CN109740433B - Vehicle avoiding method and vehicle-mounted terminal - Google Patents
Vehicle avoiding method and vehicle-mounted terminal Download PDFInfo
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- CN109740433B CN109740433B CN201811445398.4A CN201811445398A CN109740433B CN 109740433 B CN109740433 B CN 109740433B CN 201811445398 A CN201811445398 A CN 201811445398A CN 109740433 B CN109740433 B CN 109740433B
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Abstract
The application discloses a vehicle avoiding method and a vehicle-mounted terminal. The method comprises the following steps: acquiring image information of the rear part of the first vehicle; performing image recognition according to the image information to obtain state information of the vehicle at the rear part of the first vehicle; and reminding the first vehicle to avoid when the vehicle at the rear part of the first vehicle is avoided according to the state information of the vehicle at the rear part of the first vehicle. A corresponding vehicle-mounted terminal is also disclosed. By adopting the scheme, the state information of the vehicle at the rear part of the vehicle is obtained by carrying out image recognition on the image information at the rear part of the current vehicle, and the vehicle at the rear part of the vehicle is avoided according to the state information of the vehicle at the rear part of the vehicle, so that the avoidance can be timely and reasonably carried out, and the safety and smooth driving of the vehicle are ensured.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a vehicle avoiding method and a vehicle-mounted terminal.
Background
With the continuous progress of society, the frequency of people using vehicles for traveling is greatly increased due to the convenience of using the vehicles. However, since the expansion of the road capacity of the city cannot cope with the increase of the traffic flow, the traffic flow in the city is increased increasingly, and the number of vehicles is increased, so that the driving danger is increased greatly, particularly in the peak time period of each day.
The current vehicle avoidance method, such as advanced driving assistance system (advanced driver assistance systems, ADAS) technology, mainly performs front-vehicle collision early warning to determine whether a collision with a vehicle in front of a driver occurs, and only when the distance is short, can a determination be made. However, the danger from the rear of the vehicle is not ignored, and the proportion of rear-end accidents in the vehicle accidents is also a certain proportion.
Disclosure of Invention
The application provides a vehicle avoidance method and a vehicle-mounted terminal, which can avoid vehicles timely and reasonably and ensure the safety and smooth driving of the vehicles.
In a first aspect, an embodiment of the present application provides a vehicle avoidance method, including: acquiring image information of the rear part of the first vehicle; performing image recognition according to the image information to obtain state information of the vehicle at the rear part of the first vehicle; and reminding the first vehicle to avoid when the vehicle at the rear part of the first vehicle is avoided according to the state information of the vehicle at the rear part of the first vehicle.
In one possible implementation, the acquiring the image information of the rear portion of the first vehicle includes one or more of the following operations: respectively acquiring distance information between a vehicle at the rear part of the first vehicle and the first vehicle at different moments; or acquiring signal lamp information of a vehicle at the rear part of the first vehicle; or acquiring license plate information of a vehicle at the rear part of the first vehicle; or acquiring special vehicle characteristic information of a vehicle behind the first vehicle.
In another possible embodiment, the performing image recognition according to the image information to obtain state information of the vehicle at the rear of the first vehicle includes: calculating a time for the second vehicle to catch up with the first vehicle according to a first distance between the first vehicle and the second vehicle at a first moment, a second distance between the first vehicle and the second vehicle at a second moment and an initial speed of the first vehicle, wherein the second vehicle is positioned at the rear part of the first vehicle; determining that the second vehicle is approaching the first vehicle quickly when the time for the second vehicle to catch up with the first vehicle is less than or equal to a time threshold; or determining that the second vehicle is about to change lanes according to the signal lamp information of the second vehicle; acquiring a history driving behavior record of the second vehicle according to license plate information of the second vehicle; determining that the second vehicle has bad driving behaviors according to the historical driving behavior record of the second vehicle; or when the second vehicle has the special vehicle characteristic information, determining that the second vehicle is a special vehicle.
In yet another possible embodiment, the calculating the time for the second vehicle to catch up with the first vehicle according to the first distance, the second distance, and the initial speed of the first vehicle includes: according to the first distance S n-1 The second distance S n-2 First time T 1 Second time T 2 An initial speed V of the first vehicle 0 Calculating to obtain the second vehicle at T 2 Velocity V of (2) n ＝V 0 +(S n-1 -S n-2 )/(T 2 -T 1 ) The method comprises the steps of carrying out a first treatment on the surface of the According to the second distance S n-2 、V n V (V) 0 Calculating the time t=s for the second vehicle to catch up with the first vehicle n-2 /(V n -V 0 )。
In one possible embodiment, the reminding the first vehicle to avoid when according to the state information of the vehicle behind the first vehicle includes: and when the second vehicle is approaching the first vehicle quickly, or the second vehicle is about to change lanes, or the second vehicle has bad driving behavior, or the second vehicle is a special vehicle, avoiding the second vehicle.
In another possible embodiment, the reminding the first vehicle to avoid includes: reminding the first vehicle to avoid by one or more of the following: voice prompt, vibration prompt and acousto-optic prompt.
In a second aspect, an embodiment of the present application provides a vehicle-mounted terminal, including: an acquisition unit configured to acquire image information of a rear portion of a first vehicle; the identification unit is used for carrying out image identification according to the image information to obtain the state information of the vehicle at the rear part of the first vehicle; and the reminding unit is used for reminding the first vehicle to avoid when the vehicle at the rear part of the first vehicle is avoided according to the state information of the vehicle at the rear part of the first vehicle.
In one possible embodiment, the acquisition unit includes: a first obtaining subunit, configured to obtain distance information between a vehicle behind the first vehicle and the first vehicle at different moments, respectively; or a second acquisition subunit, configured to acquire signal lamp information of a vehicle behind the first vehicle; or a third acquisition subunit, configured to acquire license plate information of a vehicle in a rear portion of the first vehicle; or a fourth acquisition subunit configured to acquire special vehicle characteristic information of a vehicle behind the first vehicle.
In another possible embodiment, the identification unit includes: a calculating subunit configured to calculate a time for the second vehicle to catch up with the first vehicle according to a first distance between the first vehicle and the second vehicle at a first time, a second distance between the first vehicle and the second vehicle at a second time, and an initial speed of the first vehicle, wherein the second vehicle is located at a rear portion of the first vehicle; a first determination subunit configured to determine that the second vehicle is approaching the first vehicle quickly when a time for the second vehicle to catch up with the first vehicle is less than or equal to a time threshold; or a second determining subunit, configured to determine that the second vehicle is about to change lanes according to signal light information of the second vehicle; a fifth obtaining subunit, configured to obtain a historical driving behavior record of the second vehicle according to license plate information of the second vehicle; a third determination subunit, configured to determine, according to the historical driving behavior record of the second vehicle, that the second vehicle has poor driving behavior; or a fourth determination subunit configured to determine that the second vehicle is a special vehicle when the second vehicle has special vehicle characteristic information.
In a further possible embodiment, the computing subunit is configured to: according to the first distance S n-1 The second distance S n-2 First time T 1 Second time T 2 An initial speed V of the first vehicle 0 Calculating to obtain that the second vehicle is in the roadT 2 Velocity V of (2) n ＝V 0 +(S n-1 -S n-2 )/(T 2 -T 1 ) The method comprises the steps of carrying out a first treatment on the surface of the According to the second distance S n-2 、V n V (V) 0 Calculating the time t=s for the second vehicle to catch up with the first vehicle n-2 /(V n -V 0 )。
In one possible implementation manner, the reminding unit is used for reminding the first vehicle to avoid the second vehicle when the second vehicle is approaching the first vehicle quickly, or the second vehicle is about to change lanes, or the second vehicle has bad driving behavior, or the second vehicle is a special vehicle.
In another possible implementation manner, the reminding unit is used for reminding the first vehicle to avoid by one or more of the following modes: voice prompt, vibration prompt and acousto-optic prompt.
In a third aspect, a vehicle-mounted terminal is provided, which is characterized by comprising a processor, an input device, an output device and a memory, wherein the memory is configured to store a computer program, the computer program includes program instructions, and the processor is configured to invoke the program instructions to execute a vehicle avoidance method as described in the first aspect and any implementation manner thereof.
In a fourth aspect, there is provided a computer readable storage medium storing a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the method of the first aspect and any implementation thereof.
In a fifth aspect, there is provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the method of the first aspect and any implementation thereof.
According to the vehicle avoidance method and the vehicle-mounted terminal, the state information of the vehicle at the rear part of the vehicle is obtained by carrying out image recognition on the image information at the rear part of the current vehicle, and the vehicle at the rear part of the vehicle is avoided according to the state information of the vehicle at the rear part of the vehicle, so that avoidance can be timely and reasonably carried out, and safety and smooth driving of the vehicle are ensured.
Drawings
Fig. 1 is a schematic flow chart of a vehicle avoidance method provided in an embodiment of the present application;
fig. 2 is a schematic flow chart of another vehicle avoidance method according to an embodiment of the present application;
FIG. 3 is a schematic illustration of an exemplary vehicle avoidance;
Fig. 4 is a schematic structural diagram of a vehicle-mounted terminal according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of another vehicle-mounted terminal according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
It should be understood that the terms "comprises" and "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
With the development of economy, vehicles are kept more and more on the road, and with the richness of driving experience, the driving speed is faster and faster, and overtaking is favored, but people have insufficient driving experience and have a plurality of bad driving habits. If these vehicles are located at the rear of the user's vehicle, certain security threats may be caused to the user's vehicle, and the user needs to avoid timely and reasonably. In addition, in order to advocate a harmonious society, certain special vehicles, such as fire trucks, ambulances and the like, should be reasonably avoided, so that smooth driving of the special vehicles is ensured, and basic personal and property safety of people is ensured.
The application provides a vehicle avoidance method and a vehicle-mounted terminal, which are used for obtaining the state information of the vehicle at the rear part of the vehicle by carrying out image recognition on the image information at the rear part of the current vehicle, and avoiding the vehicle at the rear part of the vehicle according to the state information of the vehicle at the rear part of the vehicle, so that avoidance can be timely and reasonably carried out, and the safety and smooth driving of the vehicle are ensured.
Referring to fig. 1, fig. 1 is a schematic flow chart of a vehicle avoidance method according to an embodiment of the present application.
As shown in fig. 1, the method includes:
s101, acquiring image information of the rear part of the first vehicle.
In this embodiment, the vehicle-mounted terminal may be an intelligent vehicle-mounted terminal, such as an intelligent network connection device, a central control device of an automobile, and the like, and an operating system of the vehicle-mounted terminal may be an android system, an iOS system, or a windows system. The vehicle-mounted terminal may be mounted on the vehicle before the vehicle leaves the factory, or may be mounted on the vehicle after the vehicle leaves the factory, or one or more vehicle-mounted terminals may be mounted on one vehicle, which is not limited in this application.
The vehicle-mounted terminal can be connected with the Internet, and can also be provided with various client programs, such as an instant messaging tool, a third party payment tool, audio-video software and the like. The vehicle-mounted terminal can be provided with a memory and a central processing unit, and can be used for sending data requests or receiving data requests, and can also be used for analyzing, verifying, storing and the like. When a special vehicle is required to give way or the rear vehicle threatens the running of a driver in the running process of the vehicle, the vehicle-mounted terminal can remind the driver with voice, vibration or sound and light.
After the vehicle is started, the vehicle-mounted terminal starts a shooting process, sends a shooting instruction to a shooting head at the rear of the vehicle, and performs video acquisition on the vehicle at the rear. The acquired image includes image information of one or more vehicles behind the current vehicle. The image information includes distance information from the first vehicle, information of the vehicle itself behind the first vehicle. The information of the vehicle itself at the rear of the first vehicle includes signal lamp information, license plate information, special vehicle characteristic information, and the like of the vehicle.
S102, performing image recognition according to the image information to obtain the state information of the vehicle at the rear part of the first vehicle.
The vehicle-mounted terminal performs image recognition on the acquired image information. Wherein, the image recognition is divided into four parts: preprocessing, image segmentation, feature extraction and judgment of matching.
The image recognition is a technology that a computer processes, analyzes and understands images to recognize targets and objects of various modes, where the in-vehicle terminal can recognize image information of the rear of a vehicle by using the image recognition technology to obtain state information of the rear vehicle.
The state information of the vehicle at the rear of the first vehicle includes: whether a first vehicle is approaching quickly, whether a lane change is imminent, whether there is poor driving behavior, whether it is a special vehicle, etc.
And S103, reminding the first vehicle of avoiding when the vehicle at the rear part of the first vehicle is avoided according to the state information of the vehicle at the rear part of the first vehicle.
When the vehicle at the rear part of the first vehicle is determined to need to avoid according to the state information of the vehicle at the rear part of the first vehicle, reminding the first vehicle to avoid; and when the fact that avoidance of the vehicle at the rear part of the first vehicle is not needed is determined according to the state information of the vehicle at the rear part of the first vehicle, the vehicle runs normally.
Optionally, reminding the first vehicle to avoid based on the state information of the vehicle at the rear of the first vehicle may include: the method for reminding the user by voice, vibration, sound and light or one or more reminding modes is not limited.
For example, when it is determined that the vehicle at the rear of the first vehicle needs to avoid according to the state information of the vehicle at the rear of the first vehicle, the vehicle-mounted terminal of the first vehicle may look at a dashboard commonly used by a driver to look at a bright-colored (e.g. red) warning light that may flash and be bright, and meanwhile, a voice prompt is accompanied with "the rear vehicle is approaching quickly, please the driver pay attention to keep away from avoiding", and the sensing device of the driver's seat may control vibration to prompt the driver.
When the driver receives various reminders, the rearview mirror of the vehicle can be checked, and the vehicle can run in a lane change or avoid the lane change based on the current road condition, so that the running safety and smooth driving are ensured.
According to the vehicle avoidance method, the state information of the vehicle at the rear part of the vehicle is obtained by carrying out image recognition on the image information at the rear part of the current vehicle, and the vehicle at the rear part of the vehicle is avoided according to the state information of the vehicle at the rear part of the vehicle, so that avoidance can be timely and reasonably carried out, and safety and smooth driving of the vehicle are ensured.
Referring to fig. 2, fig. 2 is a schematic flow chart for further refining the embodiment shown in fig. 1.
In the step S101, the acquiring of the image information of the rear portion of the first vehicle specifically includes:
s2011, respectively acquiring distance information between a second vehicle and the first vehicle at the rear part of the first vehicle at different moments; or (b)
S2012, acquiring signal lamp information of the second vehicle; or (b)
S2013, license plate information of the second vehicle is acquired; or (b)
S2014, acquiring special vehicle characteristic information of the second vehicle.
After the vehicle is started, the vehicle-mounted terminal starts a shooting process, shooting instructions are sent to a camera at the rear of the vehicle, video acquisition is carried out on the rear vehicle, after a period of time of rear vehicle driving fragments are acquired, video images at a first moment and a second moment are shot or intercepted, and two images are obtained, wherein the two images comprise image information of one or more vehicles at the rear of the current vehicle. The vehicle-mounted terminal can calculate the relative distance between one or more vehicles behind two moments, namely a first distance between a first vehicle and a second vehicle at a first moment and a second distance between the first vehicle and the second vehicle at a second moment by using an image recognition technology, wherein the second vehicle is positioned behind the first vehicle.
The acquired image information also comprises signal lamp information, license plate information, special vehicle characteristic information and the like. Seventh, the special vehicle characteristic information may include a special appearance of the vehicle, a special logo on the vehicle, and the like.
Alternatively, after the information is obtained, the information may be identified in a vivid color (e.g., red) on the image and stored for later use.
The step S202 of performing image recognition according to the image information to obtain the state information of the vehicle at the rear part of the first vehicle specifically includes:
s2021, calculating a time for the second vehicle to catch up with the first vehicle according to a first distance between the first vehicle and the second vehicle at a first time, a second distance between the first vehicle and the second vehicle at a second time, and an initial speed of the first vehicle, wherein the second vehicle is located at a rear portion of the first vehicle;
s2022, when the time for the second vehicle to catch up with the first vehicle is less than or equal to a time threshold, determining that the second vehicle is approaching the first vehicle quickly; or (b)
S2023, determining that the second vehicle is about to change lanes according to the signal lamp information of the second vehicle;
S2024, acquiring a history driving behavior record of the second vehicle according to license plate information of the second vehicle;
s2025, determining that the second vehicle has bad driving behaviors according to the historical driving behavior record of the second vehicle; or (b)
S2026, when the second vehicle has the special vehicle characteristic information, determining that the second vehicle is a special vehicle.
Specifically, in S2021, calculating the time for the second vehicle to catch up with the first vehicle mainly includes two steps: the travel speed of the second vehicle at the second moment can be obtained by using a speed difference formula, and the time for the one or more second vehicles to catch up with the first vehicle can be calculated by using a catch-up problem displacement speed formula.
Specifically, at a vehicle speed V at which the vehicle is known to travel 0 The two moments are the first moment T when the photographed video starts 1 And a second time T 2 The relative distance of the first moment identified by the vehicle-mounted terminal is S n-1 The relative distance at the second moment is S n-2 Can calculate that the second vehicle is at T 2 Travel speed V at time n ＝V 0 +(S n-1 -S n-2 )/(T 2 -T 1 ) Here, n represents an nth second vehicle photographed behind the first vehicle, and the numbering is automatically recognized by the in-vehicle terminal. From V which has been calculated before n And a known vehicle speed V 0 The time t=s for the second vehicle to catch up with the first vehicle can be calculated n-2 /(V n -V 0 )。
Specifically, in S2022, when the above-described time t is less than or equal to the time threshold value, it is determined that the second vehicle is approaching the first vehicle quickly.
Mainly, there are two cases, one is that the rear vehicle has bad driving behavior in the lane of the own vehicle, i.e. when the vehicle-mounted terminal calculates t=s n-2 /(V n -V 0 ) When the time threshold value is smaller than or equal to the time threshold value, the vehicle-mounted terminal reminds the driver of the first vehicle that the vehicle is approaching quickly and please pay attention to the avoidance. This time threshold may be 30 seconds, 1 minute 30 seconds, two minutes, etc., and is not described hereinAnd is limited.
In the second case, if it is detected that there is a bad driving behavior of the left and right adjacent lane vehicles behind the driving vehicle, that is, not only t=s is calculated at the in-vehicle terminal n-2 /(V n -V 0 ) When the time threshold value is smaller than or equal to the time threshold value, the vehicle-mounted terminal reminds the driver that the vehicle behind the vehicle owner is approaching quickly and notices to avoid when the left adjacent lane vehicle has a right lane changing signal lamp or the right adjacent lane vehicle has a left lane changing signal lamp.
For example, the preset time threshold of the vehicle-mounted terminal is 30 seconds, when the vehicle-mounted terminal calculates that the time that the second vehicle behind can catch up with the first vehicle is 15 seconds, the vehicle-mounted terminal judges that the current catch-up time is smaller than the preset time, namely, reminds a driver that the vehicle behind is approaching quickly, and notes that the vehicle behind is far away from avoidance.
Or the preset time threshold of the vehicle-mounted terminal is 30 seconds, the vehicle-mounted terminal detects that the left and right adjacent lane vehicles have bad driving behaviors, and when the vehicle-mounted terminal calculates that the time that the second vehicle behind can catch up with the first vehicle is 30 seconds, the vehicle-mounted terminal reminds a driver that the vehicle behind is approaching rapidly, and notices to keep away from avoidance.
Specifically, in step S2023, the vehicle-mounted terminal acquires the signal lamp information of the second vehicle, and further, the running tendency of the second vehicle can be determined. In the intercepted images, the first vehicle-mounted terminal can also perform judgment matching, wherein the special judgment matching is also called feature matching, and is an algorithm for performing parameter description on features by respectively extracting features (features such as points, lines, planes and the like) of two or more images and then performing matching by using the described parameters. Features typically included in images processed based on matching of features are color features, texture features, shape features, spatial location features, and the like. By performing the above four aspects of processing on the two images, traffic signal information of the one or more second vehicles may be obtained, including left turn lights, right turn lights, double flashing, and so on.
In one possible embodiment, the vehicle-mounted terminal may identify traffic lights, motor vehicle lights, non-motor vehicle lights, lane lights, direction indication lights, and flashing warning lights, which may be, but are not limited to, the mentioned signal types, and may also include road plane intersection lights, and the like.
Based on the information obtained by the recognition, for example, a state in which the left turn lamp of one of the second vehicles is on at the first time and the second time or on at one of the times, it is determined that the vehicle is about to turn left, for example, a state in which the brake signal lamp of the other of the second vehicles is on at the first time and the second time, and it is determined that the second vehicle is about to stop.
In step S2024, the first vehicle-mounted terminal transmits license plate information of the second vehicle to the server, acquires a history of driving behavior of the second vehicle from the server, including: the vehicle-mounted terminal can identify license plate information, appearance characteristics, road condition information and the like of the vehicles in the images from the intercepted images, sends the identified license plate number information to a server of a traffic bureau, and sends a request to the server, wherein the request comprises historical driving behavior records, particularly bad driving behavior records, of one or more second vehicles with the identified license plate numbers to the server.
Specifically, in step S2025, it is determined that the second vehicle has bad driving behavior from the history of driving behavior of the second vehicle.
Specifically, in step S2026, when the second vehicle has the special vehicle characteristic information, it is determined that the second vehicle is a special vehicle.
Specifically, according to the one or more feature points collected in step S2014, the comparison request is sent to a server, and is compared with a special identifier on the server to determine whether the comparison is a special vehicle, where the special vehicle refers to an ambulance, a traffic guiding vehicle, an oil tank truck or other special vehicles. The special vehicles are provided with special marks on the outer surface side of the vehicle so as to avoid surrounding vehicles.
The server receives a comparison request sent by a first vehicle, wherein the request contains a mark or license plate identification information of the comparison. And the vehicle-mounted terminal of the first vehicle waits for feedback of the comparison result of the server. And the server compares the received identification information with the identification information in the database, if the comparison image information is matched or the similarity reaches a preset threshold value, the server judges that the identification information uploaded by the current vehicle-mounted terminal belongs to a special vehicle identification, and returns the comparison result to the vehicle-mounted terminal.
Specifically, a threshold value can be preset manually according to the received comparison result of the server, and when the similarity of the shot images is compared or the two images are compared by other comparison methods, the attribute of the vehicle can be determined, namely whether one or more second vehicles behind the current vehicle are ambulances, traffic leading vehicles, tank trucks and other special vehicles or not can be judged.
In the process from image processing to the process of extracting the identification information of one or more second vehicles behind, the image segmentation is a very important part, the image segmentation may be based on not only boundaries (objects have boundaries) but also region characteristics (gray scale or texture coincidence), and for the analysis of images based on boundaries, a common method is that the detected isolated points form a curve or continuous regions, namely the process of extracting the characteristics of the image recognition technology, and the identification information of the second vehicles can be obtained from the images through the two processes.
Further, image enhancement techniques, i.e., purposefully emphasizing the overall or local characteristics of the image, making the original unclear image clear or emphasizing some interesting features, expanding the differences between different object features in the image, suppressing the uninteresting features, improving the image quality, enriching the information content, enhancing the image interpretation and recognition effect, and meeting the needs of some special analyses, can be used. In the embodiment of the application, the identified identification information can be subjected to image enhancement processing, and feature extraction points of the enhanced identification information can be compared, or the image can be subjected to feature extraction after the image is enhanced.
And the vehicle-mounted terminal reminds or does not reminds the behavior of the driver according to the data and the comparison result sent by the server.
S203, reminding the first vehicle to avoid the second vehicle when the second vehicle is approaching the first vehicle quickly and is about to change lanes, and bad driving behaviors exist in the second vehicle or the second vehicle is a special vehicle.
According to the state information of the second vehicle at the rear of the first vehicle determined in the above steps S2021 to S2026, when it is determined to avoid the second vehicle, the vehicle-mounted terminal issues a reminder, which may remind the driver to pay attention to the giving way in terms of voice, sound and light, vibration. The content of the voice packet is different, or the display mark or sound of the instrument panel in the central control equipment is different, and the vibration frequency, the length and the period are different.
For example, when the comparison result indicates that a special vehicle (such as an ambulance, a traffic guiding vehicle, an emergency rescue vehicle, an oil tank truck and other special vehicles) is located at the rear, a warning mark appears on an instrument panel of the central control device, and meanwhile, a driver is reminded of the special vehicle to pay attention to the driver's attention to the special vehicle's way to get away ' by vehicle voice, and accompanying vibration, details are omitted here.
When the driver receives the prompt sent by the vehicle-mounted terminal, the scheme that the driver can avoid at present can be specifically analyzed according to the current road vehicle condition and the specific running condition, for example, the driver can change the road or park the vehicle so as to avoid the rear coming vehicle.
FIG. 3 is a scene graph illustrating an example vehicle avoidance. In fig. 3, vehicle No. 1 is a first vehicle, vehicle No. 2 and vehicle No. 3 are vehicles No. … … n are second vehicles at the rear of vehicle No. 1. Also shown in fig. 3 are the positions of the vehicle numbers 1 and 2, … … n at time T1, and the possible positions of the vehicle numbers 1 and 2, … … n at time T2. The vehicle No. 2 and the vehicle No. 3 … … n may be any position at the time T2, that is, the vehicle No. 2 and the vehicle No. 3 … … n may be closer to or further from the vehicle No. 1, or the vehicle No. 2 and the vehicle No. 3 … … n may change lanes. If any one of the vehicles No. 2 and No. 3 vehicles … … n is closer to the vehicle No. 1, or there is a lane change behavior, or there is a bad driving behavior, or the vehicle is a special vehicle, the vehicle No. 1 needs to be reminded to avoid.
According to the vehicle avoidance method, the state information of the vehicle at the rear part of the vehicle is obtained by carrying out image recognition on the image information at the rear part of the current vehicle, and the vehicle at the rear part of the vehicle is avoided according to the state information of the vehicle at the rear part of the vehicle, so that avoidance can be timely and reasonably carried out, and safety and smooth driving of the vehicle are ensured.
Fig. 4 is a schematic structural diagram of an in-vehicle terminal provided in an embodiment of the present application, where the in-vehicle terminal 3000 includes:
an acquisition unit 301 for acquiring image information of a first vehicle rear portion;
an identifying unit 302, configured to perform image identification according to the image information, so as to obtain state information of a vehicle at the rear of the first vehicle;
and a reminding unit 303, configured to remind the first vehicle to avoid when the vehicle behind the first vehicle is avoided according to the state information of the vehicle behind the first vehicle.
In one possible implementation, the acquiring unit 301 includes:
a first acquiring subunit 3011, configured to acquire distance information between a vehicle behind the first vehicle and the first vehicle at different moments; or (b)
A second acquisition subunit 3012 for acquiring signal lamp information of a vehicle behind the first vehicle; or (b)
A third acquisition subunit 3013, configured to acquire license plate information of a vehicle behind the first vehicle; or (b)
A fourth acquisition subunit 3014 for acquiring special vehicle characteristic information of a vehicle behind the first vehicle.
In another possible implementation manner, the identifying unit 302 includes:
A calculating subunit 3021 configured to calculate a time when the second vehicle catches up with the first vehicle according to a first distance between the first vehicle and the second vehicle at a first time, a second distance between the first vehicle and the second vehicle at a second time, and an initial speed of the first vehicle, wherein the second vehicle is located at a rear portion of the first vehicle;
a first determining subunit 3022 for determining that the second vehicle is approaching the first vehicle quickly when the time for the second vehicle to catch up with the first vehicle is less than or equal to a time threshold; or (b)
A second determining subunit 3023, configured to determine that the second vehicle is about to change lanes according to the signal light information of the second vehicle; or (b)
A fifth obtaining subunit 3024, configured to obtain a historical driving behavior record of the second vehicle according to license plate information of the second vehicle;
a third determining subunit 3025 configured to determine that the second vehicle has poor driving behavior according to the history of driving behavior of the second vehicle; or (b)
A fourth determination subunit 3026 configured to determine that the second vehicle is a special vehicle when the second vehicle has the special vehicle characteristic information.
In yet another possible implementation, the computing subunit 3021 is configured to:
according to the first distance S n-1 The second distance S n-2 First time T 1 Second time T 2 An initial speed V of the first vehicle 0 Calculating to obtain the second vehicle at T 2 Velocity V of (2) n ＝V 0 +(S n-1 -S n-2 )/(T 2 -T 1 )；
According to the second distance S n-2 、V n V (V) 0 Calculating the time t=s for the second vehicle to catch up with the first vehicle n-2 /(V n -V 0 )。
In one possible implementation manner, the reminding unit 303 is configured to avoid the second vehicle when the second vehicle is approaching the first vehicle quickly, the second vehicle is about to change lanes, the second vehicle has bad driving behavior, or the second vehicle is a special vehicle.
In another possible implementation manner, the reminding unit 303 is configured to remind the first vehicle to avoid by one or more of the following manners: voice prompt, vibration prompt and acousto-optic prompt.
According to the vehicle-mounted terminal provided by the embodiment of the application, the state information of the vehicle at the rear part of the vehicle is obtained by carrying out image recognition on the image information at the rear part of the current vehicle, and the vehicle at the rear part of the vehicle is avoided according to the state information of the vehicle at the rear part of the vehicle, so that the vehicle can be avoided timely and reasonably, and the safety and smooth driving of the vehicle are ensured.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an in-vehicle terminal 4000 according to an embodiment of the present application. The in-vehicle terminal in the present embodiment as shown in fig. 5 may include: a processor 401, an input device 402, an output device 403, and a memory 404. The memory 404 is used for storing a computer program comprising program instructions and the processor 401 is used for executing the program instructions stored in the memory 404. Wherein the processor 401 is configured to invoke program instruction execution:
acquiring image information of the rear part of the first vehicle;
performing image recognition according to the image information to obtain state information of the vehicle at the rear part of the first vehicle;
and reminding the first vehicle to avoid when the vehicle at the rear part of the first vehicle is avoided according to the state information of the vehicle at the rear part of the first vehicle.
In one possible implementation manner, the step of performing image recognition according to the image information by the processor 401 to obtain state information of the vehicle at the rear of the first vehicle includes:
calculating a time for the second vehicle to catch up with the first vehicle according to a first distance between the first vehicle and the second vehicle at a first moment, a second distance between the first vehicle and the second vehicle at a second moment and an initial speed of the first vehicle, wherein the second vehicle is positioned at the rear part of the first vehicle;
Determining that the second vehicle is approaching the first vehicle quickly when the time for the second vehicle to catch up with the first vehicle is less than or equal to a time threshold; or (b)
Determining that the second vehicle is about to change lanes according to the signal lamp information of the second vehicle;
acquiring a history driving behavior record of the second vehicle according to license plate information of the second vehicle;
determining that the second vehicle has bad driving behaviors according to the historical driving behavior record of the second vehicle; or (b)
And when the second vehicle has the special vehicle characteristic information, determining that the second vehicle is a special vehicle.
In another possible embodiment, the step of calculating the time for the second vehicle to catch up with the first vehicle according to the first distance, the second distance and the initial speed of the first vehicle is performed by the processor 401, including:
according to the first distance S n-1 The second distance S n-2 First time T 1 Second time T 2 An initial speed V of the first vehicle 0 Calculating to obtain the second vehicle at T 2 Velocity V of (2) n ＝V 0 +(S n-1 -S n-2 )/(T 2 -T 1 )；
According to the second distance S n-2 、V n V (V) 0 Calculating the time t=s for the second vehicle to catch up with the first vehicle n-2 /(V n -V 0 )。
In yet another possible embodiment, the processor 401 performs the step of reminding the first vehicle to avoid when the state information of the vehicle behind the first vehicle is based on the state information of the vehicle, including:
and when the second vehicle is approaching the first vehicle quickly, the second vehicle is about to change lanes, and the second vehicle has bad driving behavior, or the second vehicle is a special vehicle, avoiding the second vehicle.
In one possible implementation, the processor 401 performs the step of reminding the first vehicle to avoid, including:
reminding the first vehicle to avoid by one or more of the following: voice prompt, vibration prompt and acousto-optic prompt.
It should be appreciated that in embodiments of the present application, the processor 401 may be a central processing unit (Central Processing Unit, CPU), which may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSPs), application specific integrated circuits (Application Specific Integrated Circuit, ASICs), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The output device 402 is for outputting data, and the input device 403 is for inputting data.
The memory 404 may include read only memory and random access memory and provide instructions and data to the processor 401. A portion of memory 404 may also include non-volatile random access memory. For example, memory 404 may also store information of device type.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the described system, apparatus and unit may refer to corresponding procedures in the foregoing method embodiments, which are not described in detail herein.
In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the division of the unit is merely a logic function division, and there may be another division manner when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted or not performed. The coupling or direct coupling or communication connection shown or discussed with each other may be through some interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In the described embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted across a computer-readable storage medium. The computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a read-only memory (ROM), or a random-access memory (random access memory, RAM), or a magnetic medium, such as a floppy disk, a hard disk, a magnetic tape, a magnetic disk, or an optical medium, such as a digital versatile disk (digital versatile disc, DVD), or a semiconductor medium, such as a Solid State Disk (SSD), or the like.
Claims (9)
1. A vehicle avoidance method, comprising:
acquiring image information of a rear portion of a first vehicle, comprising: respectively acquiring distance information between a vehicle at the rear part of the first vehicle and the first vehicle at different moments and acquiring signal lamp information of the vehicle at the rear part of the first vehicle;
performing image recognition according to the image information to obtain state information of the vehicle at the rear part of the first vehicle, wherein the method comprises the following steps: calculating a time for the second vehicle to catch up with the first vehicle according to a first distance between the first vehicle and the second vehicle at a first moment, a second distance between the first vehicle and the second vehicle at a second moment and an initial speed of the first vehicle, wherein the second vehicle is positioned at the rear part of the first vehicle; determining that the second vehicle is approaching the first vehicle quickly when the time for the second vehicle to catch up with the first vehicle is less than or equal to a time threshold; wherein the calculating the time for the second vehicle to catch up with the first vehicle according to the first distance, the second distance and the initial speed of the first vehicle comprises: according to the first distance S n-1 The second distance S n-2 First time T 1 Second time T 2 An initial speed V of the first vehicle 0 Calculating to obtain the second vehicle at T 2 Velocity V of (2) n =V 0 +(S n-1 -S n-2 )/(T 2 -T 1 ) The method comprises the steps of carrying out a first treatment on the surface of the According to the second distance S n-2 、V n V (V) 0 Calculating the time t=s for the second vehicle to catch up with the first vehicle n-2 /（V n -V 0 ）；
And reminding the first vehicle to avoid when the vehicle at the rear part of the first vehicle is avoided according to the state information of the vehicle at the rear part of the first vehicle.
2. The method of claim 1, wherein the acquiring image information of the rear of the first vehicle further comprises one or more of:
acquiring license plate information of a vehicle at the rear part of the first vehicle; or (b)
Special vehicle characteristic information of a vehicle behind the first vehicle is acquired.
3. The method of claim 2, wherein the performing image recognition based on the image information to obtain the state information of the vehicle at the rear of the first vehicle comprises:
determining that the second vehicle is about to change lanes according to the signal lamp information of the second vehicle;
acquiring a history driving behavior record of the second vehicle according to license plate information of the second vehicle;
Determining that the second vehicle has bad driving behaviors according to the historical driving behavior record of the second vehicle; or (b)
And when the second vehicle has the special vehicle characteristic information, determining that the second vehicle is a special vehicle.
4. The method of claim 2, wherein prompting the first vehicle to avoid when based on the status information of the vehicle behind the first vehicle comprises:
and reminding the first vehicle to avoid the second vehicle when the second vehicle is approaching the first vehicle quickly and is about to change lanes and has bad driving behavior or the second vehicle is a special vehicle.
5. The method of claim 1 or 4, wherein the prompting the first vehicle to avoid comprises:
reminding the first vehicle to avoid by one or more of the following: voice prompt, vibration prompt and acousto-optic prompt.
6. A vehicle-mounted terminal, characterized by comprising:
an acquisition unit configured to acquire image information of a rear portion of a first vehicle;
a first obtaining subunit, configured to obtain distance information between a vehicle behind the first vehicle and the first vehicle at different moments, respectively;
A second acquisition subunit, configured to acquire signal lamp information of a vehicle behind the first vehicle;
an identification unit, configured to perform image identification according to the image information, to obtain state information of a vehicle at the rear of the first vehicle, including: calculating a time for the second vehicle to catch up with the first vehicle according to a first distance between the first vehicle and the second vehicle at a first moment, a second distance between the first vehicle and the second vehicle at a second moment and an initial speed of the first vehicle, wherein the second vehicle is positioned at the rear part of the first vehicle; determining that the second vehicle is approaching the first vehicle quickly when the time for the second vehicle to catch up with the first vehicle is less than or equal to a time threshold; wherein the calculating the time for the second vehicle to catch up with the first vehicle according to the first distance, the second distance and the initial speed of the first vehicle comprises: according to the first distance S n-1 The second distance S n-2 First time T 1 Second time T 2 An initial speed V of the first vehicle 0 Calculating to obtain the second vehicle at T 2 Velocity V of (2) n =V 0 +(S n-1 -S n-2 )/(T 2 -T 1 ) The method comprises the steps of carrying out a first treatment on the surface of the According to the second distance S n-2 、V n V (V) 0 Calculating the time t=s for the second vehicle to catch up with the first vehicle n-2 /（V n -V 0 ）；
And the reminding unit is used for reminding the first vehicle to avoid when the vehicle at the rear part of the first vehicle is avoided according to the state information of the vehicle at the rear part of the first vehicle.
7. The vehicle-mounted terminal according to claim 6, wherein the acquisition unit includes:
a third acquisition subunit, configured to acquire license plate information of a vehicle in a rear portion of the first vehicle; or (b)
And a fourth acquisition subunit configured to acquire special vehicle characteristic information of a vehicle behind the first vehicle.
8. A vehicle-mounted terminal, characterized by comprising:
a memory for storing a computer program;
a processor for implementing the steps of the vehicle avoidance method according to any one of claims 1 to 5 when executing the computer program.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the vehicle avoidance method according to any of claims 1 to 5.
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| CN110853338A (en) * | 2019-11-08 | 2020-02-28 | 上海博泰悦臻电子设备制造有限公司 | Pedestrian reminding method and system based on vehicle-mounted terminal, storage medium and vehicle-mounted terminal |
| CN113048970B (en) * | 2020-10-18 | 2022-01-04 | 重庆七腾科技有限公司 | Customized target detection avoidance system and method |
| CN112562401A (en) * | 2020-11-05 | 2021-03-26 | 东风汽车集团有限公司 | Method for reminding and actively avoiding after emergency vehicle identification |
| CN113085873B (en) * | 2021-04-30 | 2022-11-29 | 东风小康汽车有限公司重庆分公司 | Method and device for acquiring driving strategy, computer equipment and storage medium |
| CN113822219A (en) * | 2021-10-08 | 2021-12-21 | 文思海辉智科科技有限公司 | Vehicle safety identification method and device, electronic equipment and storage medium |
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