CN107839690A - A kind of safety driving distance reminding method and equipment - Google Patents
A kind of safety driving distance reminding method and equipment Download PDFInfo
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- CN107839690A CN107839690A CN201711051002.3A CN201711051002A CN107839690A CN 107839690 A CN107839690 A CN 107839690A CN 201711051002 A CN201711051002 A CN 201711051002A CN 107839690 A CN107839690 A CN 107839690A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Image Analysis (AREA)
Abstract
The invention discloses a kind of safety driving distance reminding method and equipment, safe distance is monitored in vehicle travel process, prompts driver to take care distance, reduces the frequency that accident occurs.Safety driving distance reminding method therein includes：The image in the first vehicle traveling front is gathered by the first camera and second camera of terminal device；It is determined that there is the second vehicle while appear in the pickup area of the first camera and the pickup area of second camera；The first image formed according to the first area on the second vehicle in the first camera and the second image formed in second camera, and the distance between the first camera and second camera, calculate the distance between the first vehicle and the second vehicle；It is determined that whether distance is less than the first safe distance；In the case where distance is less than the first safe distance, the first prompting message is exported, the first prompting message is used to prompt the distance between the first vehicle and other vehicles to be less than the first safe distance.
Description
Technical field
The present invention relates to traffic safety technical field, more particularly to a kind of safety driving distance reminding method and equipment.
Background technology
With being continuously increased for vehicles number, traffic accident has become the serious problems that people face.Many traffic
Accident is due to that driver holds bad safe distance and rear-end impact occurs or wipes to hang.Safe distance refers to, before rear car follows
When car travels, it is necessary to which when keeping the unexpected brake hard of front truck, rear car is unlikely to hit the distance of front truck therewith braking.Therefore,
Safe distance between rear car and front truck, it should which the distance more than or equal to Brake stop just can guarantee that and not hit front truck.
It can be seen that in the prior art, the frequency that rear-end impact or wiping extension occur because of the bad safe distance of assurance for driver is higher,
The frequency caused the accident is higher.
The content of the invention
The embodiment of the present invention provides a kind of safety driving distance reminding method and equipment, and peace is monitored in vehicle travel process
Full distance, prompt driver to take care distance, reduce the frequency that accident occurs.
First aspect, there is provided a kind of safety driving distance reminding method, this method include：
The image in the first vehicle traveling front is gathered by the first camera and second camera of equipment；
It is determined that there is the second vehicle while appear in the pickup area of first camera and adopting for the second camera
Collect in region；
The first image for being formed according to the first area on second vehicle in first camera and in institute
The second image formed in second camera, and the distance between first camera and described second camera are stated, is calculated
The distance between first vehicle and second vehicle；
Determine whether the distance is less than the first safe distance, first safe distance is that first vehicle is travelling
When, stop travelling from current vehicle speed with the maximum braking force of first vehicle braking to first vehicle, between advanced
Distance；
In the case where the distance is less than first safe distance, the first prompting message, first prompting are exported
Message is used to prompt the distance between described first vehicle and other vehicles to be less than first safe distance.
Optionally, determine whether the distance is less than safe distance, including：
Obtain the current vehicle speed of first vehicle；
According to the current vehicle speed, and the mapping relations between speed and safe distance, obtain first safety away from
From；
Determine whether the distance is less than first safe distance.
Optionally, the first image formed in first camera according to the first area on second vehicle with
And between the second image formed in the second camera, and first camera and the second camera away from
From, the distance between first vehicle and second vehicle are calculated, including：
According to the distance at center of first image to the first lens, second image to the center of the second lens
The distance between distance, first camera and described second camera and the first lens are to first light-sensitive device
Vertical range or the second lens to the vertical range of second light-sensitive device, calculate the first area to first light
The vertical range of sensing device or the first area to second light-sensitive device vertical range, wherein, described first is photosensitive
Device is the light-sensitive device in first camera, and second light-sensitive device is the photosensor in the second camera
Part, first lens are the lens in first camera, and second lens are the lens in the second camera；
According to the vertical range of the first area to first light-sensitive device or the first area to described second
The vertical range of light-sensitive device, calculate the distance between first vehicle and second vehicle.
Optionally, calculate the first area to first light-sensitive device or second light-sensitive device it is vertical away from
From, including：
It is saturating to described first to the distance at the center of second lens and first image to calculate second image
Difference between the distance at the center of mirror；
Calculate the distance between the difference and first camera and the second camera and value；
Calculate described and value and the difference ratio；
According to the ratio, and first lens are to the vertical range or described second saturating of first light-sensitive device
Mirror to the vertical range of second light-sensitive device, calculate the first area to the vertical range of first light-sensitive device or
Vertical range of the first area to second light-sensitive device.
Optionally, methods described also includes：
According to first image and second image, determine whether second vehicle takes the first vehicle institute
Track；
In the case of the track where second vehicle takes first vehicle, the second prompting message is exported, its
In, second prompting message is used to prompt have other vehicles to take the track where first vehicle.
Optionally, according to first image and second image, determine whether second vehicle takes described
Track where one vehicle, including：
The first area is obtained to the line and first camera and the second camera of first image
Line between angle；
According to the angle determine second vehicle whether take first vehicle where track, wherein, in institute
State in the case that angle is located in default angular range, determine that second vehicle occupies the car where first vehicle
Road.
Second aspect, there is provided a kind of safety driving distance prompts equipment, and the equipment includes：
First camera, for gathering the image in the first vehicle traveling front；
Second camera, for gathering the image in the first vehicle traveling front；
Processor, it is used for：It is determined that there is the second vehicle while appear in the pickup area and described of first camera
In the pickup area of two cameras；First formed according to the first area on second vehicle in first camera
Between image and the second image formed in the second camera, and first camera and the second camera
Distance, calculate the distance between first vehicle and second vehicle；Determine whether the distance is less than the first safety
Distance, first safe distance in motion, are made for first vehicle from current vehicle speed with the maximum of first vehicle
Dynamic braking stops travelling to first vehicle, between the distance advanced；
Output unit, in the case of being less than first safe distance in the distance, the first prompting message is exported,
First prompting message is used to prompt the distance between described first vehicle and other vehicles to be less than first safe distance.
The third aspect, there is provided a kind of safety driving distance prompts equipment, and the equipment includes：
First photographing module, for gathering the image in the first vehicle traveling front；
Second photographing module, for gathering the image in the first vehicle traveling front；
Processing module, it is used for：It is determined that there is the second vehicle while appear in the pickup area of first camera and described
In the pickup area of second camera；Formed according to the first area on second vehicle in first camera
One image and the second image formed in the second camera, and first camera and the second camera it
Between distance, calculate the distance between first vehicle and second vehicle；Determine whether the distance is less than the first peace
Full distance, first safe distance be first vehicle in motion, from current vehicle speed with the maximum of first vehicle
Brake dynamic braking and stop traveling to first vehicle, between the distance advanced；
Output module, in the case of being less than first safe distance in the distance, the first prompting message is exported,
First prompting message is used to prompt the distance between described first vehicle and other vehicles to be less than first safe distance.
Fourth aspect, there is provided a kind of computer-readable storage medium, be stored thereon with computer program, the computer program quilt
Realized during computing device as any one of first aspect the step of method.
The embodiments of the invention provide a kind of safety driving distance reminding method, and first can be gathered by two cameras
The image of other vehicles in the front of vehicle, the first vehicle can be determined in the image that two cameras are formed according to other vehicles
With the distance of other vehicles in front, prompt message is exported in conjunction with the safe distance of the first vehicle, to avoid driving as far as possible
Member holds bad safe distance and rear-end impact occurs or wipes extension accident.
Brief description of the drawings
Fig. 1 is a kind of application scenarios schematic diagram of the embodiment of the present invention；
Fig. 2 is a kind of flow chart of safety driving distance reminding method provided in an embodiment of the present invention；
Fig. 3 is the part shadow that the second vehicle provided in an embodiment of the present invention is formed in the first camera and second camera
The schematic diagram of picture；
Fig. 4 is that the second vehicle provided in an embodiment of the present invention images to the line of the first image and the first camera and second
Angle between the line of head, and the line and the line of the first camera and second camera of the second vehicle to the second image
Between angle schematic diagram；
Fig. 5 is a kind of structural representation that safety driving distance provided in an embodiment of the present invention prompts equipment；
Fig. 6 is a kind of structural representation that safety driving distance provided in an embodiment of the present invention prompts equipment.
Embodiment
In order that the object, technical solutions and advantages of the present invention are more clearly understood, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described.
, it is necessary to which the vehicle of prompting is the first vehicle in the embodiment of the present invention, it is referred to as the positioned at the vehicle of the first vehicle front
Two vehicles, the second vehicle can have one or more.
At present because without reference to the measure that driver is prompted for safe distance, therefore, driver is usually because hold
Bad safe distance and occur rear-end impact or wipe extension accident.In consideration of it, the embodiments of the invention provide a kind of traffic safety away from
From reminding method, it can prompt whether the distance between this vehicle and other vehicles are less than safe distance, so as to avoid driving as far as possible
Rear-end impact occurs because holding bad safe distance or wipes the accidents such as extension by the person of sailing.
Fig. 1 is referred to, introduces a kind of application scenarios of the embodiment of the present invention.Fig. 1 includes the first vehicle 101 and multiple
Two vehicles 102, safety driving distance prompting equipment is provided with the first vehicle 101, and multiple second vehicles 102 are travelled in the first car
101 front, Fig. 1 is by taking 3 the second vehicles 102 as an example.This 3 the second vehicles 102 are respectively positioned at the place of the first vehicle 101
The right-hand lane in track, the left-hand lane in the place track of the first vehicle 101 and the place track of the first vehicle 101.With void in Fig. 1
Line is illustrated to track.The embodiment of the present invention is not restricted to the quantity of the second vehicle 102 and position.On first vehicle 101
Safety driving distance prompting equipment can calculate one or more of the first vehicle 101 and 3 the second vehicles 102 second car
The distance between 102.
Scheme provided in an embodiment of the present invention is introduced with reference to Figure of description, in the following description, with the present invention
The technical scheme that embodiment provides is applied exemplified by the scene shown in Fig. 1.
Fig. 2 is referred to, one embodiment of the invention provides a kind of safety driving distance reminding method, and this method can pass through Fig. 1
Shown safety driving distance prompting equipment performs.The flow of this method is described as follows.
S201, the image that the first vehicle 101 travels front is gathered by the first camera and second camera of equipment；
S202, determination have the second vehicle 102 while appear in the pickup area of the first camera and adopting for second camera
Collect in region；
S203, the first image formed according to the first area on the second vehicle 102 in the first camera and
The second image formed in two cameras, and the distance between the first camera and second camera, calculate the first vehicle 101 with
The distance between second vehicle 102；
S204, determine whether the distance is less than the first safe distance, the first safe distance is that the first vehicle 101 is travelling
When, from current vehicle speed with the maximum braking force of the first vehicle 101 braking to the first vehicle 101 stop travelling, between advanced
Distance；
S205, the distance be less than the first safe distance in the case of, export the first prompting message, the first prompting message
For prompting the distance between the first vehicle 101 and other vehicles to be less than the first safe distance.
Equipment described in S201, can be safety driving distance prompting equipment.In embodiments of the present invention, traffic safety
Distance prompt equipment can be realized by terminal device, such as mobile phone etc..
Safety driving distance prompting equipment can be provided with the first camera and second camera, the first camera here
It is that to be formed in safe distance prompting equipment double take the photograph with second camera, positioned at the homonymies of safety driving distance prompting equipment, example
Such as it is rear camera, or is front camera.Safety driving distance prompting equipment is taken the photograph by the first camera and second
As head gathers the image in the first vehicle 101 traveling front.Because there is the second vehicle 102 in the front of the first vehicle 101, then first takes the photograph
As head and second camera also can gather the image of the second vehicle 102.
Safety driving distance prompts equipment to might have the second car when gathering the image in front of the first vehicle 101 traveling
102 image is collected by the first camera, it is also possible to and the image for having the second vehicle 102 is collected by second camera,
It is also feasible that the image of the second vehicle of a portion 102 can be collected by the first camera and second camera simultaneously.If
Second vehicle 102 is only present in the pickup area of the first camera or the pickup area of second camera, safety driving distance carry
Show that equipment may can not calculate the distance between the second vehicle 102 and the first vehicle 101, only the second vehicle 102 goes out simultaneously
The pickup area of present first camera and the pickup area of second camera, safety driving distance prompting equipment could be according to this
The method that inventive embodiments provide calculates the distance between the second vehicle 102 and the first vehicle 101.Therefore, in order to as far as possible can
The distance between the first vehicle 101 and second vehicle 102 in front of it are calculated, can try one's best and image the first camera and second
The distance between head is set shorter, cause as far as possible the second vehicle 102 appear in simultaneously in the pickup area of the first camera and
In the pickup area of second camera.Safety driving distance prompting equipment can be gathered by the first camera and second camera
The image of second vehicle, the image and the second vehicle 102 that the second vehicle 102 of acquisition is formed in the first camera are in the second shooting
The image formed in head, so as to calculate the distance between the first vehicle 101 and the second vehicle 102.
For first vehicle 101 before traveling, safety driving distance on the first vehicle 101 prompting equipment can open the
One camera and second camera, the first camera and second camera can gather the image in the front of the first vehicle 101.Such as
Fruit has the second vehicle 102 while appeared in the image of the first camera collection and the image of second camera collection, that is,
Second vehicle 102 is appeared in the public pickup area of the first camera and second camera, then can be according to second car
First area the first image formed in the first camera and the second image formed in second camera on 102,
The anaglyph that namely first area is formed in the first camera and second camera, and the first camera and the second shooting
The distance between head, calculate the distance between the first vehicle 101 and the second vehicle 102.Wherein, first area can be the second car
102 positioned at the first camera and the arbitrary region of the public pickup area of second camera.First area can be pacified by driving
Full distance prompting equipment selection, for example, safety driving distance prompting equipment can select any one area of public pickup area
Domain is as first area.First area can also voluntarily be selected by user, for example, can be set in safety driving distance prompting equipment
Keyboard is put, user can select information, the choosing that safety driving distance prompting equipment can input according to user by input through keyboard
Selecting information determines the region of user's selection as first area.Or it can also be set in safety driving distance prompting equipment tactile
Touch display screen, a region is selected on the image for the second vehicle that user directly can show in touch display screen, be used as the
One region.
Be described below the embodiment of the present invention how according to the first area on the second vehicle 102 in the first camera and second
The image formed in camera, and the distance between the first camera and second camera, calculate the first vehicle 101 and the second car
The distance between 102.
Fig. 3 is referred to, Fig. 3 is the part shadow that the second vehicle 102 is formed in the first camera 30 and second camera 31
The schematic diagram of picture.As shown in figure 3, the building block of the first camera 30 includes the first lens 301 and the first light-sensitive device 302,
Similarly, the building block of second camera 31 includes the second lens 311 and the second light-sensitive device 312.On second vehicle 102
The first image M1 that first area L is formed in the first camera 30 can be understood as the incident light sent from first area L
Line is focused on by the first lens 301 of the first camera 30, the image formed on the first light-sensitive device 302, similarly, the second car
The second image M2 that first area L on 102 is formed in second camera 31 can be understood as sending from first area
Incident ray focused on by the second lens 311 of second camera 31, the image formed on the second light-sensitive device 312.
, in figure 3, the incident ray for the first lens of entrance 301 that first area L is sent is represented with L1, first area L hairs
The incident ray of the second lens of entrance 311 gone out is represented with L2.The vertical range of first the 301 to the first light-sensitive device of lens 302
Represented with H1, the vertical range of second the 311 to the second light-sensitive device of lens 312 is represented with H2.Due to the lens in camera
It is fixed with position of the light-sensitive device in camera, and the vertical range of lens to light-sensitive device is known, so the
The vertical range H1 of one the 301 to the first light-sensitive device of lens 302 is known.Similarly, second the 311 to the second light-sensitive device of lens
312 vertical range H2 is also known.First image M1 to the center N1 of the first lens 301 vertical range represents with S1,
Second image M2 to the center N2 of the second lens 311 vertical range are represented with S2.First camera 30 and second camera 31
The distance between represented with S.First area L is vertical with the plane where the first light-sensitive device 302 and the second light-sensitive device 312
Joining is that the distance between G, G to the first image M1 is represented with S3, distance is represented with S4 between G to the second image M2.In Fig. 2
Distance is illustrated with dotted line.
The embodiment of the present invention can be according to distance S1s of the first image M1 to the center N1 of the first lens 301, the second image
The distance between M2 to the center N2 of the second lens 311 distance S2, the first camera 30 and second camera 31 S, Yi Ji
The vertical range H1 of one the 301 to the first light-sensitive device of lens 302 calculate first area L to the first light-sensitive device 302 it is vertical away from
From X1.Vertical range X1 further according to first area L to the first light-sensitive device 302, calculate the first vehicle 101 and the second vehicle
The distance between 102.Or according to the first image M1 to the center N1 of the first lens 301 distance S1, the second image M2 to
The distance between the center N2 of two lens 311 distance S2, the first camera 30 and second camera 31 S and the first lens
The vertical range H1 of 301 to the first light-sensitive device 302 calculates first area L to the vertical range X2 of the second light-sensitive device 312.Again
Vertical range X2 according to first area L to the second light-sensitive device 312, calculate between the first vehicle 101 and the second vehicle 102
Distance.
As shown in figure 3, lines of the first area L to the first image M1, with the first light-sensitive device 302 and the second light-sensitive device
312 line, and the line of first area L to the first light-sensitive device 302 form a triangle.Similarly, first area L is arrived
Second image M2 line, with the first light-sensitive device 302 and the line of the second light-sensitive device 312, and first area L to second
The line of light-sensitive device 312 also forms a triangle.If the two triangles are similar triangles, then just according to similar
The grade of triangle calculates first area L to the vertical range X1 or first area L of the first light-sensitive device 302 than relation principle
To the vertical range X2 of the second light-sensitive device 312.In order that it is similar triangles to obtain the two triangles, then the present invention is implemented
In example, the first lens 301 and the second lens 311 can be located in approximately the same plane, the first light-sensitive device 302 and the second photosensor
Part 312 can also be located at approximately the same plane, and so the two triangles can think similar triangles.If it is, then
The vertical range H1 of first the 301 to the first light-sensitive device of lens 302 value and second the 311 to the second light-sensitive device of lens 312
Vertical range H2 value is identical.The vertical range X1 of first the 301 to the first light-sensitive device of lens 302 value and the second lens
The vertical range X2 of 311 to the second light-sensitive device 312 value is also identical.
As a kind of example, there is provided a kind of vertical range X1 for calculating first the 301 to the first light-sensitive device of lens 302 or the
The vertical range X2 of two the 311 to the second light-sensitive devices of lens 312 mode：
The second image M2 to the center N2 of the second lens 212 distance S2 and the first image M1 are calculated to the first lens 301
Center N1 distance S1 between difference, for example, S2-S1.Difference S2-S1 and the first camera 30 and second are calculated again
The distance between camera 20 be S's and value, obtains and value S2-S1+S, then calculates this and the ratio of value and the difference, obtains ratio
That is (S2-S1+S)/(S2-S1), and according to ratio (S2-S1+S)/(S2-S1) and first the 301 to the first light-sensitive device of lens
302 vertical range H1, first area L is calculated to the vertical range X1 of the first light-sensitive device 302, or calculate first area L and arrive
The vertical range X2 of second light-sensitive device 312.Or according to ratio S2-S1+S/S2-S1 and second the 311 to the second light of lens
The vertical range H1 of sensing device 312, first area L is calculated to the vertical range X1 of the first light-sensitive device 302, or calculate the firstth area
Vertical range X2s of the domain L to the second light-sensitive device 312.In order to make it easy to understand, continuing with exemplified by shown in Fig. 3, how is introduction
First area L is calculated to the vertical range X1 or first area L of the first light-sensitive device 302 to the vertical of the second light-sensitive device 312
Distance X2.
In figure 3, according to similar triangles etc. compare relation, it can be deduced that equation below (1) and formula (2)：
X1*S1=H1*S3 (1)
X2*S2=H2*S4 (2)
Wherein, due to H1=H2, X1=X2, and as seen from Figure 3：
S4-S3=S2-S1+S (3)
Bring formula (3) into formula (1) and formula (2), make H1=H2=H, X1=X2=X, it can be deduced that：
X=H* (S2-S1+S)/(S2-S1) (4)
Can calculate X value by formula (4), X can be first area L to the first light-sensitive device 302 it is vertical away from
From X1, or first area L to the vertical range X2 of the second light-sensitive device 312.
Safety driving distance prompting equipment in the embodiment of the present invention calculates first area L to the first light-sensitive device 302
Vertical range X1 or first area L to the vertical range X2 of the second light-sensitive device 312, can be determined according to X1 or X2 using hooking stock
The grade ratio relation of reason and similar triangles, calculates first area L and is arrived to the first image M1 distance K1, and first area L
The distance between second photogra M2 K2, S5 or S6 may be considered the distance between the first vehicle 101 and the second vehicle 102.
It is assumed that the center N1 of the first image M1 to the first lens 30 distance is S5, the second image M1 is into the second lens 31
Heart N2 distance is S6.
As shown in figure 3, then had according to Pythagorean theorem：
S52=H12+S12 (5)
S62=H22+S22 (6)
According to similar triangles etc. than relation, then have：
X1/K1=H1/S5 (7)
X2/K2=H2/S6 (8)
S5 and S6 can be calculated by formula (5) and formula (6) respectively, S5 is substituted into formula (7), S6 is substituted into formula
(8) X1=X2=X, is made, you can calculate K1 and K2, that is, first area L is to the distance K1 of the first camera 30, and first
Distance K2s of the region L to second camera 31.Because first area L is a region on the second vehicle 102, can approximation recognize
To be the second vehicle 102 itself, the first camera 30 and second camera 31 are arranged on the first vehicle 101, therefore, K1 or
It is the distance between the second vehicle 102 and the first vehicle 101 that K2, which can be approximately considered,., can be by K1 if K1 is not equal to K2
It is the distance between the second vehicle 102 and the first vehicle 101 to be confirmed as with less distance in K2, it is believed that the second vehicle 102 away from
It is relatively near from the first vehicle 101, to prompt the first vehicle 101 in time as far as possible.If user is respectively from multiple second vehicles 102
First area L is have selected on each second vehicle 102, then safety driving distance prompting equipment can calculate selected multiple
The distance between the vehicle 101 of each second vehicle 102 and first in second vehicle 102.
, can be true after safety driving distance prompting equipment calculates the distance between the second vehicle 102 and the first vehicle 101
Whether fixed calculated distance is less than the first safe distance, that is, the first vehicle 101 is in motion, from current vehicle speed with first
The maximum braking force braking of vehicle 101 stops travelling to the first vehicle 101, the distance advanced between this.Specifically, driving peace
Full distance prompting equipment can obtain the current vehicle speed of the first vehicle 101, according to the current vehicle speed of acquisition, and speed and safety
Distance between mapping relations, obtain the first safe distance, it is determined that the second vehicle 102 and the first vehicle 101 that are calculated it
Between distance whether be less than the first safe distance, the distance be less than the first safe distance in the case of, output first prompting disappear
Breath, wherein, the first prompting message can be used for prompt the distance between the first vehicle 101 and other vehicles be less than first safely away from
From so that user is slowed down according to prompting, improves security.
Wherein, the mapping relations that safety driving distance prompting equipment can be established between speed and safe distance in advance, when
When speed is very fast, the first vehicle 101 is braked to the first vehicle 101 from current vehicle speed using maximum braking force to be stopped travelling, between
The distance advanced is longer, i.e., safe distance is longer.Similarly, when speed is slower, the first vehicle 101 is from current vehicle speed using most
Big braking dynamic braking stops travelling to the first vehicle 101, between the distance advanced it is shorter, i.e., safe distance is shorter.For example, work as
When speed is 5km/h, safe distance can be 5m, be prompted when speed is 100km/h, during safe distance 200m.Traffic safety away from
Safe distance is prompted according to the current vehicle speed of the first vehicle 101 from prompting equipment, can intelligently prompt, play suggesting effect
While, in the case of speed is faster, prompt in advance, improve security.
Because the driver of the first vehicle 101 hears the first prompt message, deceleration measure is being used so that the first vehicle
101 so that, it is necessary to there is certain reaction time, that is, user hears prompt message to user according to carrying before maximum braking force braking
Show the duration that information is reacted, the duration is properly termed as the first duration.For example, the first duration can be 4 seconds, 1 second is prompting
Time, 1 second is the reaction time, and 2 seconds are braking times, i.e., since user make hearing prompt message to user according to prompt message
The time used for going out brake reaction is 4 seconds.And the first vehicle 101 has also travelled a segment distance within the customer responsiveness time, driving
Safe distance prompts equipment to add the safe distance obtained according to speed to relatively accurately export the first prompt message
On within the customer responsiveness time the first vehicle 101 travel distance, the safe distance as the first vehicle 101.
In order to make it easy to understand, it is introduced below with example.
For example, the current vehicle speed of vehicle is 60km/h, corresponding safe distance is 100m, and the first duration is 4 seconds, when first
Vehicle 101 is braked to the first vehicle 101 using maximum braking force to be stopped travelling, and the distance travelled is (60*1000/3600) * 4
≈66.7m.The safe distance of so the first vehicle 101 can be 100m+66.7m, that is, when speed is 60km/h, safety away from
It from that can be 166.7m, can be specifically adjusted according to the operating range calculated, such as can be 170m.Traffic safety away from
Speed and the mapping relations of safe distance can be established in advance according to this method from prompting equipment.
If safety driving distance prompting equipment is calculated in multiple second vehicles 102 in the front of the first vehicle 101
The distance between each vehicle 101 of second vehicle 102 and first, safety driving distance prompting equipment can judge what is calculated respectively
Whether each distance is less than the first safe distance, or, in order to reduce judgment step, safety driving distance prompts equipment can be from
The distance of minimum is selected in the multiple distances calculated as the distance between the second vehicle 102 and the first vehicle 1021, and is judged
Whether selected distance is less than the first safe distance, and when selected distance is less than the first safe distance, output first carries
Show information, to improve security as far as possible.
Because in multiple second vehicles 102 in the front of the first vehicle 101, presumable second vehicle 102 is in the first vehicle
101 front, the second vehicle 102 having the first vehicle 101 left-hand lane, also have the second vehicle 102 in the first car
101 right-hand lane.And if the vehicle 101 of multiple second vehicles 102 and first the distance between both less than first safety
Distance, but the vehicle of multiple second vehicles 102 and first is on same track, now, even if the first vehicle 101 does not slow down,
The possibility to be collided with the second vehicle 102 is also smaller, therefore in this case, and safety driving distance prompting equipment can be with
The first prompt message is exported, the first prompt message can not also be exported.
Or if the second vehicle 102 takes the track where the first vehicle 101, and the second vehicle 102 and the first vehicle
The distance between 101 are less than the first safe distance, then can export the first prompt message, are subtracted with prompting the first vehicle 101 to take
Fast measure, reduce the probability of collision.
When multiple second vehicles 102 are not or not the track where the first vehicle 101, it is also possible to the second vehicle 102 having
The part in the place track of the first vehicle 101 is only taken up, for example, the second vehicle 102 is from the left side in the place track of the first vehicle 101
Boundary line is risen, in the range of the certain distance for occupying the place track of the first vehicle 101, such as within 30 centimeters.Although now
The distance between two vehicles 102 and the first vehicle 101 are less than the first safe distance, but the first vehicle 101 completely can be somewhat
Change travel direction to continue to travel, to avoid the second vehicle 102 from colliding.Therefore, the traffic safety in the embodiment of the present invention
Distance prompt equipment can also determine whether the second vehicle 102 takes the track where the first vehicle 101, according to the second vehicle
Whether 102 take the situation in the place track of the first vehicle 101, exports the second prompt message.Wherein, the second prompt message can be used
Track where prompting the first vehicle 101 to there are other vehicles to take the first vehicle 101.In this case, the first vehicle 101
Can need not use deceleration measure, as long as changing travel direction, not influence the normally travel of the first vehicle 101.
Safety driving distance prompting equipment can determine that the second vehicle 102 is according to the first image M1 and the second image M2
The no track taken where the first vehicle 101, it is defeated in the case of the track where the second vehicle 102 takes the first vehicle 101
Go out the second prompting message.
Specifically, safety driving distance prompting equipment can obtain first area L to the first image M1 line, with first
Angle between the line of camera 30 and second camera 31, determine whether the second vehicle 102 takes first according to the angle
Track where vehicle 101, wherein, in the case where the angle is located in the first default angular range, determine the second vehicle
102 occupy the track where the first vehicle 101.Or safety driving distance prompting equipment can also obtain first area L and arrive
Angle between second image M1 line, with the first camera 30 and the line of second camera 31, determined according to the angle
Whether the second vehicle 102 takes the track where the first vehicle 101, wherein, it is located at the second default angular range in the angle
In the case of interior, determine that the second vehicle 102 occupies the track where the first vehicle 101.Wherein, the first default angular range
The reference graticule of the place track both sides of the first vehicle 101 can be according to the second vehicle 102 with the second default angular range
To determine, the first default angular range and the second default angular range may it is identical may also be different.
In order to make it easy to understand, Fig. 4 is referred to, and in Fig. 4, first area L to the first image M1 line, with the first camera
Angle between 30 and the line of second camera 31 represents that first area L takes the photograph to the first image M2 line with first with α
As the angle between first 30 and the line of second camera 31 is represented with β.If α and β are more than 90 °, the second vehicle 102 may at
In the left of the first vehicle 101, if α and β is less than the right that 90 ° of second vehicle 102 is likely to be at the first vehicle 101, when α with
β is equal to 90 °, and the second vehicle 102 is likely to be at the front of the first vehicle 101.Fig. 4 illustrates the second vehicle 102 to exist with dotted line
The front of first vehicle 101.
Therefore, whether safety driving distance prompting equipment can calculate α or β, judge α in the first default angular range
It is interior, or whether β in the second default angular range, so that it is determined that the second vehicle 102 occupies the car where the first vehicle 101
Road.Certain first default angular range can be it is multiple, the second default angular range can also be it is multiple, traffic safety away from
From prompting equipment according to the difference of the first default angular range, or the difference of the second default angular range, except can be with
Determine that the second vehicle 102 occupies whole tracks where the first vehicle 101, can also determine that the second vehicle 102 occupies the
Part track where one vehicle 101.
When safety driving distance prompting equipment determines that the distance between the second vehicle 102 and the first vehicle 101 are less than first
Safe distance, and determine that the second vehicle 102 occupies the part track where the first vehicle 101, the second prompting letter can be exported
Breath, the first vehicle 101 is prompted, there is the second vehicle 102 to take part track.Now, user may not take deceleration measure, only
Somewhat steering wheel rotation amendment travel direction is needed, does not interfere with the normally travel of the first vehicle 101.When traffic safety away from
Determine that the distance between the second vehicle 102 and the first vehicle 101 are less than the first safe distance from prompting equipment, and traffic safety away from
Determine that the second vehicle 102 occupies whole tracks at the place of the first vehicle 101 from prompting equipment, i.e., in the first vehicle 101
Front, safety driving distance prompting equipment can export the 3rd prompt message.Wherein, the 3rd prompt message can be used for prompting
Other vehicles take whole tracks where the first vehicle 101, and the distance between other vehicles and the first vehicle 101 are less than the
One safe distance, to prompt user to take deceleration measure, reduce the possibility that accident occurs.
Safety driving distance reminding method provided in an embodiment of the present invention, the first vehicle can be gathered by two cameras
The image of other vehicles in 101 front, the first vehicle can be determined in the image that two cameras are formed according to other vehicles
101 with the distances of other vehicles in front, and current vehicle speed and safe distance in conjunction with the first vehicle 101 export prompting letter
Breath, rear-end impact occurs to avoid driver from holding bad safe distance as far as possible or wipes extension accident.
Equipment provided in an embodiment of the present invention is introduced below in conjunction with the accompanying drawings.
Fig. 5 is referred to, based on same inventive concept, one embodiment of the invention provides a kind of safety driving distance prompting and set
Standby, safety driving distance prompting equipment includes：First photographing module 501, the second photographing module 502, processing module 503 and defeated
Go out module 504.Wherein, the first photographing module 501 can be used for the image for gathering the first vehicle 101 traveling front.Second shooting
Module 502 can be used for the image for gathering the first vehicle 101 traveling front.Processing module 503 can be used for：It is determined that there is the second car
102 appear in the pickup area of the first camera 30 and the pickup area of second camera 31 simultaneously, according to the second vehicle
The first image M1 that first area L on 102 is formed in the first camera 30 and formed in second camera 31
Two image M2, and the distance between the first camera 30 and second camera 31, calculate the first vehicle 101 and the second vehicle 102
The distance between, determine whether the distance is less than the first safe distance, the first safe distance is that the first vehicle 101 is travelling
When, from current vehicle speed with the maximum braking force of the first vehicle 101 braking to the first vehicle 101 stop travelling, between advanced
Distance.Output module 504 is used in the case where the distance is less than the first safe distance, the first prompting message of output, and first
Prompting message is used to prompt the distance between the first vehicle 101 and other vehicles to be less than the first safe distance.
Optionally, processing module 503 is specifically used for：
Obtain the current vehicle speed of the first vehicle 101；
According to the mapping relations between current vehicle speed, and speed and safe distance, the first safe distance is obtained；
It is determined that whether distance is less than the first safe distance.
Optionally, processing module 503 is specifically used for：
According to the first image M1 to the center of the first lens 301 distance, the second image M2 to the center of the second lens 311
The distance between distance, the first camera 30 and second camera 31 and first the 301 to the first light-sensitive device of lens 211
Vertical range or second the 311 to the second light-sensitive device of lens 312 vertical range, calculate first area L to the first photosensor
The vertical range of part 211 or first area L to the second light-sensitive device 312 vertical range, wherein, the first light-sensitive device 211 is
Light-sensitive device in first camera 30, the second light-sensitive device 312 be second camera 31 in light-sensitive device, the first lens
301 be the lens in the first camera 30, and the second lens 311 are the lens in second camera 31；
According to first area L to the first light-sensitive device 211 vertical range or first area L to the second light-sensitive device 312
Vertical range, calculate the distance between the first vehicle 101 and the second vehicle 102.
Optionally, processing module 503 is specifically used for：
The second image M2 is calculated to distance and the first image M1 at the center of the second lens 311 into the first lens 301
Difference between the distance of the heart；
The distance between calculating difference and the first camera 30 and second camera 31 and value；
Calculate and be worth the ratio with difference；
According to ratio, and the vertical range of first the 301 to the first light-sensitive device of lens 211 or the second lens 311 are to
The vertical range of two light-sensitive devices 312, the vertical range or first area L for calculating first area L to the first light-sensitive device 211 arrive
The vertical range of second light-sensitive device 312.
Optionally, processing module 503 is additionally operable to：
According to the first image M1 and the second image M2, determine whether the second vehicle 102 takes the car where the first vehicle 101
Road；
Output module 504 is additionally operable to：In the case of the track where the second vehicle 102 takes the first vehicle 101, output
Second prompting message, wherein, the second prompting message is used to prompt have other vehicles to take the track where the first vehicle 101.
Optionally, processing module 503 is specifically used for：
Between the line and the first camera 30 and the line of second camera 31 that obtain first area L to the first image M1
Angle；
Determine whether the second vehicle 102 takes the track at the place of the first vehicle 101 according to angle, wherein, it is located in angle
In the case of in default angular range, determine that the second vehicle 102 occupies the track where the first vehicle 101.
The equipment can be used for performing the method that the embodiment shown in Fig. 2 is provided.Therefore, for each function of the equipment
Function that module can be realized etc. refers to the description of the embodiment shown in Fig. 2, seldom repeats.
Fig. 6 is referred to, based on same inventive concept, one embodiment of the invention additionally provides another safety driving distance and carried
Show equipment, safety driving distance prompting equipment includes the first camera 601, second camera 602, processor 603 and output
Unit 604.Wherein, the first camera 601 can be used for the image for gathering the first vehicle 101 traveling front.Second camera 602
It can be used for the image for gathering the first vehicle 101 traveling front.Processor 603 can be used for：It is determined that there is the second vehicle 102 simultaneously
Appear in the pickup area of the first camera 30 and the pickup area of second camera 31, according on the second vehicle 102
One region L the first image M1 formed in the first camera 30 and the second image M2 formed in second camera 31,
And first the distance between camera 30 and second camera 31, calculate between the first vehicle 101 and the second vehicle 102 away from
From, determine whether the distance is less than the first safe distance, the first safe distance be the first vehicle 101 in motion, from current
Speed stops travelling with the maximum braking force of the first vehicle 101 braking to the first vehicle 101, between the distance advanced.Output
Unit 604 can be used in the case where the distance is less than the first safe distance, export the first prompting message, and the first prompting disappears
Cease for prompting the distance between the first vehicle 101 and other vehicles to be less than the first safe distance.
Optionally, the safety driving distance prompting equipment also includes memory, and processor 603 is used to perform in memory
The step of safety driving distance reminding method as shown in Figure 2 provided in an embodiment of the present invention is realized during the computer program of storage
Suddenly.
Optionally, processor 603 can be specifically central processing unit, ASIC (English：
Application Specific Integrated Circuit, referred to as：ASIC), can be that one or more is used to control journey
The integrated circuit that sequence performs, can be using field programmable gate array (English：Field Programmable Gate
Array, referred to as：FPGA) the hardware circuit of exploitation, can be BBP.
Optionally, memory can include read-only storage (English：Read Only Memory, referred to as：ROM it is), random
Access memory (English：Random Access Memory, referred to as：) and magnetic disk storage RAM.Memory is handled for storage
The data required when running of device 603.The quantity of memory is one or more.
Based on same inventive concept, the embodiment of the present invention provides a kind of computer-readable recording medium, and this is computer-readable
Storage medium is stored with computer instruction, when computer instruction is run on computers so that computer performs as shown in Figure 2
Method.
In specific implementation process, computer-readable recording medium includes：General serial bus USB
(Universal Serial Bus flash drive, USB), mobile hard disk, read-only storage (Read-Only Memory,
ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD etc. are various can be with storage program
The storage medium of code.
It is apparent to those skilled in the art that for convenience and simplicity of description, only with above-mentioned each function
The division progress of module, can be as needed and by above-mentioned function distribution by different function moulds for example, in practical application
Block is completed, i.e., the internal structure of device is divided into different functional modules, to complete all or part of work(described above
Energy.The specific work process of the system, apparatus, and unit of foregoing description, it may be referred to corresponding in preceding method embodiment
Journey, it will not be repeated here.
In several embodiments provided by the present invention, it should be understood that disclosed apparatus and method, it can be passed through
Its mode is realized.For example, device embodiment described above is only schematical, for example, the division of module or unit,
Only a kind of division of logic function, can there is an other dividing mode when actually realizing, such as multiple units or component can be with
With reference to or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, it is shown or discussed
Mutual coupling or direct-coupling or communication connection can be by some interfaces, the INDIRECT COUPLING of device or unit or
Communication connection, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, be shown as unit
Part can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple networks
On unit.Some or all of unit therein can be selected to realize the purpose of this embodiment scheme according to the actual needs.
In addition, each functional unit in each embodiment of the application can be integrated in a processing module, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
If integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can
To be stored in a computer read/write memory medium.Based on such understanding, the technical scheme of the application substantially or
Saying all or part of the part to be contributed to prior art or the technical scheme can be embodied in the form of software product
Out, the computer software product is stored in a storage medium, including some instructions are causing a computer equipment
(can be personal computer, server, or network equipment etc.) or processor (processor) perform each implementation of the application
The all or part of step of example method.And foregoing storage medium includes：General serial bus USB (Universal
Serial Bus flash disk), mobile hard disk, read-only storage (Read-Only Memory, ROM), random access memory
Device (Random Access Memory, RAM), magnetic disc or CD etc. are various can be with the medium of store program codes.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention
God and scope.So, if these modifications and variations of the present invention belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these changes and modification.
Claims (9)
- A kind of 1. safety driving distance reminding method, it is characterised in that including：The image in the first vehicle traveling front is gathered by the first camera and second camera of equipment；It is determined that there is the second vehicle while appear in the pickup area of first camera and the acquisition zone of the second camera In domain；The first image for being formed according to the first area on second vehicle in first camera and described The second image formed in two cameras, and the distance between first camera and described second camera, described in calculating The distance between first vehicle and second vehicle；Determine whether the distance is less than the first safe distance, first safe distance be first vehicle in motion, Stop travelling from current vehicle speed with the maximum braking force of first vehicle braking to first vehicle, between advanced away from From；In the case where the distance is less than first safe distance, the first prompting message, first prompting message are exported For prompting the distance between described first vehicle and other vehicles to be less than first safe distance.
- 2. the method as described in claim 1, it is characterised in that determine whether the distance is less than safe distance, including：Obtain the current vehicle speed of first vehicle；According to the current vehicle speed, and the mapping relations between speed and safe distance, obtain first safe distance；Determine whether the distance is less than first safe distance.
- 3. method as claimed in claim 1 or 2, it is characterised in that according to the first area on second vehicle described The first image formed in first camera and the second image formed in the second camera, and first shooting The distance between head and the second camera, the distance between first vehicle and second vehicle are calculated, including：According to the distance at center of first image to the first lens, second image to the center of the second lens away from From the distance between, first camera and described second camera and the first lens to first light-sensitive device It is photosensitive to described first to calculate the first area to the vertical range of second light-sensitive device for vertical range or the second lens The vertical range of device or the first area to second light-sensitive device vertical range, wherein, first photosensor Part is the light-sensitive device in first camera, and second light-sensitive device is the light-sensitive device in the second camera, First lens are the lens in first camera, and second lens are the lens in the second camera；It is photosensitive to the vertical range of first light-sensitive device or the first area to described second according to the first area The vertical range of device, calculate the distance between first vehicle and second vehicle.
- 4. method as claimed in claim 3, it is characterised in that calculate the first area to first light-sensitive device or institute The vertical range of the second light-sensitive device is stated, including：Second image is calculated to the distance and first image to first lens at the center of second lens Difference between the distance at center；Calculate the distance between the difference and first camera and the second camera and value；Calculate described and value and the difference ratio；Arrived according to the ratio, and first lens to the vertical range of first light-sensitive device or second lens The vertical range of second light-sensitive device, the first area is calculated to the vertical range or described of first light-sensitive device Vertical range of the first area to second light-sensitive device.
- 5. method as claimed in claim 1 or 2, it is characterised in that methods described also includes：According to first image and second image, where determining whether second vehicle takes first vehicle Track；In the case of the track where second vehicle takes first vehicle, the second prompting message is exported, wherein, institute State the second prompting message be used for prompt have track where other vehicles occupancy first vehicle.
- 6. method as claimed in claim 5, it is characterised in that according to first image and second image, determine institute State whether the second vehicle takes track where first vehicle, including：The first area is obtained to the company of the line and first camera and the second camera of first image Angle between line；According to the angle determine second vehicle whether take first vehicle where track, wherein, in the folder In the case that angle is located in default angular range, determine that second vehicle occupies the track where first vehicle.
- 7. a kind of safety driving distance prompts equipment, it is characterised in that including：First camera, for gathering the image in the first vehicle traveling front；Second camera, for gathering the image in the first vehicle traveling front；Processor, it is used for：Taken the photograph it is determined that having the second vehicle while appearing in the pickup area of first camera and described second As head pickup area in；The first image formed according to the first area on second vehicle in first camera And between the second image formed in the second camera, and first camera and the second camera away from From calculating the distance between first vehicle and second vehicle；Determine whether the distance is less than the first safe distance, First safe distance be first vehicle in motion, from current vehicle speed with the maximum braking force system of first vehicle Move first vehicle and stop traveling, between the distance advanced；Output unit, in the case of being less than first safe distance in the distance, the first prompting message is exported, it is described First prompting message is used to prompt the distance between described first vehicle and other vehicles to be less than first safe distance.
- 8. a kind of safety driving distance prompts equipment, it is characterised in that including：First photographing module, for gathering the image in the first vehicle traveling front；Second photographing module, for gathering the image in the first vehicle traveling front；Processing module, it is used for：It is determined that there is the second vehicle while appear in the pickup area and described second of first camera In the pickup area of camera；The first shadow formed according to the first area on second vehicle in first camera Picture and the second image formed in the second camera, and between first camera and the second camera Distance, calculate the distance between first vehicle and second vehicle；Determine the distance whether be less than first safety away from From first safe distance in motion, is braked for first vehicle from current vehicle speed with the maximum of first vehicle Dynamic braking stops travelling to first vehicle, between the distance advanced；Output module, in the case of being less than first safe distance in the distance, the first prompting message is exported, it is described First prompting message is used to prompt the distance between described first vehicle and other vehicles to be less than first safe distance.
- 9. a kind of computer-readable storage medium, is stored thereon with computer program, it is characterised in that：The computer program is processed The method as any one of claim 1-6 is realized when device performs.
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| CN201711051002.3A CN107839690A (en) | 2017-10-31 | 2017-10-31 | A kind of safety driving distance reminding method and equipment |
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| CN201711051002.3A CN107839690A (en) | 2017-10-31 | 2017-10-31 | A kind of safety driving distance reminding method and equipment |
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Application publication date: 20180327 |