# US 11,999,395 B2 · Vehicle driving assistance method, onboard device, and vehicle having onboard device

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- Number: US 11,999,395 B2
- Document ID: US11999395B2
- Status: Granted
- Kind: B2
- Application number: 17/125,569
- Filed: 2020-12-17
- Published: 2022-06-02
- Granted: 2024-06-04
- Earliest claimed: 2020-12-02
- Assignees: Triple Win Technology(Shenzhen) Co.Ltd.
- Applicants: Triple Win Technology(Shenzhen) Co.Ltd.
- Inventors: Tzong-Yi Lee
- Web page: https://patentgrep.com/patent/US11999395B2

## CPC

- B61L 25/021: {Measuring and recording of train speed}
- B61L 15/009: {On-board display devices}
- B61L 15/0094: {Recorders on the vehicle}
- B61L 25/025: {Absolute localisation, e.g. providing geodetic coordinates}
- B61L 99/002: {Autonomous vehicles, i.e. under distributed traffic control}
- G06F 18/214: Generating training patterns; Bootstrap methods, e.g. bagging or boosting
- G06F 18/24: Classification techniques
- G06T 7/11: Region-based segmentation
- G06T 7/64: of convexity or concavity
- G06V 20/582: {of traffic signs}
- G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road}
- B61L 2205/04: Satellite based navigation systems, e.g. global positioning system [GPS]
- G06T 2207/20132: Image cropping
- G06T 2207/30252: Vehicle exterior; Vicinity of vehicle
- B61L: GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC (brakes or auxiliary equipment B61H, B61K; point or crossing construction E01B)
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING

## Abstract

A vehicle driving assistance method includes detecting a speed of a vehicle, obtaining a speed limit of the vehicle in a corresponding section of road based on images when the speed of the vehicle exceeds the speed threshold, and issuing a warning when the speed of the vehicle exceeds the speed limit of the vehicle in the corresponding section of road.

## Claims

### Claim 1

A vehicle driving assistance method comprising:
detecting a speed of a vehicle;
obtaining a speed limit of the vehicle in a corresponding section of road based on images in response that the speed of the vehicle exceeds the speed threshold, comprising: obtaining a track image of a track where the vehicle is located and calculating a track path based on the track image; calculating a track bending angle of the track based on the track path; and obtaining a speed limit according to the track bending angle; and
issuing a warning when the speed of the vehicle exceeds the speed limit of the vehicle in the corresponding section of road.

### Claim 2 (depends on 1)

The vehicle driving assistance method of claim 1, further comprising:
determining the speed limit obtained according to the track bending angle as the speed limit of the vehicle in the corresponding section of road.

### Claim 3 (depends on 1)

The vehicle driving assistance method of claim 1, wherein obtaining the speed limit of the vehicle in the corresponding section of road based on images further comprises:
executing a first method, the first method comprising: obtaining an image comprising a speed limit sign, cutting out an area of the image where the speed limit sign is located from the image, and obtaining a speed limit from the speed limit sign in the cut out area of the image;
executing a third method, the third method comprising: training a database using training samples, obtaining the track image and obtaining a speed limit based on the track image according to the database; and
setting a lowest speed of the speed limit obtained according to the track bending angle and speed limits obtained by executing the first and the third methods as the speed limit of the vehicle in the corresponding section of road.

### Claim 4

An onboard device comprising:
at least one processor; and
a memory storing a plurality of instructions, which when executed by the at least one processor, cause the processor to:
detect a speed of a vehicle;
obtain a speed limit of the vehicle in a corresponding section of road based on images in response that the speed of the vehicle exceeds the speed threshold, comprising: obtaining a track image of a track where the vehicle is located and calculating a track path based on the track image; calculating a track bending angle of the track based on the track path; and obtaining a speed limit according to the track bending angle; and
issue a warning when the speed of the vehicle exceeds the speed limit of the vehicle in the corresponding section of road.

### Claim 5 (depends on 4)

The onboard device of claim 4, wherein the processor determines the speed limit obtained according to the track bending angle as the speed limit of the vehicle in the corresponding section of road.

### Claim 6 (depends on 4)

The onboard device of claim 4, wherein the processor obtains the speed limit of the vehicle in the corresponding section of road further by:
executing a first method, the first method comprising: obtaining an image comprising a speed limit sign, cutting out an area of the image where the speed limit sign is located from the image, and obtaining a speed limit from the speed limit sign in the cut out area of the image;
executing a third method, the third method comprising: training a database using training samples, and obtaining the track image and obtaining a speed limit based on the track image according to the database; and
setting a lowest speed of the speed limit obtained according to the track bending angle and speed limits obtained by executing the first and the third methods as the speed limit of the vehicle in the corresponding section of road.

### Claim 7

A vehicle comprising an onboard device, the onboard device comprising a memory and a processor, the processor configured to:
detect a speed of a vehicle;
obtain a speed limit of the vehicle in a corresponding section of road based on images in response that the speed of the vehicle exceeds the speed threshold, comprising: obtaining a track image of a track where the vehicle is located and calculating a track path based on the track image; calculating a track bending angle of the track based on the track path; and obtaining a speed limit according to the track bending angle; and
issue a warning when the speed of the vehicle exceeds the speed limit of the vehicle in the corresponding section of road.

### Claim 8 (depends on 7)

The vehicle of claim 7, wherein the processor determines the speed limit obtained according to the track bending angle as the speed limit of the vehicle in the corresponding section of road.

### Claim 9 (depends on 7)

The vehicle of claim 7, wherein the processor obtains the speed limit of the vehicle in the corresponding section of road further by:
executing a first method, the first method comprising: obtaining an image comprising a speed limit sign, cutting out an area of the image where the speed limit sign is located from the image, and obtaining a speed limit from the speed limit sign in the cut out area of the image;
executing a third method, the third method comprising: training a database using training samples, obtaining the track image and obtaining a speed limit based on the track image according to the database; and
setting a lowest speed of the speed limit obtained according to the track bending angle and speed limits obtained by executing the first and the third methods as the speed limit of the vehicle in the corresponding section of road.