阅读说明：本技术 交通安全管控方法、车载装置及可读存储介质 (Traffic safety control method, vehicle-mounted device and readable storage medium ) 是由 蔡弦锜 陈俊佑 于 2020-03-19 设计创作，主要内容包括：本发明提供交通安全管控方法,应用于车载装置,该方法包括：于车辆行驶时,识别前方是否包括路口；当前方包括路口时,根据连续获取的所述车辆所处的多个车道位置预测所述车辆在所述路口的行驶方向；及当所预测的行驶方向与所述路口的通行规则相冲突时,按照预设的方式发出提示。本发明还提供实现所述交通安全管控方法的车载装置和可读存储介质。本发明可有效提升行车安全系数。(The invention provides a traffic safety control method, which is applied to a vehicle-mounted device and comprises the following steps: when the vehicle runs, whether the front comprises an intersection or not is identified; when the front side comprises an intersection, predicting the driving direction of the vehicle at the intersection according to a plurality of continuously acquired lane positions where the vehicle is located; and when the predicted driving direction conflicts with the passing rule of the intersection, sending a prompt according to a preset mode. The invention also provides a vehicle-mounted device and a readable storage medium for realizing the traffic safety control method. The invention can effectively improve the driving safety coefficient.)

1. A traffic safety control method is applied to a vehicle-mounted device and is characterized by comprising the following steps:

when a vehicle runs, identifying whether the front of the vehicle comprises an intersection or not;

when the front side comprises an intersection, predicting the driving direction of the vehicle at the intersection according to a plurality of continuously acquired lane positions where the vehicle is located; and

and when the predicted driving direction conflicts with the passing rule of the intersection, sending a prompt according to a preset mode.

2. The traffic safety management method according to claim 1, wherein the identifying whether the front of the vehicle includes an intersection comprises:

obtaining the current position coordinates of the vehicle by using positioning equipment;

positioning the position of the vehicle on a preset high-precision map based on the current position coordinates of the vehicle; and

obtaining intersection information in front of the vehicle from the preset high-precision map, wherein the intersection information indicates whether the front of the vehicle comprises an intersection or not.

3. The traffic safety management method according to claim 1, wherein the identifying whether the front of the vehicle includes an intersection comprises:

capturing an image with a camera, the image including a scene in front of the vehicle;

identifying whether the image includes a traffic light sign using an image recognition algorithm; and

when the traffic light indicators are identified from the image, it is determined that the front of the car includes an intersection.

4. The traffic safety control method according to claim 1, wherein the predicting the driving direction of the vehicle at the intersection according to the plurality of lane positions where the vehicle is located, which are continuously acquired, comprises:

when the distance between the vehicle and the intersection is a first preset distance, identifying the current lane position of the vehicle once when the vehicle runs a second preset distance until the distance between the vehicle and the intersection is smaller than the second preset distance, and thus identifying a plurality of lane positions; and

and predicting the driving direction of the vehicle at the intersection according to the driving path formed by the plurality of lane positions.

5. The traffic safety control method according to claim 4, further comprising:

when the distance between the vehicle and the intersection is smaller than the second preset distance, acquiring a signal of a turn signal of the vehicle;

when the driving direction of the vehicle at the intersection is predicted to be left turn and the vehicle is determined not to turn left turn lights according to the signals of the turn lights of the vehicle, warning is sent out; and

and when the driving direction of the vehicle at the intersection is predicted to be right turn and the fact that the vehicle does not turn right according to the signal of the turn signal of the vehicle is determined, warning is sent out.

6. The traffic safety control method according to claim 4, further comprising:

when the distance between the vehicle and the intersection is smaller than the second preset distance, acquiring the latest lane position of the vehicle;

when the driving direction of the vehicle at the intersection is predicted to be left turn and the latest lane position is a middle lane or an outermost lane, warning is sent out; and

and when the driving direction of the vehicle at the intersection is predicted to be a right turn and the latest lane position is a middle lane or an innermost lane, giving out a warning.

7. The traffic safety control method according to claim 1, wherein the predicting the driving direction of the vehicle at the intersection according to the plurality of lane positions where the vehicle is located, which are continuously acquired, comprises:

identifying whether the current lane position of the vehicle is the innermost lane, the outermost lane or the middle lane;

when the current lane position of the vehicle is the innermost lane or the outermost lane, acquiring a steering signal of the vehicle, and predicting the driving direction of the vehicle at the intersection by combining the steering signal of the vehicle;

determining whether the vehicle has currently reached the intersection when the lane position where the vehicle is currently located is an innermost lane or an outermost lane, but the driving direction of the vehicle at the intersection cannot be predicted in combination with a steering signal of the vehicle, or when the lane position where the vehicle is currently located is an intermediate lane;

when the vehicle reaches the intersection at present, predicting the driving direction of the vehicle according to the lane where the vehicle is located at present;

when it is determined that the vehicle does not reach the intersection yet, identifying a lane position where the vehicle is currently located once every time the vehicle travels a fourth preset distance until the distance from the vehicle to the intersection is smaller than the fourth preset distance, thereby obtaining a plurality of lane positions of the vehicle; and predicting the driving direction of the vehicle at the intersection according to a driving path formed by a plurality of lane positions of the vehicle.

8. A traffic safety management method, comprising:

when a vehicle runs, identifying whether the front of the vehicle comprises an intersection or not;

when the front comprises an intersection, predicting the driving direction of the vehicle at the intersection according to the lane position of the vehicle and the steering signal of the vehicle; and

and when the predicted driving direction conflicts with the passing rule of the intersection, sending a prompt according to a preset mode.

9. A computer-readable storage medium storing at least one instruction which, when executed by a processor, implements the traffic safety management method of any one of claims 1 to 8.

10. An in-vehicle apparatus comprising a memory and at least one processor, the memory having stored therein at least one instruction, the at least one instruction when executed by the at least one processor implementing the traffic safety management method of any one of claims 1 to 8.

Technical Field

The present invention relates to the field of traffic safety management and control technologies, and in particular, to a traffic safety management and control method, a vehicle-mounted device, and a readable storage medium.

Background

In the prior art, drivers generally plan routes according to a navigation system, thereby avoiding restricted routes. However, once the navigation system is turned off, the driver needs to manually observe the traffic sign and manually determine whether the road ahead can pass according to the traffic sign, which obviously affects the attention of the driver and further brings great traffic safety hazard.

Disclosure of Invention

In view of the above, it is desirable to provide a traffic safety control method, a vehicle-mounted device and a readable storage medium, which can predict the driving direction of a vehicle at an intersection according to the positions of a plurality of lanes where the vehicle is located, so as to effectively improve the driving safety factor.

The traffic safety control method comprises the following steps: when a vehicle runs, identifying whether the front of the vehicle comprises an intersection or not; when the front side comprises an intersection, predicting the driving direction of the vehicle at the intersection according to a plurality of continuously acquired lane positions where the vehicle is located; and when the predicted driving direction conflicts with the passing rule of the intersection, sending a prompt according to a preset mode.

The traffic safety control method comprises the following steps: when a vehicle runs, identifying whether the front of the vehicle comprises an intersection or not; when the front comprises an intersection, predicting the driving direction of the vehicle at the intersection according to the lane position of the vehicle and the steering signal of the vehicle; and when the predicted driving direction conflicts with the passing rule of the intersection, sending a prompt according to a preset mode.

The computer-readable storage medium stores at least one instruction that, when executed by a processor, implements the traffic safety management method.

The vehicle-mounted device comprises a memory and at least one processor, wherein at least one instruction is stored in the memory, and the at least one instruction realizes the traffic safety control method when being executed by the at least one processor.

Compared with the prior art, the traffic safety control method, the vehicle-mounted device and the readable storage medium can predict the driving direction of the vehicle at the intersection according to the positions of the lanes where the vehicle is located, and effectively improve the driving safety factor.

Drawings

Fig. 1 is an architecture diagram of a vehicle-mounted device according to a preferred embodiment of the present invention.

Fig. 2 is a functional block diagram of a traffic safety control system according to a preferred embodiment of the invention.

Fig. 3 is a flow chart of a traffic safety control method according to a preferred embodiment of the invention.

Fig. 4 illustrates acquiring lane positions of a vehicle.

Fig. 5 illustrates that the predicted traveling direction of the vehicle conflicts with the traffic rules at the intersection.

Description of the main elements

The following detailed description will further illustrate the invention in conjunction with the above-described figures.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a detailed description of the present invention will be given below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.

In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention, and the described embodiments are merely a subset of the embodiments of the present invention, rather than a complete embodiment. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Unless defined otherwise, 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 terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Fig. 1 is a schematic diagram of a vehicle-mounted device according to a preferred embodiment of the invention.

In the present embodiment, the in-vehicle apparatus 3 is provided on the vehicle 100. The vehicle-mounted device 3, which may also be called a vehicle-mounted computer, includes a memory 31, at least one processor 32, a camera 34, a display 35, a positioning device 36, a direction lamp 37, and a steering wheel 38, which are electrically connected to each other.

Those skilled in the art will appreciate that the structure of the in-vehicle apparatus 3 shown in fig. 1 does not constitute a limitation of the embodiment of the present invention, and the in-vehicle apparatus 3 may also include more or less other hardware or software than that shown in fig. 1, or a different arrangement of components.

It should be noted that the vehicle-mounted device 3 is only an example, and other existing or future vehicle-mounted devices, such as may be adapted to the present invention, are also included in the scope of the present invention and are included herein by reference.

In some embodiments, the memory 31 may be used to store program codes of computer programs and various data. For example, the memory 31 may be used to store the traffic safety control system 30 and the high-precision map 39 installed in the in-vehicle device 3, and to realize high-speed and automatic access to programs or data during the operation of the in-vehicle device 3. The Memory 31 may be a non-volatile computer-readable storage medium including a Read-Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), a One-time Programmable Read-Only Memory (OTPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a Compact-Read-Only Memory (CD-ROM) or other optical disk storage, a magnetic disk storage, a tape storage, or any other non-volatile computer-readable storage medium capable of carrying or storing data.

In some embodiments, the at least one processor 32 may be comprised of an integrated circuit. For example, the integrated circuit may be formed by a single packaged integrated circuit, or may be formed by a plurality of integrated circuits packaged with the same function or different functions, and include one or more Central Processing Units (CPUs), microprocessors, digital Processing chips, graphics processors, and combinations of various control chips. The at least one processor 32 is a Control Unit (Control Unit) of the in-vehicle apparatus 3, connects various components of the entire in-vehicle apparatus 3 by using various interfaces and lines, and executes various functions and processes data of the in-vehicle apparatus 3, for example, a function of managing traffic safety, by executing a program or a module or an instruction stored in the memory 31 and calling data stored in the memory 31 (see the description of fig. 3 later).

In this embodiment, the camera 34 may be installed at a position where a front windshield of the vehicle 100 is located, and is used for shooting a scene in front of the vehicle 100.

The display screen 35 may be a touch display screen for displaying various data of the in-vehicle apparatus 3, such as a user interface displaying a high-precision map 39. In this embodiment, the high-precision map 39 may be a hundred-precision high-precision map or other maps such as google high-precision map.

In the present embodiment, the high-precision map 39 indicates each lane included in each road, each intersection included in each road, a traffic rule of each intersection, and the like.

In one embodiment, the traffic rules include restrictions on the turning of vehicles per road per intersection. In other embodiments, the traffic rules further include restrictions on vehicle type (e.g., large and small vehicles), weight, height, length, etc. of the vehicles on each road at each intersection.

In this embodiment, the locating device 36 may be used to locate the current location (e.g., latitude and longitude information) of the vehicle 100. In one embodiment, the Positioning device 36 may be one or a combination of Global Positioning System (GPS), Assisted Global Positioning System (AGPS), Beidou Satellite Navigation System (BDS), or Glonass Satellite Navigation System (GLOBAL NAVIGATION SATELLITE SYSTEM, GLONASS).

The winkers 37 are used to notify other vehicles and pedestrians around the vehicle 100 to pay attention to the vehicle 100 when the winkers are turned on. The turn signal lamps 37 include a left turn signal lamp and a right turn signal lamp.

In this embodiment, the traffic safety control system 30 may include one or more modules, which are stored in the memory 31 and executed by at least one or more processors (in this embodiment, the processor 32) to implement the function of controlling traffic safety (see the description of fig. 3 later for details).

In this embodiment, the traffic safety control system 30 may be divided into a plurality of modules according to the functions performed by the traffic safety control system. Referring to fig. 2, the modules include an identification module 301, an execution module 302, and a determination module 303. The module referred to herein is a series of computer readable instruction segments capable of being executed by at least one processor (e.g., processor 32) and performing a fixed function, and is stored in a memory (e.g., memory 31 of the in-vehicle apparatus 3). In the present embodiment, the functions of the modules will be described in detail later with reference to fig. 3.

In this embodiment, the integrated unit implemented in the form of a software functional module may be stored in a nonvolatile readable storage medium. The software functional modules include one or more computer readable instructions, and the vehicle-mounted device 3 or a processor (processor) implements part of the method of the embodiments of the present invention, such as the method for managing traffic safety shown in fig. 3, by executing the one or more computer readable instructions.

In a further embodiment, in conjunction with fig. 2, the at least one processor 32 may execute an operating device of the in-vehicle device 3 and various installed application programs (such as the traffic safety management system 30), program codes, and the like.

In a further embodiment, the memory 31 has program code of a computer program stored therein, and the at least one processor 32 can call the program code stored in the memory 31 to perform the related function. For example, the modules of the traffic safety control system 30 in fig. 2 are program codes stored in the memory 31 and executed by the at least one processor 32, so as to implement the functions of the modules for the purpose of controlling traffic safety (see the description of fig. 3 below).

In one embodiment of the present invention, the memory 31 stores one or more computer readable instructions that are executed by the at least one processor 32 for the purpose of regulating traffic safety. In particular, the at least one processor 32 may implement the above-mentioned computer-readable instructions as described in detail below with reference to fig. 3.

Fig. 3 is a flowchart of a traffic safety control method according to a preferred embodiment of the invention.

In this embodiment, the traffic safety control method may be applied to the vehicle-mounted device 3, and for the vehicle-mounted device 3 that needs to perform traffic safety control, the function for traffic safety control provided by the method of the present invention may be directly integrated on the vehicle-mounted device 3, or may be run on the vehicle-mounted device 3 in a Software Development Kit (SDK) form.

As shown in fig. 3, the traffic safety control method specifically includes the following steps, and the order of the steps in the flowchart may be changed and some steps may be omitted according to different requirements.

In step S1, the identification module 301 identifies whether the front of the vehicle 100 includes an intersection when the vehicle 100 is traveling. When the front of the vehicle 100 includes the intersection, step S2 is executed.

In one embodiment, the front of the vehicle 100 may refer to a range of a preset distance (within 150m and 200 m) ahead of a road where the vehicle 100 is currently located.

In the first embodiment, the identification module 301 can utilize the positioning device 36 to identify whether the front includes an intersection in combination with the high-precision map 39.

Specifically, the identifying whether the front includes the intersection includes: obtaining current position coordinates of the vehicle 100 using a positioning device 36; locating the position of the vehicle 100 on the high-precision map 39 based on the current position coordinates of the vehicle 100; and obtaining intersection information in front of the vehicle 100 from the high-precision map 39, the intersection information indicating whether the front of the vehicle 100 includes an intersection.

In a second embodiment, said identifying whether the front of said vehicle 100 includes an intersection comprises: capturing an image with a camera 34, the image including a scene in front of the vehicle 100; identifying whether the image includes a traffic light sign using an image recognition algorithm; and determining that the front includes an intersection when the traffic light sign is identified from the image.

In this embodiment, the image recognition algorithm includes a template matching method. The recognition module 301 may previously use images of various types of traffic light signs as templates, respectively, and thus the recognition module 301 may recognize whether the image captured by the camera 34 includes a traffic light sign using a template matching method.

Step S2, when the front of the vehicle 100 includes an intersection, the execution module 302 predicts the driving direction of the vehicle 100 at the intersection according to the plurality of lane positions where the vehicle 100 is continuously acquired.

In the first embodiment, the predicting of the driving direction of the vehicle 100 at the intersection according to the plurality of lane positions where the vehicle 100 is located, which are continuously acquired, includes (a1) - (a2):

(a1) when the vehicle 100 is a first preset distance (e.g., 200m, 150m, or other distance) away from the intersection, the lane position where the vehicle 100 is currently located is identified once every time the vehicle 100 travels a second preset distance (e.g., 50m, 20m, or other distance) until the vehicle 100 is less than the second preset distance away from the intersection (i.e., the lane position when the vehicle 100 is less than the second preset distance away from the intersection is not used to predict the traveling direction of the vehicle 100), thereby identifying a plurality of lane positions.

Specifically, the execution module 302 may obtain the distance from the intersection to the vehicle 100 from the preset high-precision map 39 in real time, and identify the lane position where the vehicle 100 is currently located from the preset high-precision map 39.

In this embodiment, the lane positions are divided into an innermost lane, an outermost lane, and a middle lane.

In the present embodiment, the lane positions are divided based on the traffic direction specified by the traffic regulations. The traffic directions are divided into left-going and right-going. Specifically, from the left side of the passing direction, the lane is the first lane, the second lane, the third lane and so on from left to right. Therefore, the first lane is the innermost lane, the outermost lane corresponding to the innermost lane is the right-most lane, and the lane between the innermost lane and the outermost lane is the middle lane.

(a2) And predicting the driving direction of the vehicle 100 at the intersection according to the driving path formed by the plurality of lane positions.

Specifically, when the driving path formed by the plurality of lane positions is left-shifted, it is predicted that the vehicle 100 turns left at the intersection; when the driving path formed by the plurality of lane positions deviates to the right, predicting that the vehicle 100 turns to the right at the intersection; when the traveling path formed by the plurality of lane positions is forward movement, it is predicted that the vehicle 100 travels straight at the intersection.

For example, referring to fig. 4, assuming that a vehicle 100 travels on a road 221, a lane position of the vehicle 100 is identified every 50m when the vehicle 100 travels 200m from the intersection 200. When the vehicle 100 travels to a distance of 150m from the intersection 200, the lane position of the vehicle 100 is identified as a fourth lane d, that is, an outermost lane, when the vehicle 100 travels to a distance of 100m from the intersection 200, the lane position of the vehicle 100 is identified as a third lane c, that is, an intermediate lane, and when the vehicle 100 travels to a distance of 50m from the intersection, the lane position of the vehicle 100 is identified as a second lane b, that is, an intermediate lane. The driving path of the vehicle 100 is thus obtained as d-c-b, and thus the driving direction of the vehicle 100 at the intersection can be predicted as a left turn.

It should be noted that, in other embodiments, a preset number (for example, one hundred thousand) of sample data (each sample data includes one traveling path corresponding to the intersection) may be collected, and the neural network is trained by using the preset number of sample data to obtain a prediction model of a traveling direction, so that the execution module 302 may input the traveling path of the vehicle 100 to the prediction model of the traveling direction after obtaining the traveling path of the vehicle 100, and may obtain the traveling direction of the vehicle 100 at the intersection.

In one embodiment, when the driving direction of the vehicle 100 at the intersection is predicted, the executing module 302 further obtains a signal of a turn signal of the vehicle 100 when the vehicle 100 is less than the second preset distance from the intersection. When the driving direction of the vehicle 100 at the intersection is predicted to be left turn and it is determined that the vehicle 100 does not turn left turn light according to the signal of the turn light of the vehicle 100, a warning is sent out (for example, a driver is prompted to turn left turn light in a voice mode); and when the driving direction of the vehicle 100 at the intersection is predicted to be right turn and the vehicle 100 is determined not to turn right according to the signal of the turn signal of the vehicle 100, giving out a warning (for example, prompting the driver to turn right in a voice mode).

In one embodiment, when the driving direction of the vehicle 100 at the intersection is predicted, the executing module 302 further obtains the current lane position of the vehicle 100 when the distance from the vehicle 100 to the intersection is less than the second preset distance (for clarity, the lane position of the vehicle 100 obtained when the distance from the vehicle 100 to the intersection is less than the second preset distance is referred to as the "latest lane position"); when the driving direction of the vehicle 100 at the intersection is predicted to be a left turn and the latest lane position is a middle lane or an outermost lane, a warning is given (for example, the user can be prompted in a voice manner to enter the innermost lane as soon as possible if the vehicle is about to turn left at the front intersection); and when the driving direction of the vehicle 100 at the intersection is predicted to be a right turn and the latest lane position is a middle lane or an innermost lane, giving a warning (for example, the user can be prompted in a voice manner to enter the outermost lane as soon as possible if the right turn is required at the front intersection).

In other embodiments, there is further included between (a1) and (a2) (a 12):

(a12) and when the distance from the vehicle 100 to the intersection is less than the second preset distance, acquiring a steering signal of the vehicle 100. The execution module 302 can predict the driving direction of the vehicle 100 at the intersection according to the driving path formed by the plurality of lane positions and the steering signal of the vehicle 100.

In this embodiment, the turn signal is a can signal, and may be a signal of a turn signal 37 of the vehicle 100 or a signal of a steering wheel 38 of the vehicle 100.

In this embodiment, the execution module 302 may obtain the can signal from a can bus for connecting the turn signal 37 and the steering wheel 38.

Still as previously described, assume that the travel path of the vehicle 100 is obtained as d-c-b. When the distance between the vehicle 100 and the intersection is less than 50m, the steering signal of the turn signal 37 of the vehicle 100 is acquired as a left turn signal, and the driving direction of the vehicle 100 can be predicted to be left turn. For another example, assuming that the travel route of the vehicle 100 is obtained as c-b-c, if the turn signal of the turn signal lamp 37 of the vehicle 100 is not obtained or the turn signal of the steering wheel 38 of the vehicle 100 is obtained as a straight traveling signal when the vehicle 100 is less than 50m from the intersection, the travel direction of the vehicle 100 is predicted to be a straight traveling.

Similarly, in other embodiments, a preset number (for example, one hundred thousand) of sample data (each sample data includes a driving path corresponding to the intersection and a corresponding steering signal) may be collected, and a neural network is trained by using the preset number of sample data to obtain a prediction model of a driving direction, so that the execution module 302 may obtain the driving direction of the vehicle 100 by inputting the driving path and the steering signal of the vehicle 100 to the prediction model of the driving direction after obtaining the driving path and the steering signal of the vehicle 100.

In a second embodiment, the predicting the driving direction of the vehicle at the intersection according to the plurality of lane positions where the vehicle is located, which are continuously acquired, includes (b1) - (b5):

(b1) the lane position where the vehicle 100 is currently located is identified as an innermost lane, an outermost lane, or a middle lane.

In one embodiment, it may be identified from the high-precision map 39 whether the lane position in which the vehicle 100 is currently located is the innermost lane, the outermost lane, or the middle lane.

(b2) When the current lane position of the vehicle 100 is the innermost lane or the outermost lane, acquiring a steering signal of the vehicle, and predicting the driving direction of the vehicle 100 at the intersection by combining the steering signal of the vehicle 100.

In this embodiment, when the current lane position of the vehicle 100 is the innermost lane and the steering signal is a left turn signal, the executing module 302 predicts that the driving direction of the vehicle 100 at the intersection is a left turn; and when the current lane position of the vehicle 100 is the outermost lane and the steering signal is a right turn signal, predicting that the driving direction of the vehicle 100 at the intersection is a right turn.

In this embodiment, when the current lane position of the vehicle 100 is the innermost lane and the turn signal is a right turn signal or the turn signal is not obtained, the execution module 302 determines that the driving direction of the vehicle 100 at the intersection cannot be predicted. When the current lane position of the vehicle 100 is the outermost lane, and the steering signal is a left-turn signal or the steering signal is not obtained, the execution module 302 determines that the driving direction of the vehicle 100 at the intersection cannot be predicted.

(b3) When the lane position where the vehicle 100 is currently located is the innermost lane or the outermost lane, but the driving direction of the vehicle 100 at the intersection cannot be predicted in combination with the steering signal, determining whether the vehicle 100 has currently reached the intersection based on a comparison of the distance of the vehicle 100 from the intersection currently and a third preset distance; or when the lane position where the vehicle 100 is currently located is an intermediate lane, determining whether the vehicle 100 has currently reached the intersection based on a comparison between the distance of the vehicle 100 from the intersection currently and the third preset distance.

Performing (b4) when it is determined that the vehicle 100 has reached the intersection; when it is determined that the vehicle 100 has not reached the intersection, execution (b5) is performed.

Specifically, when the vehicle 100 is currently less than the third preset distance (e.g., 20m, 50m) from the intersection, it is determined that the vehicle 100 has reached the intersection. When the vehicle 100 is currently greater than or equal to the third preset distance from the intersection, it is determined that the vehicle 100 has not yet reached the intersection.

(b4) When it is determined that the vehicle 100 has currently reached the intersection, the traveling direction of the vehicle 100 is predicted from the lane position where the vehicle 100 is currently located.

Specifically, when the lane position where the vehicle 100 is currently located is the innermost lane, the traveling direction of the vehicle 100 is predicted to be a left turn; when the lane position where the vehicle 100 is currently located is the outermost lane, predicting that the driving direction of the vehicle 100 is a right turn; when the lane position where the vehicle 100 is currently located is the middle lane, the traveling direction of the vehicle 100 is predicted to be straight.

(b5) When it is determined that the vehicle 100 has not reached the intersection, identifying a current lane position of the vehicle 100 once every time the vehicle 100 travels a fourth preset distance (e.g., 10m, 20m) until the distance from the vehicle 100 to the intersection is less than the fourth preset distance, thereby obtaining a plurality of lane positions of the vehicle 100; and predicting the driving direction of the vehicle 100 at the intersection according to a driving path formed by a plurality of lane positions of the vehicle 100.

Here, the method for predicting the driving direction of the vehicle 100 at the intersection according to the driving path formed by the plurality of lane positions of the vehicle 100 may be the same as that of the method (a2), and the description thereof is omitted.

In other embodiments, (b5) may further include: when the distance from the vehicle 100 to the intersection is less than the fourth preset distance, acquiring a steering signal of the vehicle 100; and predicting the driving direction of the vehicle 100 at the intersection according to a driving path formed by a plurality of lane positions of the vehicle 100 and a steering signal of the vehicle 100.

Here, the method for predicting the driving direction of the vehicle 100 at the intersection according to the driving path formed by the plurality of lane positions of the vehicle 100 and the steering signal of the vehicle 100 may be the same as (a12), and is not described herein again.

Step S3, the determining module 303 determines whether the predicted driving direction conflicts with the traffic rule of the intersection. When the predicted traveling direction conflicts with the traffic rule of the intersection, step S4 is executed. When the predicted traveling direction does not conflict with the passing rule of the intersection, the process returns to step S1.

As previously mentioned, the traffic rules include restrictions on the turning of vehicles for each road of the intersection.

For example, referring to fig. 5, when the vehicle 100 travels on the road 221, assuming that the traveling direction of the vehicle 100 at the intersection 200 is predicted to be a left turn and the traffic rule at the intersection 200 is the vehicle left turn restriction at the road 221, the predicted traveling direction of the vehicle 100 conflicts with the traffic rule at the intersection 200.

In other embodiments, the traffic rules further include restrictions on vehicle type (e.g., large and small vehicles), weight, height, length, etc. of the vehicles on each road of the intersection. Thus, the execution module 302 can combine the predicted driving direction with the traffic rule of the intersection and the vehicle parameters (such as vehicle type, weight, height, length, etc.) of the vehicle 100 to determine whether the predicted driving direction conflicts with the traffic rule of the intersection.

For example, still referring to fig. 5, when the vehicle 100 travels on the road 221, it is assumed that the traveling direction of the vehicle 100 at the intersection 200 is predicted to be straight, and the traffic rule of the intersection 200 includes: the height of the vehicle passing through the road 222 needs to be 3.5 meters or less, and if the height of the vehicle 100 is higher than 3.5 meters, the predicted driving direction of the vehicle 100 conflicts with the passing rule of the intersection 200.

In this embodiment, the determining module 303 can obtain the passing rule of the intersection from the high-precision map 39.

Step S4, when the predicted driving direction conflicts with the traffic rule of the intersection, the execution module 302 issues a prompt according to a preset mode.

In one embodiment, the preset mode may be displaying a text message on the display screen 35, and using the text message to prompt the driver of the vehicle 100 that the direction in which the vehicle 100 is going to travel conflicts with the passing rule of the intersection.

In other embodiments, the preset manner may further include prompting, in a voice broadcast manner, a driver of the vehicle 100 that the direction in which the vehicle 100 is going to travel conflicts with the passing rule of the intersection.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is only one logical functional division, and other divisions may be realized in practice.

The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional module.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. The terms first, second, etc. are used to denote names, but not any particular order.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.