CN110473417A - A kind of overpass speed limit value reminding method, device and storage medium - Google Patents
A kind of overpass speed limit value reminding method, device and storage medium Download PDFInfo
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Abstract
本发明公开了一种高架桥限速值提示方法、装置及存储介质，包括：接收前方高架道路属性；采集地面坡度信息；基于所述地面坡度信息判断车辆是否进入高架桥行驶，若是，则车辆当前道路属性为高架桥，若否，则车辆当前道路属性为高架桥下平直道路；获取平直道路限速信息和高架桥限速信息，与所述车辆当前道路属性进行比对获得当前道路限速信息，若车辆当前道路属性为高架桥，则当前道路限速信息为高架桥限速信息，若车辆当前道路属性为高架桥下平直道路，则当前道路限速信息为平直道路限速信息；显示所述当前道路限速信息；具有精确播报限速信息、优化驾驶体验的优点。
The invention discloses a viaduct speed limit value prompting method, device and storage medium, comprising: receiving the attributes of the elevated road in front; The attribute is a viaduct, if not, the current road attribute of the vehicle is a straight road under the viaduct; obtain the speed limit information of the straight road and the speed limit information of the viaduct, compare it with the current road attribute of the vehicle to obtain the current road speed limit information, if If the current road attribute of the vehicle is a viaduct, the current road speed limit information is the viaduct speed limit information. If the vehicle's current road attribute is a straight road under the viaduct, the current road speed limit information is the straight road speed limit information; display the current road Speed limit information: It has the advantages of accurately broadcasting speed limit information and optimizing driving experience.
Description
技术领域technical field
本发明涉及汽车安全驾驶领域，尤其涉及一种高架桥限速值提示方法、装置及存储介质。The invention relates to the field of safe driving of automobiles, in particular to a method, a device and a storage medium for prompting a speed limit value of a viaduct.
背景技术Background technique
随着车辆技术的发展，车辆在速度性能方面的提升也是极为巨大的，所以，行车时的安全规范显得尤为重要，一般在交通的枢纽点处除了会有交通信号灯的指挥以外，还会有限速牌以及测速装置对车辆进行行车安全的规范，而且在车辆技术发达的今天，车辆内部也都会设有电子地图，能够提前播报路段的限速信息，但是在高架桥附近时由于高架桥的上和高架桥下的限速信息不同，现有的限速值提示装置会有误报现象的发生。With the development of vehicle technology, the speed performance of vehicles has also been greatly improved. Therefore, safety regulations when driving are particularly important. Generally, in addition to the command of traffic lights at the hub of traffic, there will be speed limits. Signs and speed measuring devices regulate the driving safety of vehicles, and in today's advanced vehicle technology, there will be electronic maps inside the vehicle, which can broadcast the speed limit information of the road section in advance, but when the viaduct is near the viaduct. The speed limit information is different, and the existing speed limit value prompting device will have false alarms.
目前的限速信息提醒功能，多采用摄像头和电子地图数据融合，提醒驾驶员当前道路限速信息。其中，电子地图发送的限速信息主要指电子眼限速信息。电子地图发送的电子眼限速信息，来自于地图绘制时的电子眼限速拍照设备，电子地图基于当前车辆定位信息，将存储在其中的相关电子眼限速发送至限速信息提醒系统，将限速信息告知驾驶员。The current speed limit information reminder function mostly uses camera and electronic map data fusion to remind drivers of the current road speed limit information. Among them, the speed limit information sent by the electronic map mainly refers to the speed limit information of the electronic eye. The electronic eye speed limit information sent by the electronic map comes from the electronic eye speed limit camera device when the map is drawn. The electronic map sends the relevant electronic eye speed limit stored in it to the speed limit information reminder system based on the current vehicle positioning information, and the speed limit information Inform the driver.
由于电子地图定位不准确，将导致以下问题：1.车辆行驶在高架上，限速信息提醒系统将高架下的电子眼限速显示给驾驶员；2.车辆行驶在高架下，限速信息提醒系统将高架上的电子眼限速显示给驾驶员。高架场景中，限速信息提醒系统由于电子地图定位不准确将与当前道路场景不符的限速信息显示给驾驶员，使驾驶员感到困惑，给驾驶员带来不好的驾驶体验，甚至驾驶员可能按照错误的限速信息进行车速控制，造成安全隐患。Due to the inaccurate positioning of the electronic map, the following problems will be caused: 1. When the vehicle is driving on the elevated, the speed limit information reminder system will display the electronic eye speed limit under the elevated to the driver; 2. When the vehicle is driving under the elevated, the speed limit information reminder system Display the electronic eye speed limit on the overhead to the driver. In the elevated scene, the speed limit information reminder system will display the speed limit information inconsistent with the current road scene to the driver due to the inaccurate positioning of the electronic map, which will confuse the driver and bring a bad driving experience to the driver. The vehicle speed control may be carried out according to the wrong speed limit information, causing potential safety hazards.
所以需要一种高架桥限速值提示方法、装置及存储介质，使得限速值提示播报更为准确。Therefore, a viaduct speed limit value prompt method, device and storage medium are needed, so that the speed limit value prompt broadcast is more accurate.
发明内容Contents of the invention
本发明所要解决的技术问题在于目前的限速信息系统，在高架道路场景中，无法区分电子地图发送的限速信息是否属于车辆当前所在道路，从而有可能为驾驶员播报错误的限速信息，提供一种高架桥限速值提示方法、装置及存储介质，所述高架桥限速值提示方法包括：The technical problem to be solved by the present invention lies in the current speed limit information system. In the elevated road scene, it is impossible to distinguish whether the speed limit information sent by the electronic map belongs to the current road of the vehicle, so it is possible to broadcast wrong speed limit information for the driver. A viaduct speed limit value prompting method, device and storage medium are provided, and the viaduct speed limit value prompting method includes:
接收前方高架道路属性；Receive the attributes of the elevated road ahead;
采集地面坡度信息；Collect ground slope information;
基于所述地面坡度信息判断车辆是否进入高架桥行驶，若是，则车辆当前道路属性为高架桥，若否，则车辆当前道路属性为高架桥下平直道路；Based on the ground slope information, it is judged whether the vehicle enters the viaduct to travel, if so, the current road attribute of the vehicle is a viaduct, and if not, the current road attribute of the vehicle is a straight road under the viaduct;
获取平直道路限速信息和高架桥限速信息，与所述车辆当前道路属性进行比对获得当前道路限速信息，若车辆当前道路属性为高架桥，则当前道路限速信息为高架桥限速信息，若车辆当前道路属性为高架桥下平直道路，则当前道路限速信息为平直道路限速信息；Obtain straight road speed limit information and viaduct speed limit information, compare with the current road attribute of the vehicle to obtain the current road speed limit information, if the vehicle's current road attribute is viaduct, then the current road speed limit information is viaduct speed limit information, If the current road attribute of the vehicle is a straight road under the viaduct, the current road speed limit information is the straight road speed limit information;
显示所述当前道路限速信息。Display the current road speed limit information.
进一步地，所述接收前方高架道路属性包括：Further, the receiving the attributes of the elevated road ahead includes:
接收前方高架道路属性时距高架桥入口距离为第一距离。The distance from the viaduct entrance when receiving the attribute of the viaduct ahead is the first distance.
进一步地，所述获取地面坡度信息包括：Further, said obtaining ground slope information includes:
所述采集地面坡度信息的采集距离为第二距离，所述第二距离大于所述第一距离。The collection distance for collecting ground slope information is a second distance, and the second distance is greater than the first distance.
进一步地，所述采集地面坡度信息，包括：Further, said collecting ground slope information includes:
采集行驶路段的车道线信息并与预设的车道线基准信息进行比对，得出所处行驶路段的坡度。The lane line information of the driving section is collected and compared with the preset lane line reference information to obtain the slope of the driving section.
进一步地，基于所述地面坡度信息判断车辆是否进入高架桥行驶，若是，则车辆当前道路属性为高架桥，若否，则车辆当前道路属性为高架桥下平直道路，包括：Further, based on the ground slope information, it is judged whether the vehicle enters the viaduct to travel, if so, the current road attribute of the vehicle is the viaduct, and if not, the current road attribute of the vehicle is a straight road under the viaduct, including:
接收所述所处路段的坡度信息；receiving the slope information of the road section;
所述所处路段坡度信息与预设的坡度阈值进行比对；Comparing the slope information of the road section where it is located with a preset slope threshold;
若路段坡度大于等于坡度阈值，则车辆行驶情况为进入高架桥行驶，若路段坡度小于坡度阈值，则车辆行驶情况为仍在平直路段行驶。If the slope of the road section is greater than or equal to the slope threshold, the vehicle is traveling on a viaduct; if the slope of the road section is smaller than the slope threshold, the vehicle is still driving on a straight road.
进一步地，采集地面坡度信息，还为：Further, collecting ground slope information is also:
标定一点，存储标定点到车辆所处位置的距离为第三距离。A point is calibrated, and the distance from the calibrated point to the position of the vehicle is stored as the third distance.
进一步地，基于所述地面坡度信息判断车辆是否进入高架桥行驶，若是，则车辆当前道路属性为高架桥，若否，则车辆当前道路属性为高架桥下平直道路，还为：Further, based on the ground slope information, it is judged whether the vehicle enters the viaduct to drive, if so, the current road attribute of the vehicle is the viaduct, if not, the current road attribute of the vehicle is a straight road under the viaduct, and it is also:
采集车辆行驶至标定点位置所行驶的距离为第四距离；The distance traveled by the acquisition vehicle to the position of the calibration point is the fourth distance;
根据所述第三距离和所述第四距离计算出路段坡度；calculating the slope of the road section according to the third distance and the fourth distance;
所述路段坡度与所述坡度阈值进行比对；The section slope is compared with the slope threshold;
若路段坡度大于坡度阈值，则车辆行驶情况为进入高架桥行驶，若路段坡度小于等于坡度阈值，则车辆行驶情况为仍在平直路段行驶。If the slope of the road section is greater than the slope threshold, the vehicle is traveling on a viaduct; if the slope of the road section is less than or equal to the slope threshold, the vehicle is still driving on a straight road.
进一步地，所述平直道路限速信息和所述高架桥限速信息为预设信息。Further, the straight road speed limit information and the viaduct speed limit information are preset information.
本发明还提供一种高架桥限速值提示装置，其特征在于，所述装置包括：The present invention also provides a viaduct speed limit prompting device, characterized in that the device includes:
信息接收模块用于接收前方高架道路属性；The information receiving module is used to receive the attributes of the elevated road ahead;
信息采集模块用于采集地面坡度信息；The information collection module is used to collect ground slope information;
第一判断模块用于基于所述地面坡度信息判断车辆是否进入高架桥行驶，若是，则车辆当前道路属性为高架桥，若否，则车辆当前道路属性为高架桥下平直道路；The first judging module is used to judge whether the vehicle enters the viaduct based on the ground slope information, if so, the current road attribute of the vehicle is the viaduct, and if not, the current road attribute of the vehicle is a straight road under the viaduct;
第二判断模块用于获取平直道路限速信息和高架桥限速信息，与所述车辆当前道路属性进行比对获得当前道路限速信息，若车辆当前道路属性为高架桥，则当前道路限速信息为高架桥限速信息，若车辆当前道路属性为高架桥下平直道路，则当前道路限速信息为平直道路限速信息；The second judging module is used to obtain the straight road speed limit information and the viaduct speed limit information, compare with the current road attribute of the vehicle to obtain the current road speed limit information, if the current road attribute of the vehicle is a viaduct, then the current road speed limit information is the viaduct speed limit information, if the current road attribute of the vehicle is a straight road under the viaduct, the current road speed limit information is the straight road speed limit information;
显示模块用于显示所述当前道路限速信息。The display module is used to display the current road speed limit information.
另一方面本发明还提供一种计算机可读存储介质，其特征在于，所述存储介质中存储有至少一条指令、至少一段程序、代码集或指令集，所述至少一条指令、所述至少一段程序、所述代码集或指令集由处理器加载并执行以实现如上所述的高架桥限速值提示方法。On the other hand, the present invention also provides a computer-readable storage medium, which is characterized in that at least one instruction, at least one section of program, code set or instruction set is stored in the storage medium, and the at least one instruction, the at least one section The program, the code set or the instruction set is loaded and executed by the processor to realize the method for prompting the speed limit value of the viaduct as described above.
实施本发明，具有如下有益效果：Implement the present invention, have following beneficial effect:
1.本发明在硬件方面并未进行增加，但是相较于现有技术来讲，能够提供更为准确的限速信息提醒，优化了驾驶员的驾驶体验，同时也相对节约了成本。1. The present invention does not increase the hardware, but compared with the prior art, it can provide more accurate speed limit information reminders, optimize the driver's driving experience, and relatively save costs at the same time.
2.本发明采用了信息采集模块和导航模块数据融合，能够准确的给驾驶员提供前方道路限速信息，避免了限速信息误报的情况，优化了驾驶员的驾驶体验。2. The present invention adopts the data fusion of the information collection module and the navigation module, which can accurately provide the driver with the speed limit information of the road ahead, avoiding the situation of false reporting of the speed limit information, and optimizing the driving experience of the driver.
3.本发明采用了信息采集模块、导航模块和限速信息提醒模块，防止单独导航模块定位不准确，将与当前道路不符合的限速信息显示给驾驶员，影响驾驶员的驾驶体验，甚至于造成安全隐患，使得行车过程更为安全。3. The present invention adopts an information collection module, a navigation module and a speed limit information reminder module to prevent inaccurate positioning of a single navigation module, displaying speed limit information inconsistent with the current road to the driver, affecting the driver's driving experience, and even In order to cause safety hazards, making the driving process safer.
4.本发明采用了显示模块，将前方路段的道路限速信息显示在显示模块上，使得驾驶员能够清晰的看见前方道路的限速信息，使得行车更为安全，驾驶体验更为优良。4. The present invention uses a display module to display the road speed limit information of the road ahead on the display module, so that the driver can clearly see the speed limit information of the road ahead, making driving safer and driving experience better.
附图说明Description of drawings
图1是本发明的时序图；Fig. 1 is a sequence diagram of the present invention;
图2(a)是信息采集模块视野中平直道路的车道线图；Fig. 2 (a) is the lane line figure of straight road in the visual field of information collection module;
图2(b)是信息采集模块视野中坡道的车道线图；Fig. 2 (b) is the lane line diagram of the ramp in the field of view of the information collection module;
图3是车辆相对地面坡度变化图；Fig. 3 is a graph showing the gradient change of the vehicle relative to the ground;
图4是计算道路坡度的原理图。Fig. 4 is a schematic diagram of calculating road slope.
具体实施方式Detailed ways
为使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明作进一步地详细描述。In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings.
实施例Example
本实施例中，本发明为了解决目前的限速信息系统，在高架道路场景中，无法区分电子地图发送的限速信息是否属于车辆当前所在道路，从而有可能为驾驶员播报错误的限速信息的问题，提供一种高架桥限速值提示方法、装置及存储介质，所述高架桥限速值提示方法包括：In this embodiment, in order to solve the current speed limit information system, in the elevated road scene, it is impossible to distinguish whether the speed limit information sent by the electronic map belongs to the current road of the vehicle, so it is possible to broadcast wrong speed limit information for the driver To solve the problem, a viaduct speed limit value prompt method, device and storage medium are provided. The viaduct speed limit value prompt method includes:
接收前方高架道路属性；Receive the attributes of the elevated road ahead;
采集地面坡度信息；Collect ground slope information;
基于所述地面坡度信息判断车辆是否进入高架桥行驶，若是，则车辆当前道路属性为高架桥，若否，则车辆当前道路属性为高架桥下平直道路；Based on the ground slope information, it is judged whether the vehicle enters the viaduct to travel, if so, the current road attribute of the vehicle is a viaduct, and if not, the current road attribute of the vehicle is a straight road under the viaduct;
获取平直道路限速信息和高架桥限速信息，与所述车辆当前道路属性进行比对获得当前道路限速信息，若车辆当前道路属性为高架桥，则当前道路限速信息为高架桥限速信息，若车辆当前道路属性为高架桥下平直道路，则当前道路限速信息为平直道路限速信息；Obtain straight road speed limit information and viaduct speed limit information, compare with the current road attribute of the vehicle to obtain the current road speed limit information, if the vehicle's current road attribute is viaduct, then the current road speed limit information is viaduct speed limit information, If the current road attribute of the vehicle is a straight road under the viaduct, the current road speed limit information is the straight road speed limit information;
显示所述当前道路限速信息。Display the current road speed limit information.
在一个具体的实施方式中，所述接收前方高架道路属性包括：In a specific implementation manner, the receiving the attribute of the elevated road ahead includes:
接收前方高架道路属性时距高架桥入口距离为第一距离。The distance from the viaduct entrance when receiving the attribute of the viaduct ahead is the first distance.
在一个具体的实施方式中，所述获取地面坡度信息包括：In a specific implementation manner, said obtaining ground slope information includes:
所述采集地面坡度信息的采集距离为第二距离，所述第二距离大于所述第一距离。The collection distance for collecting ground slope information is a second distance, and the second distance is greater than the first distance.
在一个具体的实施方式中，所述采集地面坡度信息，包括：In a specific implementation manner, the collection of ground slope information includes:
采集行驶路段的车道线信息并与预设的车道线基准信息进行比对，得出所处行驶路段的坡度。The lane line information of the driving section is collected and compared with the preset lane line reference information to obtain the slope of the driving section.
在一个具体的实施方式中，基于所述地面坡度信息判断车辆是否进入高架桥行驶，若是，则车辆当前道路属性为高架桥，若否，则车辆当前道路属性为高架桥下平直道路，包括：In a specific embodiment, it is judged based on the ground slope information whether the vehicle enters the viaduct to travel, if so, the current road attribute of the vehicle is the viaduct, if not, the current road attribute of the vehicle is a straight road under the viaduct, including:
接收所述所处路段的坡度信息；receiving the slope information of the road section;
所述所处路段坡度信息与预设的坡度阈值进行比对；Comparing the slope information of the road section where it is located with a preset slope threshold;
若路段坡度大于等于坡度阈值，则车辆行驶情况为进入高架桥行驶，若路段坡度小于坡度阈值，则车辆行驶情况为仍在平直路段行驶。If the slope of the road section is greater than or equal to the slope threshold, the vehicle is traveling on a viaduct; if the slope of the road section is smaller than the slope threshold, the vehicle is still driving on a straight road.
在一个具体的实施方式中，所述平直道路限速信息和所述高架桥限速信息为预设信息。In a specific embodiment, the straight road speed limit information and the viaduct speed limit information are preset information.
另一方面本实施例提供一种高架桥限速值提示装置，所述装置包括：On the other hand, this embodiment provides a viaduct speed limit prompting device, said device comprising:
信息接收模块用于接收前方高架道路属性；The information receiving module is used to receive the attributes of the elevated road ahead;
信息采集模块用于采集地面坡度信息，所述信息采集模块可以为摄像头；The information collection module is used to collect ground slope information, and the information collection module can be a camera;
第一判断模块用于基于所述地面坡度信息判断车辆是否进入高架桥行驶，若是，则车辆当前道路属性为高架桥，若否，则车辆当前道路属性为高架桥下平直道路；The first judging module is used to judge whether the vehicle enters the viaduct based on the ground slope information, if so, the current road attribute of the vehicle is the viaduct, and if not, the current road attribute of the vehicle is a straight road under the viaduct;
第二判断模块用于获取平直道路限速信息和高架桥限速信息，与所述车辆当前道路属性进行比对获得当前道路限速信息，若车辆当前道路属性为高架桥，则当前道路限速信息为高架桥限速信息，若车辆当前道路属性为高架桥下平直道路，则当前道路限速信息为平直道路限速信息；The second judging module is used to obtain the straight road speed limit information and the viaduct speed limit information, compare with the current road attribute of the vehicle to obtain the current road speed limit information, if the current road attribute of the vehicle is a viaduct, then the current road speed limit information is the viaduct speed limit information, if the current road attribute of the vehicle is a straight road under the viaduct, the current road speed limit information is the straight road speed limit information;
所述信息接收模块、第一判断模块和第二判断模块可以组成限速信息提醒系统。The information receiving module, the first judging module and the second judging module can form a speed limit information reminding system.
显示模块用于显示所述当前道路限速信息，所述显示模块可以为仪表盘。The display module is used to display the current road speed limit information, and the display module may be an instrument panel.
本说明书实施例还提供了一种存储介质，所述存储介质可设置于终端之中以保存用于实现方法实施例中一种高架桥限速值提示方法相关的至少一条指令、至少一段程序、代码集或指令集，该至少一条指令、该至少一段程序、该代码集或指令集由该处理器加载并执行以实现上述方法实施例提供的高架桥限速值提示方法。The embodiment of this specification also provides a storage medium, which can be set in the terminal to save at least one instruction, at least one segment of program, and code related to the method for prompting the speed limit value of the viaduct in the method embodiment A set or an instruction set, the at least one instruction, the at least one section of program, the code set or the instruction set are loaded and executed by the processor to implement the viaduct speed limit value prompting method provided by the above method embodiment.
可选地，在本说明书实施例中，存储介质可以位于计算机网络的多个网络服务器中的至少一个网络服务器。可选地，在本实施例中，上述存储介质可以包括但不限于：U盘、ROM(Read-Only Memory，只读存储器)、RAM(Random Access Memory，随机存取存储器)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。Optionally, in the embodiment of this specification, the storage medium may be located in at least one network server among multiple network servers in the computer network. Optionally, in this embodiment, the above-mentioned storage medium may include but not limited to: U disk, ROM (Read-Only Memory, read-only memory), RAM (Random Access Memory, random access memory), mobile hard disk, magnetic disk Various media that can store program codes such as discs or optical discs.
本说明书实施例所述存储器可用于存储软件程序以及模块，处理器通过运行存储在存储器的软件程序以及模块，从而执行各种功能应用以及数据处理。存储器可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、功能所需的应用程序等；存储数据区可存储根据所述设备的使用所创建的数据等。此外，存储器可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。相应地，存储器还可以包括存储器控制器，以提供处理器对存储器的访问。The memory described in the embodiments of this specification can be used to store software programs and modules, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store operating systems, application programs required by functions, etc.; the data storage area may store data created according to the use of the device, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage devices. Correspondingly, the memory may also include a memory controller to provide processor access to the memory.
一种高架桥限速值提示方法、装置及存储介质的工作原理及流程：目前的限速信息提醒功能，多采用摄像头和电子地图数据融合，提醒驾驶员当前道路限速信息。其中，电子地图发送的限速信息主要指电子眼限速信息。电子地图发送的电子眼限速信息，来自于地图绘制时的电子眼限速拍照设备，电子地图基于当前车辆定位信息，将存储在其中的相关电子眼限速发送至限速信息提醒系统，将限速信息告知驾驶员，但是由于电子地图的定位不准确容易出现以下状况：1.车辆行驶在高架上，限速信息提醒系统将高架下的电子眼限速显示给驾驶员；2.车辆行驶在高架下，限速信息提醒系统将高架上的电子眼限速显示给驾驶员。A viaduct speed limit value prompt method, device, and working principle and process of storage media: the current speed limit information reminder function mostly uses camera and electronic map data fusion to remind drivers of the current road speed limit information. Among them, the speed limit information sent by the electronic map mainly refers to the speed limit information of the electronic eye. The electronic eye speed limit information sent by the electronic map comes from the electronic eye speed limit camera device when the map is drawn. The electronic map sends the relevant electronic eye speed limit stored in it to the speed limit information reminder system based on the current vehicle positioning information, and the speed limit information Inform the driver, but due to the inaccurate positioning of the electronic map, the following situations are likely to occur: 1. The vehicle is driving on the elevated, and the speed limit information reminder system will display the electronic eye speed limit under the elevated to the driver; 2. The vehicle is driving under the elevated, The speed limit information reminder system will display the electronic eye speed limit on the overhead to the driver.
本实施例中，提供的基于电子地图和摄像头的避免高架桥电子眼限速误识别方案，利用电子地图后台提前一段距离d1发送前方高架道路属性信息，限速信息提醒系统对该高架道路属性信息进行记忆，记忆距离为d2，且d2>d1，其中，所述道路属性信息，是指电子地图绘制时存储在其中的某一段道路的唯一标记，然后利用前方摄像头检测车辆相对地面的坡度变化。在摄像头视野中，平直道路上车道线和坡道上车道线将有如图2所示的区别。首先，在摄像头外参已标定的基础上，采集平直道路车道线数据进行拟合，生成平直道路车道线基准。之后，采集大量各种高架入口处坡道车道线数据，针对高架道路入口车道线进行标定，并且标定高架坡度阈值α。实际行驶时，摄像头将视野内车道线与已标定的高架入口车道线数据进行拟合，得到当前道路坡度。在上述距离d2 范围内，若车辆相对地面坡度变化大于阈值α时，限速信息提醒系统判断车辆进入高架道路，电子地图此时将会向限速信息提醒系统发送电子眼限速信息，限速信息提醒系统根据车辆是否进入高架桥这两种不同的道路属性发送相匹配的电子眼限速信息值仪表盘，由仪表盘向驾驶员显示前方路段的限速值。In this embodiment, the electronic map and camera-based solution to avoid misrecognition of viaduct electronic eyes speed limit is provided, and the electronic map background is used to send the attribute information of the elevated road ahead a certain distance d1 in advance, and the speed limit information reminder system remembers the attribute information of the elevated road , the memory distance is d2, and d2>d1, wherein the road attribute information refers to the unique mark of a certain section of road stored in the electronic map, and then the front camera is used to detect the slope change of the vehicle relative to the ground. In the view of the camera, there will be a difference between the lane line on the straight road and the lane line on the slope as shown in Figure 2. First, on the basis of the calibration of the external parameters of the camera, the lane line data of the straight road is collected for fitting, and the lane line benchmark of the straight road is generated. Afterwards, a large amount of ramp lane line data at the entrance of the elevated road is collected, and the lane line at the entrance of the elevated road is calibrated, and the elevated slope threshold α is calibrated. During actual driving, the camera fits the lane line in the field of view with the calibrated elevated entrance lane line data to obtain the current road slope. Within the range of the above distance d2, if the vehicle’s relative ground gradient changes greater than the threshold α, the speed limit information reminder system judges that the vehicle has entered the elevated road, and the electronic map will send the electronic eye speed limit information to the speed limit information reminder system at this time. Speed limit information The reminder system sends the matching electronic eye speed limit information value dashboard according to the two different road attributes of whether the vehicle enters the viaduct, and the dashboard displays the speed limit value of the road ahead to the driver.
实施本发明，具有如下有益效果：Implement the present invention, have following beneficial effect:
1.本发明在硬件方面并未进行增加，但是相较于现有技术来讲，能够提供更为准确的限速信息提醒，优化了驾驶员的驾驶体验，同时也相对节约了成本。1. The present invention does not increase the hardware, but compared with the prior art, it can provide more accurate speed limit information reminders, optimize the driver's driving experience, and relatively save costs at the same time.
2.本发明采用了信息采集模块和导航模块数据融合，能够准确的给驾驶员提供前方道路限速信息，避免了限速信息误报的情况，优化了驾驶员的驾驶体验。2. The present invention adopts the data fusion of the information collection module and the navigation module, which can accurately provide the driver with the speed limit information of the road ahead, avoiding the situation of false reporting of the speed limit information, and optimizing the driving experience of the driver.
3.本发明采用了信息采集模块、导航模块和限速信息提醒模块，防止单独导航模块定位不准确，将与当前道路不符合的限速信息显示给驾驶员，影响驾驶员的驾驶体验，甚至于造成安全隐患，使得行车过程更为安全。3. The present invention adopts an information collection module, a navigation module and a speed limit information reminder module to prevent inaccurate positioning of a single navigation module, displaying speed limit information inconsistent with the current road to the driver, affecting the driver's driving experience, and even In order to cause safety hazards, making the driving process safer.
4.本发明采用了显示模块，将前方路段的道路限速信息显示在显示模块上，使得驾驶员能够清晰的看见前方道路的限速信息，使得行车更为安全，驾驶体验更为优良。4. The present invention uses a display module to display the road speed limit information of the road ahead on the display module, so that the driver can clearly see the speed limit information of the road ahead, making driving safer and driving experience better.
实施例Example
本实施例中，本发明为了解决目前的限速信息系统，在高架道路场景中，无法区分电子地图发送的限速信息是否属于车辆当前所在道路，从而有可能为驾驶员播报错误的限速信息的问题，提供一种高架桥限速值提示方法与装置，所述高架桥限速值提示方法包括：In this embodiment, in order to solve the current speed limit information system, in the elevated road scene, it is impossible to distinguish whether the speed limit information sent by the electronic map belongs to the current road of the vehicle, so it is possible to broadcast wrong speed limit information for the driver To solve the problem, a viaduct speed limit value prompt method and device are provided, and the viaduct speed limit value prompt method includes:
接收前方高架道路属性；Receive the attributes of the elevated road ahead;
采集地面坡度信息；Collect ground slope information;
基于所述地面坡度信息判断车辆是否进入高架桥行驶，若是，则车辆当前道路属性为高架桥，若否，则车辆当前道路属性为高架桥下平直道路；Based on the ground slope information, it is judged whether the vehicle enters the viaduct to travel, if so, the current road attribute of the vehicle is a viaduct, and if not, the current road attribute of the vehicle is a straight road under the viaduct;
获取平直道路限速信息和高架桥限速信息，与所述车辆当前道路属性进行比对获得当前道路限速信息，若车辆当前道路属性为高架桥，则当前道路限速信息为高架桥限速信息，若车辆当前道路属性为高架桥下平直道路，则当前道路限速信息为平直道路限速信息；Obtain straight road speed limit information and viaduct speed limit information, compare with the current road attribute of the vehicle to obtain the current road speed limit information, if the vehicle's current road attribute is viaduct, then the current road speed limit information is viaduct speed limit information, If the current road attribute of the vehicle is a straight road under the viaduct, the current road speed limit information is the straight road speed limit information;
显示所述当前道路限速信息。Display the current road speed limit information.
在一个可行的实施方式中，所述接收前方高架道路属性包括：In a feasible implementation manner, the receiving the attribute of the elevated road ahead includes:
接收前方高架道路属性时距高架桥入口距离为第一距离。The distance from the viaduct entrance when receiving the attribute of the viaduct ahead is the first distance.
在一个可行的实施方式中，所述获取地面坡度信息包括：In a feasible implementation manner, said acquiring ground slope information includes:
所述采集地面坡度信息的采集距离为第二距离，所述第二距离大于所述第一距离。The collection distance for collecting ground slope information is a second distance, and the second distance is greater than the first distance.
在一个可行的实施方式中，采集地面坡度信息，还为：In a feasible implementation manner, collecting ground slope information is also:
标定一点，存储标定点到车辆所处位置的距离为第三距离。A point is calibrated, and the distance from the calibrated point to the position of the vehicle is stored as the third distance.
在一个可行的实施方式中，基于所述地面坡度信息判断车辆是否进入高架桥行驶，若是，则车辆当前道路属性为高架桥，若否，则车辆当前道路属性为高架桥下平直道路，还为：In a feasible implementation manner, it is judged based on the ground slope information whether the vehicle enters the viaduct to travel, if so, the current road attribute of the vehicle is the viaduct, if not, the current road attribute of the vehicle is a straight road under the viaduct, and is also:
采集车辆行驶至标定点位置所行驶的距离为第四距离；The distance traveled by the acquisition vehicle to the position of the calibration point is the fourth distance;
根据所述第三距离和所述第四距离计算出路段坡度；calculating the slope of the road section according to the third distance and the fourth distance;
所述路段坡度与所述坡度阈值进行比对；The section slope is compared with the slope threshold;
若路段坡度大于坡度阈值，则车辆行驶情况为进入高架桥行驶，若路段坡度小于等于坡度阈值，则车辆行驶情况为仍在平直路段行驶。If the slope of the road section is greater than the slope threshold, the vehicle is traveling on a viaduct; if the slope of the road section is less than or equal to the slope threshold, the vehicle is still driving on a straight road.
在一个可行的实施方式中，所述平直道路限速信息和所述高架桥限速信息为预设信息。In a feasible implementation manner, the straight road speed limit information and the viaduct speed limit information are preset information.
另一方面本实施例提供一种高架桥限速值提示装置，所述装置包括：On the other hand, this embodiment provides a viaduct speed limit prompting device, said device comprising:
信息接收模块用于接收前方高架道路属性；The information receiving module is used to receive the attributes of the elevated road ahead;
信息采集模块用于采集地面坡度信息，所述信息采集模块可以为摄像头；The information collection module is used to collect ground slope information, and the information collection module can be a camera;
第一判断模块用于基于所述地面坡度信息判断车辆是否进入高架桥行驶，若是，则车辆当前道路属性为高架桥，若否，则车辆当前道路属性为高架桥下平直道路；The first judging module is used to judge whether the vehicle enters the viaduct based on the ground slope information, if so, the current road attribute of the vehicle is the viaduct, and if not, the current road attribute of the vehicle is a straight road under the viaduct;
第二判断模块用于获取平直道路限速信息和高架桥限速信息，与所述车辆当前道路属性进行比对获得当前道路限速信息，若车辆当前道路属性为高架桥，则当前道路限速信息为高架桥限速信息，若车辆当前道路属性为高架桥下平直道路，则当前道路限速信息为平直道路限速信息；The second judging module is used to obtain the straight road speed limit information and the viaduct speed limit information, compare with the current road attribute of the vehicle to obtain the current road speed limit information, if the current road attribute of the vehicle is a viaduct, then the current road speed limit information is the viaduct speed limit information, if the current road attribute of the vehicle is a straight road under the viaduct, the current road speed limit information is the straight road speed limit information;
所述信息接收模块、第一判断模块和第二判断模块可以组成限速信息提醒系统。The information receiving module, the first judging module and the second judging module can form a speed limit information reminding system.
显示模块用于显示所述当前道路限速信息，所述显示模块可以为仪表盘。The display module is used to display the current road speed limit information, and the display module may be an instrument panel.
本说明书实施例还提供了一种存储介质，所述存储介质可设置于终端之中以保存用于实现方法实施例中一种高架桥限速值提示方法相关的至少一条指令、至少一段程序、代码集或指令集，该至少一条指令、该至少一段程序、该代码集或指令集由该处理器加载并执行以实现上述方法实施例提供的高架桥限速值提示方法。The embodiment of this specification also provides a storage medium, which can be set in the terminal to save at least one instruction, at least one segment of program, and code related to the method for prompting the speed limit value of the viaduct in the method embodiment A set or an instruction set, the at least one instruction, the at least one section of program, the code set or the instruction set are loaded and executed by the processor to implement the viaduct speed limit value prompting method provided by the above method embodiment.
可选地，在本说明书实施例中，存储介质可以位于计算机网络的多个网络服务器中的至少一个网络服务器。可选地，在本实施例中，上述存储介质可以包括但不限于：U盘、ROM(Read-Only Memory，只读存储器)、RAM(Random Access Memory，随机存取存储器)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。Optionally, in the embodiment of this specification, the storage medium may be located in at least one network server among multiple network servers in the computer network. Optionally, in this embodiment, the above-mentioned storage medium may include but not limited to: U disk, ROM (Read-Only Memory, read-only memory), RAM (Random Access Memory, random access memory), mobile hard disk, magnetic disk Various media that can store program codes such as discs or optical discs.
本说明书实施例所述存储器可用于存储软件程序以及模块，处理器通过运行存储在存储器的软件程序以及模块，从而执行各种功能应用以及数据处理。存储器可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、功能所需的应用程序等；存储数据区可存储根据所述设备的使用所创建的数据等。此外，存储器可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。相应地，存储器还可以包括存储器控制器，以提供处理器对存储器的访问。The memory described in the embodiments of this specification can be used to store software programs and modules, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store operating systems, application programs required by functions, etc.; the data storage area may store data created according to the use of the device, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage devices. Correspondingly, the memory may also include a memory controller to provide processor access to the memory.
一种高架桥限速值提示方法与装置的工作原理及流程：The working principle and process of a viaduct speed limit value prompting method and device:
目前的限速信息提醒功能，多采用摄像头和电子地图数据融合，提醒驾驶员当前道路限速信息。其中，电子地图发送的限速信息主要指电子眼限速信息。电子地图发送的电子眼限速信息，来自于地图绘制时的电子眼限速拍照设备，电子地图基于当前车辆定位信息，将存储在其中的相关电子眼限速发送至限速信息提醒系统，将限速信息告知驾驶员，但是由于电子地图的定位不准确容易出现以下状况：1.车辆行驶在高架上，限速信息提醒系统将高架下的电子眼限速显示给驾驶员；2.车辆行驶在高架下，限速信息提醒系统将高架上的电子眼限速显示给驾驶员。The current speed limit information reminder function mostly uses camera and electronic map data fusion to remind drivers of the current road speed limit information. Among them, the speed limit information sent by the electronic map mainly refers to the speed limit information of the electronic eye. The electronic eye speed limit information sent by the electronic map comes from the electronic eye speed limit camera device when the map is drawn. The electronic map sends the relevant electronic eye speed limit stored in it to the speed limit information reminder system based on the current vehicle positioning information, and the speed limit information Inform the driver, but due to the inaccurate positioning of the electronic map, the following situations are likely to occur: 1. The vehicle is driving on the elevated, and the speed limit information reminder system will display the electronic eye speed limit under the elevated to the driver; 2. The vehicle is driving under the elevated, The speed limit information reminder system will display the electronic eye speed limit on the overhead to the driver.
本实施例中，提供的基于电子地图和摄像头的避免高架桥电子眼限速误识别方案，利用电子地图后台提前一段距离d1发送前方高架道路属性信息，限速信息提醒系统对该高架道路属性信息进行记忆，记忆距离为d2，且d2>d1，其中，所述道路属性信息，是指电子地图绘制时存储在其中的某一段道路的唯一标记。In this embodiment, the electronic map and camera-based solution to avoid misrecognition of viaduct electronic eyes speed limit is provided, and the electronic map background is used to send the attribute information of the elevated road ahead a certain distance d1 in advance, and the speed limit information reminder system remembers the attribute information of the elevated road , the memory distance is d2, and d2>d1, wherein the road attribute information refers to the unique mark of a certain section of road stored in the electronic map when it is drawn.
当车辆到达高架道路入口时，电子地图根据定位信息，将车辆已到达高架道路入口的信息发送至限速信息提醒系统。限速信息提醒系统收到高架道路入口信息后，开始计算车辆实际行驶距离。当车辆实际行驶距离d4达到提前标定的位置时，限速信息提醒系统根据导航定位信息，计算出车辆在电子地图中行驶过的距离d3。之后，限速信息提醒系统根据公式β＝arccos(d3/d4)计算道路坡度β，当限速信息提醒系统计算出的坡度β大于坡度阈值α时，限速信息提醒系统判定车辆进入高架道路。之后，限速信息提醒系统通过对比车辆实际行驶道路的道路属性和电子眼限速所在道路属性，判断当前收到的电子眼限速是否作用于当前车道，若属于，则限速信息提醒系统显示该电子眼限速给驾驶员；若不属于，则限速信息提醒系统为驾驶员智能过滤该限速。When the vehicle reaches the entrance of the elevated road, the electronic map sends the information that the vehicle has reached the entrance of the elevated road to the speed limit information reminder system according to the positioning information. After the speed limit information reminder system receives the elevated road entrance information, it starts to calculate the actual driving distance of the vehicle. When the actual driving distance d4 of the vehicle reaches the pre-calibrated position, the speed limit information reminder system calculates the distance d3 traveled by the vehicle in the electronic map according to the navigation positioning information. Afterwards, the speed limit information reminder system calculates the road slope β according to the formula β=arccos(d3/d4). When the slope β calculated by the speed limit information reminder system is greater than the slope threshold α, the speed limit information reminder system determines that the vehicle has entered the elevated road. Afterwards, the speed limit information reminder system judges whether the currently received electronic eye speed limit acts on the current lane by comparing the road attributes of the vehicle's actual driving road with the road attribute of the electronic eye speed limit. If so, the speed limit information reminder system displays the electronic eye speed limit The speed limit is given to the driver; if not, the speed limit information reminder system intelligently filters the speed limit for the driver.
实施本发明，具有如下有益效果：Implement the present invention, have following beneficial effect:
1.本发明在硬件方面并未进行增加，但是相较于现有技术来讲，能够提供更为准确的限速信息提醒，优化了驾驶员的驾驶体验，同时也相对节约了成本。1. The present invention does not increase the hardware, but compared with the prior art, it can provide more accurate speed limit information reminders, optimize the driver's driving experience, and relatively save costs at the same time.
2.本发明采用了信息采集模块和导航模块数据融合，能够准确的给驾驶员提供前方道路限速信息，避免了限速信息误报的情况，优化了驾驶员的驾驶体验。2. The present invention adopts the data fusion of the information collection module and the navigation module, which can accurately provide the driver with the speed limit information of the road ahead, avoiding the situation of false reporting of the speed limit information, and optimizing the driving experience of the driver.
3.本发明采用了信息采集模块、导航模块和限速信息提醒模块，防止单独导航模块定位不准确，将与当前道路不符合的限速信息显示给驾驶员，影响驾驶员的驾驶体验，甚至于造成安全隐患，使得行车过程更为安全。3. The present invention adopts an information collection module, a navigation module and a speed limit information reminder module to prevent inaccurate positioning of a single navigation module, displaying speed limit information inconsistent with the current road to the driver, affecting the driver's driving experience, and even In order to cause safety hazards, making the driving process safer.
4.本发明采用了显示模块，将前方路段的道路限速信息显示在显示模块上，使得驾驶员能够清晰的看见前方道路的限速信息，使得行车更为安全，驾驶体验更为优良。4. The present invention uses a display module to display the road speed limit information of the road ahead on the display module, so that the driver can clearly see the speed limit information of the road ahead, making driving safer and driving experience better.
上所揭露的仅为本发明的几个较佳实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。The above disclosures are only a few preferred embodiments of the present invention, which certainly cannot limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.
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