車道所對應的交通標線。 Figure 4 illustrates the traffic markings corresponding to the lanes.
圖5舉例說明車輛邊緣與交通標線之間的距離。 Figure 5 illustrates the distance between the edge of the vehicle and the traffic line.
為了能夠更清楚地理解本發明的上述目的、特徵和優點,下面結合附圖和具體實施例對本發明進行詳細描述。需要說明的是,在不衝突的情況下,本發明的實施例及實施例中的特徵可以相互組合。 In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments may be combined with each other under the condition of no conflict.
在下面的描述中闡述了很多具體細節以便於充分理解本發明,所描述的實施例僅僅是本發明一部分實施例,而不是全部的實施例。基於本發明中的實施例,本領域普通技術人員在沒有做出創造性勞動前提下所獲得的所有其他實施例,都屬於本發明保護的範圍。 In the following description, many specific details are set forth in order to facilitate a full understanding of the present invention, and the described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
除非另有定義,本文所使用的所有的技術和科學術語與屬於本發明的技術領域的技術人員通常理解的含義相同。本文中在本發明的說明書中所使用的術語只是為了描述具體的實施例的目的,不是旨在於限制本發明。 Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention.
參閱圖1所示,為本發明較佳實施例提供的車載裝置的架構圖。 Referring to FIG. 1 , it is a structural diagram of a vehicle-mounted device provided by a preferred embodiment of the present invention.
本實施例中,車載裝置3設置在車輛100上。所述車載裝置3也可以叫作車載電腦,包括互相之間電氣連接的儲存器31、至少一個處理器32、攝像頭34、顯示螢幕35、定位設備36、方向燈37。
In this embodiment, the in-vehicle device 3 is installed on the
本領域技術人員應該瞭解,圖1示出的車載裝置3的結構並不構成本發明實施例的限定,所述車載裝置3還可以包括比圖1更多或更少的其他硬體或者軟體,或者不同的部件佈置。 Those skilled in the art should understand that the structure of the vehicle-mounted device 3 shown in FIG. 1 does not constitute a limitation of the embodiment of the present invention, and the vehicle-mounted device 3 may also include more or less other hardware or software than that shown in FIG. 1 , Or a different component arrangement.
需要說明的是,所述車載裝置3僅為舉例,其他現有的或今後可能出現的車載裝置如可適應於本發明,也應包含在本發明的保護範圍以內,並以引用方式包含於此。 It should be noted that the vehicle-mounted device 3 is only an example, and other existing or future vehicle-mounted devices that can be adapted to the present invention should also be included within the protection scope of the present invention, and are incorporated herein by reference.
在一些實施例中,所述儲存器31可以用於儲存電腦程式的程式碼和各種資料。例如,所述儲存器31可以用於儲存安裝在所述車載裝置3中的車輛變換車道的警示系統30、高精地圖39,並在車載裝置3的運行過程中實現高速、自動地完成程式或資料的存取。所述儲存器31可以是包括唯讀儲存器(Read-Only Memory,ROM)、可程式設計唯讀儲存器(Programmable Read-Only Memory,PROM)、可抹除可程式設計唯讀儲存器(Erasable Programmable Read-Only Memory,EPROM)、一次可程式設計唯讀儲存器(One-time Programmable Read-Only Memory,OTPROM)、電子抹除式可複寫唯讀儲存器(Electrically-Erasable Programmable Read-Only Memory,EEPROM)、唯讀光碟(Compact Disc Read-Only Memory,CD-ROM)或其他光碟儲存器、磁碟儲存器、磁帶儲存器、或者任何其他能夠用於攜帶或儲存資料的非易失性的電腦可讀的儲存介質。
In some embodiments, the storage 31 may be used to store program codes and various data of computer programs. For example, the storage 31 can be used to store the
在一些實施例中,所述至少一個處理器32可以由積體電路組成。例如,可以由單個封裝的積體電路所組成,也可以是由多個相同功能或不同功能封裝的積體電路所組成,包括一個或者多個中央處理器(Central Processing unit,CPU)、微處理器、數文書處理晶片、圖形處理器及各種控制晶片的組合等。所述至少一個處理器32是所述車載裝置3的控制核心(Control Unit),利用各種介面和線路連接整個車載裝置3的各個部件,透過執行儲存在所述儲存器31內的程式或者模組或者指令,以及調用儲存在所述儲存器31內的資料,以執行車載裝置3的各種功能和處理資料,例如,對違規換道進行警示的功能(具體細節參後面對圖3的介紹)。 In some embodiments, the at least one processor 32 may be comprised of an integrated circuit. For example, it can be composed of a single packaged integrated circuit, or it can be composed of a plurality of integrated circuits packaged with the same function or different functions, including one or more central processing units (Central Processing Unit, CPU), microprocessor A combination of computer, digital word processing chip, graphics processor and various control chips, etc. The at least one processor 32 is the control core (Control Unit) of the in-vehicle device 3, and uses various interfaces and lines to connect various components of the entire in-vehicle device 3, and executes programs or modules stored in the storage 31 by executing the program or module. Or commands, and call the data stored in the storage 31 to execute various functions of the vehicle-mounted device 3 and process data, for example, the function of warning illegal lane changes (for details, please refer to the introduction to FIG. 3 later) .
在本實施例中,所述攝像頭34可以安裝在所述車輛100的前擋風玻璃所在位置處,只要使得所述攝像頭34能夠拍攝到所述車輛100所在車道所對應的左右兩側的交通標線(Traffic Index Line)即可。
In this embodiment, the camera 34 may be installed at the position of the front windshield of the
本實施例中,所述交通標線是指在車道的左右兩側用線條向交通參與者傳遞引導、限制、警告等交通資訊的標識。例如,參閱圖4所示,車輛100在道路2的車道d行駛時,車道d的左右兩側的交通標線d1和d2。
In this embodiment, the traffic markings refer to markings on the left and right sides of the lane to convey traffic information such as guidance, restrictions, and warnings to traffic participants by lines. For example, referring to FIG. 4 , when the
所述顯示螢幕35可以為觸摸顯示螢幕,用於顯示所述車載裝置3的各種資料,例如顯示高精地圖39的使用者介面。本實施例中,所述高精地圖39可以為百度高精地圖或者其他地圖如谷歌高精地圖。 The display screen 35 can be a touch display screen for displaying various data of the vehicle-mounted device 3 , such as displaying a user interface of the high-precision map 39 . In this embodiment, the high-precision map 39 may be a Baidu high-precision map or other maps such as a Google high-precision map.
本實施例中,所述高精地圖39指示了每條道路的每個車道所對應的左右兩側的交通標線、每條交通標線的樣式等特徵。 In this embodiment, the high-precision map 39 indicates the traffic markings on the left and right sides corresponding to each lane of each road, the style of each traffic marking, and other characteristics.
需要說明的是,車道的所述交通標線的樣式指示了車輛在該車道能否變道。例如,當車輛100所在車道的左側的交通標線的樣式為白色虛線時,則該左側的交通標線的樣式指示所述車輛100可向左側變換車道。又如,當車輛100所在車道的右側的交通標線的樣式為白色實線時,則該右側的交通標線的樣式指示所述車輛100不可向右側變換車道,即禁止向右變換車道。
It should be noted that the style of the traffic marking of the lane indicates whether the vehicle can change lanes in the lane. For example, when the pattern of the traffic line on the left side of the lane where the
本實施例中,所述定位設備36可以用於定位車輛100當前所處的位置 (如經緯度資訊)。在一個實施例中,所述定位設備36可以為全球定位系統(Global Positioning System,簡稱:GPS)、輔助全球衛星定位系統(Assisted Global Positioning System,簡稱:AGPS)、北斗衛星導航系統(BeiDou Navigation Satellite System,BDS),或格洛納斯衛星導航系統(GLOBAL NAVIGATION SATELLITE SYSTEM,GLONASS)中的一者或者多者的組合。 In this embodiment, the positioning device 36 may be used to locate the current position of the vehicle 100 (such as latitude and longitude information). In one embodiment, the positioning device 36 may be a Global Positioning System (Global Positioning System, GPS for short), Assisted Global Positioning System (Assisted Global Positioning System, AGPS for short), BeiDou Navigation Satellite System (BeiDou Navigation Satellite) System, BDS), or a combination of one or more of GLOBAL NAVIGATION SATELLITE SYSTEM (GLONASS).
所述方向燈37用於在車輛100轉向時開啟以提示車輛100的前後左右的其他車輛及行人注意的指示燈。所述方向燈37包括左轉向燈和右轉向燈。
The direction light 37 is an indicator light that is turned on when the
在本實施例中,車輛變換車道的警示系統30可以包括一個或多個模組,所述一個或多個模組儲存在所述儲存器31中,並由至少一個或多個處理器(本實施例為處理器32)執行,以實現對違規換道進行警示的功能。
In this embodiment, the
在本實施例中,所述車輛變換車道的警示系統30根據其所執行的功能,可以被劃分為多個模組。參閱圖2所示,所述多個模組包括識別模組301、判斷模組302、執行模組303。本發明所稱的模組是指一種能夠被至少一個處理器(例如處理器32)所執行並且能夠完成固定功能的一系列電腦可讀的指令段,其儲存在儲存器(例如車載裝置3的儲存器31)中。在本實施例中,關於各模組的功能將在後續結合圖3詳述。
In this embodiment, the
本實施例中,以軟體功能模組的形式實現的集成的單元,可以儲存在一個非易失性可讀取儲存介質中。上述軟體功能模組包括一個或多個電腦可讀指令,所述車載裝置3或一個處理器(processor)透過執行所述一個或多個電腦可讀指令實現本發明各個實施例的方法的部分,例如圖3所示的對違規換道進行警示的方法。 In this embodiment, the integrated unit implemented in the form of a software function module can be stored in a non-volatile readable storage medium. The above-mentioned software function module includes one or more computer-readable instructions, and the in-vehicle device 3 or a processor (processor) implements part of the method of each embodiment of the present invention by executing the one or more computer-readable instructions, For example, as shown in FIG. 3 , the method for warning illegal lane changes is shown.
在進一步的實施例中,結合圖2,所述至少一個處理器32可執行所述車載裝置3的操作裝置以及安裝的各類應用程式(如所述的車輛變換車道的警示系統30)、程式碼等。 In a further embodiment, referring to FIG. 2 , the at least one processor 32 can execute the operating device of the in-vehicle device 3 and various installed application programs (such as the vehicle lane changing warning system 30 ), programs code, etc.
在進一步的實施例中,所述儲存器31中儲存有電腦程式的程式碼,且所述至少一個處理器32可調用所述儲存器31中儲存的程式碼以執行相關的功
能。例如,圖2中所述車輛變換車道的警示系統30的各個模組是儲存在所述儲存器31中的程式碼,並由所述至少一個處理器32所執行,從而實現所述各個模組的功能以達到對違規換道進行警示的目的。
In a further embodiment, the storage 31 stores program codes of computer programs, and the at least one processor 32 can call the program codes stored in the storage 31 to execute related functions.
can. For example, each module of the vehicle lane changing
在本發明的一個實施例中,所述儲存器31儲存一個或多個電腦可讀指令,所述一個或多個電腦可讀指令被所述至少一個處理器32所執行以實現對違規換道進行警示的目的。具體地,所述至少一個處理器32對上述電腦可讀指令的具體實現方法詳見下文中對圖3的描述。 In one embodiment of the present invention, the storage 31 stores one or more computer-readable instructions, and the one or more computer-readable instructions are executed by the at least one processor 32 to implement lane change for violations purpose of warning. Specifically, for the specific implementation method of the above computer-readable instructions by the at least one processor 32, please refer to the description of FIG. 3 below.
圖3是本發明較佳實施例提供的車輛變換車道的警示方法的流程圖。 FIG. 3 is a flowchart of a warning method for vehicle lane change provided by a preferred embodiment of the present invention.
在本實施例中,所述車輛變換車道的警示方法可以應用於車載裝置3中,對於需要進行車輛變換車道的警示的車載裝置3,可以直接在該車載裝置3上集成本發明的方法所提供的用於車輛變換車道的警示的功能,或者以軟體開發套件(Software Development Kit,SDK)的形式運行在所述車載裝置3上。 In this embodiment, the vehicle lane changing warning method can be applied to the vehicle-mounted device 3 . For the vehicle-mounted device 3 that needs to perform the vehicle lane-changing warning, the vehicle-mounted device 3 can be directly integrated with the method provided by the method of the present invention. The function for warning the vehicle to change lanes, or run on the in-vehicle device 3 in the form of a software development kit (Software Development Kit, SDK).
如圖3所示,所述車輛變換車道的警示方法具體包括以下步驟,根據不同的需求,該流程圖中步驟的順序可以改變,某些步驟可以省略。 As shown in FIG. 3 , the method for warning a vehicle to change lanes specifically includes the following steps. According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted.
步驟S1、識別模組301識別車輛100當前所在車道所對應的兩條交通標線的樣式。
Step S1, the
本實施例中,所述車輛100當前所在車道所對應的兩條交通標線也即是該車輛100當前所在車道的左右兩側的交通標線。例如參閱圖4所示,假設車輛100當前在車道d,則識別模組301識別車道d左右兩側的交通標線即d1和d2的樣式。例如,識別到交通標線d1的樣式為白色實線,交通標線d2的樣式為白色虛線。
In this embodiment, the two traffic markings corresponding to the lane where the
在第一實施例中,所述識別車輛100當前所在車道所對應的兩條交通標線的樣式包括:利用定位設備36在預設的高精地圖39上定位所述車輛100當前所在車道;及從所述預設的高精地圖39獲得所述車輛100當前所在車道所對應的兩條交通標線的樣式。本實施例中,所述高精地圖39指示了每條道路的
每個車道所對應的左右兩側的交通標線、每條交通標線的樣式,如形狀或顏色等特徵。
In the first embodiment, the pattern of identifying the two traffic markings corresponding to the lane where the
在第二實施例中,所述識別車輛100當前所在車道所對應的兩條交通標線的樣式包括:利用攝像頭34拍攝圖像,所述圖像包括所述車輛100當前所在車道所對應的兩條交通標線;及利用圖像識別演算法從所述圖像中識別所述車輛100當前所在車道所對應的兩條交通標線的樣式。
In the second embodiment, the recognizing the patterns of the two traffic markings corresponding to the lane where the
本實施例中,所述攝像頭34可以安裝於所述車輛100的前擋風玻璃所在位置處、車體的兩側或水箱罩上,只要使得所述攝像頭34能夠拍攝到所述車輛100所在車道的左右兩側的交通標線即可。
In this embodiment, the camera 34 may be installed at the position of the front windshield of the
本實施例中,識別模組301利用圖像識別演算法從所述圖像中識別所述車輛100當前所在車道所對應的兩條交通標線的樣式包括:利用圖像識別演算法從所述圖像中識別所述兩條交通標線的圖像特徵,其中,所述圖像特徵包括顏色特徵或形狀特徵。
In this embodiment, the
本實施例中,所述圖像識別演算法可以為範本匹配法。例如,識別模組301可以將各種樣式(例如白色實線、黃色實線、白色虛線、黃色虛線)的交通標線分別作為範本,將每種範本與所拍攝的圖像進行匹配,當某種樣式的交通標線與所拍攝的圖像中的左側或者右側的交通標線相匹配時,則確定所述左側或者右側的交通標線的樣式為所述某種樣式。需要說明的是,所述某種樣式為所述各種樣式中的任意一種,如不同形狀或顏色之交通標線。
In this embodiment, the image recognition algorithm may be a template matching method. For example, the
步驟S2、判斷模組302確定所述車輛100是否正在執行變換車道的操作。當確定所述車輛100正在執行變換車道的操作時,執行步驟S3。
Step S2, the
在第一實施例中,所述確定所述車輛100是否正在執行變換車道的操作包括(a1)-(a2):
In the first embodiment, the operation of determining whether the
(a1)即時檢測所述車輛100與所述兩條交通標線中的每條交通標線之間的距離。
(a1) Instantly detect the distance between the
本實施例中,所述車輛100與所述兩條交通標線中的每條交通標線之間的距離可以是指:在所述攝像頭34所拍攝的圖像中,車輛100的左側邊緣與左側的交通標線之間的最短直線所佔的圖元總數,以及車輛100的右側邊緣與右側的交通標線之間的最短直線所佔的圖元總數。例如,參閱圖5所示,車輛100的左側邊緣與左側的交通標線d2之間的最短直線L2在圖像341所佔的圖元總數即為所述車輛100與左側交通標線之間的距離;車輛100的右側邊緣與右側的交通標線d1之間的最短直線L1所佔的圖元總數即為所述車輛100與右側交通標線之間的距離。
In this embodiment, the distance between the
(a2)基於所述車輛100與所述兩條交通標線中的每條交通標線之間的距離確定所述車輛100是否正在執行變換車道的操作。
(a2) It is determined whether the
本實施例中,當所述車輛100與所述兩條交通標線中的其中一條交通標線之間的距離逐漸變小,同時與另外一條交通標線之間的距離逐漸變大,於識別到所述車輛100與所述其中一條交通標線重疊時,確定所述車輛100正在執行變換車道的操作。本實施例中,所述車輛100的邊緣與所述其中一條交通標線重疊是指所述車輛100的邊緣與所述其中一條交通標線之間的最短直線所佔的圖元總數小於預設值。
In this embodiment, when the distance between the
在其他實施例中,只要判斷模組302識別到所述車輛100與所述其中一條交通標線重疊,判斷模組302即可確定所述車輛100正在執行變換車道的操作。
In other embodiments, as long as the judging
在第二實施例中,判斷模組302可以從所述高精地圖39所儲存之車道、標線或交通號志等的座標位置,另依據定位設備36在預設的高精地圖39上即時定位所述車輛100之所在座標。當識別到所述車輛100之所在座標從當前車道變到該當前車道的相鄰車道(即當前車道的左側的車道或右側的車道)時,確定所述車輛100正在執行變換車道的操作。
In the second embodiment, the judging
在一個實施例中,所述車輛100從當前車道行駛到該當前車道的相鄰車道可以是指該車輛100的車身的預設部分例如車身的1/4在所述相鄰車道所在
的區域,但是該車輛100的車身還沒有完全在所述相鄰車道。即該車輛100還沒有換道成功。
In one embodiment, when the
在第三實施例中,所述確定所述車輛100是否正在執行變換車道的操作包括:利用定位設備36在預設的高精地圖39上即時定位所述車輛100當前所在車道;其中,當所述車輛100的位置朝所述兩條交通標線中的其中一條交通標線接近且透過所述高精地圖39識別到特定的交通標線時,確定所述車輛100正在執行變換車道的操作。所述特定的交通標線是指所述其中一條交通標線的另一條相鄰交通標線。
In the third embodiment, the operation of determining whether the
需要說明的是,所述車輛100的位置朝所述兩條交通標線中的其中一條交通標線接近是指所述車輛100與所述其中一條交通標線之間的距離持續小於所述車輛100與所述兩條交通標線中的另外一條交通標線之間的距離,且所述車輛100與所述其中一條交通標線之間的距離逐漸變小。
It should be noted that, the position of the
還需要說明的是,所述車輛100當前所在車道所對應的兩條交通標線是互為相鄰的交通標線。因此,所述其中一條交通標線的另一條相鄰交通標線則是指所述車輛100當前所在車道的一個相鄰車道所對應的一條交通標線。該相鄰車道所對應的兩條交通標線包括所述其中一條交通標線以及所述特定的交通標線。
It should also be noted that the two traffic lines corresponding to the lane where the
舉例而言,當所述高精地圖39儲存有交通標線d1、d2、d3所在的位置座標,另參閱圖4所示,車輛100當前的位置座標在車道d(即在d1與d2的座標範圍內),透過所述定位設備36在高精地圖39上即時定位所述車輛100之所在座標並回傳所述車輛100的位置,且透過所述高精地圖39所提供的座標資訊識別到所述車輛100的座標落於所述交通標線d2與d3的座標範圍內(即車道c)時,確定所述車輛100正在執行變換車道的操作。
For example, when the high-precision map 39 stores the location coordinates of the traffic lines d1, d2, and d3, please also refer to FIG. range), locate the coordinates of the
步驟S3、當確定所述車輛100正在執行變換車道的操作時,執行模組303根據所述兩條交通標線的樣式確定所述車輛100變換車道是否違反交通規則。當確定所述車輛100變換車道違反交通規則時,執行步驟S4。
Step S3, when it is determined that the
在一個實施例中,當所述兩條交通標線中的指定交通標線的樣式指示禁止變換車道時,執行模組303確定所述車輛100違反交通規則。
In one embodiment, the
需要說明的是,所述指定交通標線是指所述車輛100當前所在車道所對應的兩條交通標線中,與該車輛100變換車道的方向所對應的交通標線。例如,當所述車輛100向左側變換車道時,所述指定交通標線即指所述車輛100當前所在車道的左側的交通標線。在一個實施例中,所述執行模組303結合方向燈37的電訊號來確定所述車輛100變換車道是否違反交通規則。
It should be noted that the designated traffic marking refers to the traffic marking corresponding to the direction in which the
具體地,所述確定所述車輛100變換車道是否違反交通規則包括(b1)-(b2):
Specifically, the determining whether the
(b1)獲取所述車輛100的方向燈37的電訊號。
(b1) Obtaining the electrical signal of the direction lamp 37 of the
具體地,可以從所述車載裝置3的can匯流排獲取所述方向燈37的電訊號。所述方向燈37的電訊號為can訊號。 Specifically, the electrical signal of the direction light 37 can be obtained from the can bus bar of the vehicle-mounted device 3 . The electrical signal of the direction light 37 is the can signal.
(b2)當所述方向燈37的電訊號指示所述車輛100沒有開啟方向燈37,及/或所述兩條交通標線中的指定交通標線的樣式指示禁止變換車道時,確定所述車輛100違反交通規則;當所述方向燈37的電訊號指示所述車輛100有開啟方向燈37;且所述指定交通標線的樣式指示可變換車道時,確定所述車輛100沒有違反交通規則。
(b2) when the electrical signal of the direction light 37 indicates that the
步驟S4、當確定所述車輛100變換車道違反交通規則時,執行模組303按照預設的提示方式發出提示。
Step S4, when it is determined that the
在一個實施例中,當確定所述車輛100變換車道違反交通規則時,所述執行模組303還控制所述車輛100減速。從而使得所述車輛100的駕駛員可以有更多的時間來調整車輛100回到正確的車道上。
In one embodiment, when it is determined that the
在一個實施例中,所述預設的提示方式可以是指在所述顯示螢幕35上顯示文本資訊,利用所述文本資訊來提示所述車輛100的駕駛員變換車道違反交通規則。
In one embodiment, the preset prompting manner may refer to displaying text information on the display screen 35, and using the text information to prompt the driver of the
在其他實施例中,所述預設的提示方式還可以包括以語音播報的方式提示所述車輛100的駕駛員變換車道違反交通規則。
In other embodiments, the preset prompting manner may further include prompting the driver of the
在一個實施例中,當確定所述車輛100變換車道違反交通規則時,執行模組303儲存所述車輛100的相關資訊。例如,可以將所述車輛100的相關資訊儲存到與所述車載裝置3通訊連接的伺服器中,該伺服器可以為車輛管理公司例如計程車公司、物流公司的伺服器。從而便於車輛管理公司對每台車輛進行管理。當然,所述執行模組303也可以將所述車輛100的相關資訊儲存到所述車載裝置3的儲存器31中。
In one embodiment, when it is determined that the
在一個實施例中,所述相關資訊包括所述車輛100的駕駛員資訊(例如駕駛員的姓名、駕駛證號碼等)、所述車輛100的車牌號、所述車輛100當前所在位置、違反交通規則的時間(也即是當前時間)。
In one embodiment, the relevant information includes driver information of the vehicle 100 (such as the driver's name, driver's license number, etc.), the license plate number of the
在一個實施例中,所述執行模組303或者伺服器還可以基於所儲存的所有車輛的所述相關資訊定期分析所有車輛的變換車道違反交通規則情況,包括,但不限於:統計對應違反交通規則次數最多/最少的駕駛員。
In one embodiment, the
所述執行模組303或者伺服器還可以基於定期分析結果結合獎懲機制對駕駛員實施獎懲。例如,對在預定時間段(如1個月內)內違反交通規則次數最多的駕駛員扣減獎金數額等。
The
在本發明所提供的幾個實施例中,應該理解到,所揭露的裝置和方法,可以透過其它的方式實現。例如,以上所描述的裝置實施例僅僅是示意性的,例如,所述模組的劃分,僅僅為一種邏輯功能劃分,實際實現時可以有另外的劃分方式。 In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are only illustrative. For example, the division of the modules is only a logical function division, and other division methods may be used in actual implementation.
所述作為分離部件說明的模組可以是或者也可以不是物理上分開的,作為模組顯示的部件可以是或者也可以不是物理單元,即可以位於一個地方,或者也可以分佈到多個網路單元上。可以根據實際的需要選擇其中的部分或者全部模組來實現本實施例方案的目的。 The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical units, that is, they can be located in one place or distributed to multiple networks. on the unit. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
另外,在本發明各個實施例中的各功能模組可以集成在一個處理單元中,也可以是各個單元單獨物理存在,也可以兩個或兩個以上單元集成在一個單元中。上述集成的單元既可以採用硬體的形式實現,也可以採用硬體加軟體功能模組的形式實現。 In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware, or can be implemented in the form of hardware plus software function modules.
對於本領域技術人員而言,顯然本發明不限於上述示範性實施例的細節,而且在不背離本發明的精神或基本特徵的情況下,能夠以其他的具體形式實現本發明。因此,無論從哪一點來看,均應將實施例看作是示範性的,而且是非限制性的,本發明的範圍由所附請求項而不是上述說明限定,因此旨在將落在請求項的等同要件的含義和範圍內的所有變化涵括在本發明內。不應將請求項中的任何附圖標記視為限制所涉及的請求項。此外,顯然“包括”一詞不排除其他單元或,單數不排除複數。裝置請求項中陳述的多個單元或裝置也可以由一個單元或裝置透過軟體或者硬體來實現。第一,第二等詞語用來表示名稱,而並不表示任何特定的順序。 It will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments are to be regarded in all respects as illustrative and not restrictive, and the scope of the present invention is defined by the appended claims rather than the foregoing description, and is therefore intended to fall within the scope of the claims. All changes within the meaning and range of the equivalents of , are included in the present invention. Any reference sign in a claim shall not be construed as limiting the claim to which it relates. Furthermore, it is clear that the word "comprising" does not exclude other units or, and the singular does not exclude the plural. Multiple units or means stated in the device claim may also be implemented by one unit or means through software or hardware. The terms first, second, etc. are used to denote names and do not denote any particular order.
最後所應說明的是,以上實施例僅用以說明本發明的技術方案而非限制,儘管參照以上較佳實施例對本發明進行了詳細說明,本領域的普通技術人員應當理解,可以對本發明的技術方案進行修改或等同替換,而不脫離本發明技術方案的精神和範圍。 Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above preferred embodiments, those of ordinary skill in the art should The technical solutions can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention.
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