CN111038496B

CN111038496B - Vehicle early warning method and device, terminal device and computer readable storage medium

Info

Publication number: CN111038496B
Application number: CN201911267740.0A
Authority: CN
Inventors: 黄凯明
Original assignee: Streamax Technology Co Ltd
Current assignee: Streamax Technology Co Ltd
Priority date: 2019-12-11
Filing date: 2019-12-11
Publication date: 2021-04-23
Anticipated expiration: 2039-12-11
Also published as: CN111038496A

Abstract

The application is applicable to the technical field of vehicle alarm control, and provides a vehicle early warning method, a device, terminal equipment and a computer readable storage medium, wherein the method comprises the following steps: determining a direction of motion of the first vehicle; determining a directional angle of the first vehicle, wherein the directional angle is indicative of a likelihood that the first vehicle is biased to the left or right of the direction of motion; correcting the motion direction of the first vehicle according to the direction angle; determining an area of interest according to the corrected moving direction of the first vehicle; detecting whether a second vehicle exists in the region of interest; and selecting whether to execute early warning operation according to the detection result. By the method, the accuracy of early warning can be improved.

Description

Vehicle early warning method and device, terminal device and computer readable storage medium

Technical Field

The application belongs to the technical field of vehicle alarm control, and particularly relates to a vehicle early warning method, a vehicle early warning device, terminal equipment and a computer readable storage medium.

Background

With the development of urbanization, the population density and the vehicle density in a city are far higher than those before the development of the urbanization, and during the driving process of vehicles, traffic accidents are likely to happen, so that pedestrians or other vehicles are damaged.

To minimize the possibility of car accidents, a Forward Collision Warning system (FCW) is generally applied to vehicles. The FCW realizes the collision early warning of the vehicle based on the computer vision technology. Specifically, the FCW acquires an image in front of the vehicle through a camera, and then, in combination with a computer vision algorithm, searches for a vehicle in front of the vehicle in the direction of the vehicle's movement trend in the acquired image, if the vehicle in front is found, calculates the distance between the vehicle in front and the vehicle and the relative speed of the two vehicles, and if the two vehicles are found to have a possibility of collision, the FCW gives an alarm. Because the FCW only analyzes the image in front of the vehicle acquired by the camera to select whether to alarm or not, and the acquired image reflects static information, the FCW often generates false alarm when alarming.

Therefore, a new method is needed to solve the above technical problems.

Disclosure of Invention

The embodiment of the application provides a vehicle early warning method, a vehicle early warning device, terminal equipment and a computer readable storage medium, and can solve the problem of false alarm generated when FCW is adopted for early warning.

In a first aspect, an embodiment of the present application provides a vehicle early warning method, where the vehicle early warning method is applied to a first vehicle, and includes:

determining a direction of motion of the first vehicle;

determining a directional angle of the first vehicle, wherein the directional angle is indicative of a likelihood that the first vehicle is biased to the left or right of the direction of motion;

correcting the motion direction of the first vehicle according to the direction angle;

determining an area of interest according to the corrected moving direction of the first vehicle;

detecting whether a second vehicle exists in the region of interest;

and selecting whether to execute early warning operation according to the detection result.

In a second aspect, an embodiment of the present application provides a vehicle warning device, where the vehicle warning device is applied to a first vehicle, and includes:

a movement direction determination unit for determining a movement direction of the first vehicle;

a direction angle determination unit for determining a direction angle of the first vehicle, wherein the direction angle is used for indicating the possibility that the first vehicle is biased to the left or the right of the moving direction;

a moving direction correcting unit for correcting a moving direction of the first vehicle according to the direction angle;

an interest region determining unit for determining an interest region according to the corrected moving direction of the first vehicle;

a second vehicle detection unit for detecting whether a second vehicle exists in the region of interest;

and the early warning selection unit is used for selecting whether to execute early warning operation according to the detection result.

In a third aspect, an embodiment of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method according to the first aspect when executing the computer program.

In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method according to the first aspect.

In a fifth aspect, the present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute the method of the first aspect.

Compared with the prior art, the embodiment of the application has the advantages that: because the direction angle is used for indicating the possibility that the first vehicle deviates to the left or right of the movement direction, the movement direction of the first vehicle is corrected by adopting the direction angle, so that the corrected movement direction can be ensured to be more accurate, and the region of interest determined according to the corrected movement direction is more accurate, namely, the more accurate vehicle (second vehicle) to be analyzed is determined by determining the more accurate region of interest, thereby improving the accuracy of early warning.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below.

Fig. 1 is a flowchart of a vehicle warning method according to an embodiment of the present application;

FIG. 2 is a schematic view of a direction of movement of a vehicle provided by an embodiment of the present application;

FIG. 3 is a schematic view of a vehicle according to an embodiment of the present disclosure, the vehicle being biased to a left side of the direction of movement;

FIG. 4 is a schematic view of a vehicle biased to the right of the direction of movement according to an embodiment of the present application;

FIG. 5 is a schematic diagram of an embodiment of the present application showing the extending direction of the lane lines as the moving direction of the first vehicle;

fig. 6 is a schematic structural diagram of a vehicle warning device according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of a terminal device according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "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 should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".

In real life, a user may set an FCW on a vehicle to achieve warning of the vehicle, but in actual situations, a running vehicle may suddenly change a moving direction, such as changing from a straight direction to a left direction, or changing from a straight direction to a right direction, etc. Since the FCW analyzes the image in front of the vehicle to select whether to warn the vehicle, and the image in front of the vehicle can only show the current state of the vehicle, i.e. cannot show the direction in which the vehicle will run in time, it is possible to generate false alarms by only realizing the warning according to the FCW. In order to solve the technical problem, in the application, the movement direction of the vehicle and the direction angle of the vehicle are obtained, and the direction angle is used for indicating the possibility that the vehicle deviates to the left or the right of the movement direction, so that the movement direction of the vehicle corrected by adopting the direction angle can be ensured to be more accurate, an interested area determined according to the corrected movement direction is more accurate, namely, the more accurate vehicle to be analyzed is determined by determining the more accurate interested area, and the accuracy of early warning is improved.

Fig. 1 shows a flowchart of a vehicle warning method provided in an embodiment of the present application, where the vehicle warning method is applied to a first vehicle, and is detailed as follows:

step S11, determining a direction of movement of the first vehicle;

the moving direction of the first vehicle refers to a direction in which the first vehicle moves forward or backward, for example, when the first vehicle travels forward, the moving direction of the first vehicle is a direction in front of a head of the first vehicle; when the first vehicle retreats backwards, the moving direction of the first vehicle is the direction in front of the tail of the first vehicle. The moving direction of the vehicle as shown in fig. 2 is the direction of the corresponding arrow in front of the vehicle head, indicating that the vehicle is traveling forward.

Step S12, determining a direction angle of the first vehicle, wherein the direction angle is used for indicating the possibility that the first vehicle is biased to the left or the right of the moving direction;

specifically, the direction angle of the first vehicle may be output by an Inertial Measurement Unit (IMU) provided on the first vehicle. If the IMU includes a gyroscope, outputting, by the gyroscope, a heading angle of the first vehicle. As shown in fig. 3, when the directional angle is as shown in fig. 3, it indicates that the first vehicle is highly likely to be deviated to the left of the moving direction (left in front of the vehicle head), and the larger the directional angle of fig. 3, the greater the possibility that the first vehicle is deviated to the left of the moving direction. When the direction angle is 0, it indicates that the possibility that the first vehicle is biased to the left (and right) of the moving direction is 0. When the directional angle is as shown in fig. 4, it indicates that the first vehicle is highly likely to be biased to the right of the moving direction (the right in front of the vehicle head), and the larger the directional angle of fig. 4 is, the greater the possibility that the first vehicle is biased to the right of the moving direction is.

For the sake of convenience of distinction, when the direction angle is as shown in fig. 3, the direction angle of the output is set to be a negative value; when the direction angle is as shown in fig. 4, the direction angle of the output is set to a positive value.

Step S13, correcting the movement direction of the first vehicle according to the direction angle;

specifically, if the direction angle indicates that there is a greater likelihood that the first vehicle is biased to the left of the direction of movement, the direction of movement after the correction is biased to the left of the direction of movement before the correction than the direction of movement before the correction; of course, if the directional angle indicates a greater likelihood that the first vehicle is biased to the right of the direction of movement, the direction of movement after the correction is biased to the right of the direction of movement before the correction than the direction of movement before the correction.

Step S14, determining an area of interest according to the corrected moving direction of the first vehicle;

the region of interest refers to a region within a preset range in the extending direction of the moving direction of the first vehicle.

In this embodiment, since the moving direction is subjected to the correcting operation, the region of interest determined according to the corrected moving direction will be different from the region of interest determined according to the moving direction before the correction, and the corrected moving direction can reflect the moving direction of the first vehicle at the next moment more accurately, so as to ensure that the region of interest determined according to the corrected moving direction is more accurate.

In some embodiments, in order to perform the early warning operation on the vehicle in time, the size of the region of interest is set to be in inverse proportion to the speed of the first vehicle. When the speed of the first vehicle is lower, only a shorter area needs to be defined as the region of interest; when the speed of the first vehicle is greater, a longer area is defined as the region of interest. It is noted that the width of the region of interest is at least equal to the width of the body of the first vehicle, and the length of the region of interest can be dynamically selected in combination with the speed of the first vehicle, thereby obtaining a shorter region of interest or obtaining a longer region of interest.

Step S15, detecting whether a second vehicle exists in the region of interest;

for example, if there are three vehicles in the region of interest, the three vehicles are all regarded as the "second vehicle" of the present embodiment.

In some embodiments, when there are at least 2 vehicles in the area of interest and there are vehicles with fewer features, since the influence of the vehicles with fewer features (e.g., the features of the area where the license plate with only the tail of the vehicle is located) in the area of interest on the first vehicle is small, in order to reduce the amount of data to be processed subsequently, the vehicles with fewer features in the area of interest are rejected, i.e., the second vehicle of the present application will not include the "vehicle with fewer features in the area of interest", i.e., the second vehicle is a vehicle with more features (e.g., the ratio of the features in the area of interest to the features of the vehicle is greater than the preset feature ratio threshold) in the area of interest.

And step S16, selecting whether to execute the early warning operation according to the detection result.

In this embodiment, if the second vehicle exists in the region of interest, the early warning operation may be directly performed, and if the second vehicle does not exist in the region of interest, the early warning operation is not performed. Wherein, the early warning operation here includes: the warning information is broadcasted through sound, and/or the warning information is sent out through photoelectricity, and the like.

In the embodiment of the application, the direction angle is used for indicating the possibility that the first vehicle deviates to the left or the right of the movement direction, so that the movement direction corrected by adopting the direction angle to correct the movement direction of the first vehicle can be more accurate, the region of interest determined according to the corrected movement direction is more accurate, namely, the more accurate vehicle (second vehicle) to be analyzed is determined by determining the more accurate region of interest, and the accuracy of early warning is improved.

In practical cases, since the road may not always be straight, in order to more accurately determine the moving direction of the first vehicle, the determination may be made in combination with a lane line, and at this time, the step S11 includes:

a1, acquiring an image in front of the first vehicle;

specifically, the image forward of the first vehicle is acquired by a camera mounted on the first vehicle, which may be a camera in the FCW. In order to acquire an image right in front of the first vehicle, the camera is arranged to be mounted on a horizontal center line of a front windshield of the first vehicle, preferably, the position of the camera is as far upward as possible within a wiper coverage range of the horizontal center line of the front windshield, and the lens faces the outside of the vehicle and faces the right in front as possible. It should be noted that the camera cannot be mounted directly on the lowest face of the windshield in order to capture images directly in front of the vehicle, otherwise, fewer images in front of the vehicle will not be captured or will be captured.

A2, detecting whether a lane line exists in the image;

specifically, since the color of the lane line is obviously different from the color of the road and is usually white, it is possible to further identify whether the shape of the area having the specific color satisfies the shape of the lane line by identifying whether the image has the specific color (for example, white), if the specific color exists, it is determined that the lane line exists in the image, and if not, it is determined that the lane line does not exist in the image.

A3, if a lane line exists, determining the extending direction of the lane line where the first vehicle is located as the moving direction of the first vehicle;

specifically, if a lane line is present in the image, the extending direction of the lane line is defined as the moving direction of the first vehicle, as indicated by the arrow in fig. 5. Although the moving direction of the head of the first vehicle is directed forward, the moving direction of the first vehicle at the next time is more likely to be the direction to which the extending direction of the lane line is directed, according to the driving rule of the vehicle on the road.

A4, if no lane line exists, determining the current moving direction of the first vehicle as the moving direction of the first vehicle.

In this embodiment, since the vehicle needs to travel within the lane line during traveling, when the lane line exists, the determined moving direction can be more accurate by taking the extending direction of the lane line as the moving direction of the first vehicle.

In some embodiments, since the direction angle is used to indicate the possibility that the first vehicle is biased to the left or the right of the moving direction, that is, the first vehicle cannot be guaranteed to move along the direction pointed by the direction angle immediately, in order to avoid the error of the subsequent warning due to the excessively large adjustment amplitude, the direction pointed by one direction angle between 0 ° and the direction angle is selected as the new moving direction, where the step S13 includes:

and selecting a direction pointed by a direction angle between 0 degrees and the direction angle as the corrected moving direction of the first vehicle.

In this embodiment, a direction pointed by any one direction angle between 0 ° and the direction angle may be directly selected as the corrected moving direction of the first vehicle. Of course, to further improve the accuracy of the determined direction of movement, the following may be chosen:

b1, determining a middle direction angle, wherein the middle direction angle is 0 degrees and a direction angle in the middle of the direction angles;

for example, assuming that the direction angle is 16 °, a direction angle intermediate between 0 ° and 16 ° is 8 °, the 8 ° being a certain intermediate direction angle; assuming a direction angle of-10 deg., a direction angle intermediate between 0 deg. and-10 deg. is-5 deg., with-5 deg. being the determined intermediate direction angle.

B2, if the direction angle is larger than a preset angle threshold, selecting a direction pointed by a direction angle between the middle direction angle and the direction angle as the motion direction of the first vehicle after correction;

b3, if the direction angle is smaller than or equal to a preset angle threshold value, selecting a direction pointed by a direction angle between 0 degrees and the middle direction angle as the corrected moving direction of the first vehicle.

In this embodiment, when the direction angle is larger, the possibility that the moving direction of the first vehicle is changed to the direction pointed by the direction angle is larger, and vice versa, so that the direction pointed by the direction angle is selected from different angle ranges according to the magnitude of the direction angle to serve as the corrected moving direction of the first vehicle, and the accuracy of the determined moving direction can be improved.

In some embodiments, since the magnitude of the direction angle reflects the magnitude of the possibility that the first vehicle is biased to the left or right of the moving direction, that is, when the direction angle is smaller, the possibility that the first vehicle is biased to the left or right of the moving direction is smaller, and at this time, the correction process may not be performed. Namely, before step S12, the method includes: and comparing the determined direction angle with a preset correction angle threshold, if the direction angle is greater than or equal to the preset correction angle threshold, executing the step S13, otherwise, directly determining the region of interest according to the determined movement direction of the first vehicle.

In some embodiments, in order to improve the accuracy of the early warning, after the second vehicle exists in the region of interest, it is further required to determine whether the relationship between the first vehicle and the second vehicle satisfies the relationship before selecting whether to perform the early warning operation. At this time, the step S16 includes:

c1, if a second vehicle exists, acquiring the distance between the first vehicle and the second vehicle;

specifically, the distance between the first vehicle and the second vehicle may be obtained by a distance meter, or the distance between the first vehicle and the second vehicle may be determined by analyzing a proportional relationship of objects in an image obtained by the first vehicle, which is not limited herein.

And C2, selecting whether to execute early warning operation according to the acquired distance between the first vehicle and the second vehicle.

Specifically, the step C2 specifically includes:

c21, if the acquired distance between the first vehicle and the second vehicle is smaller than or equal to a preset distance threshold, executing early warning operation;

and C22, if the acquired distance between the first vehicle and the second vehicle is larger than a preset distance threshold, not executing early warning operation.

In this embodiment, after the second vehicle is detected in the region of interest, whether the early warning operation is executed is determined by combining the vehicle distance between the second vehicle and the first vehicle, so that the accuracy of early warning is improved.

In some embodiments, in order to further improve the accuracy of the warning, the step C1 of acquiring the vehicle distance between the first vehicle and the second vehicle specifically includes:

acquiring at least 2 vehicle distances corresponding to at least 2 time points of the first vehicle and the second vehicle;

correspondingly, the step C2 includes:

c21', determining the time length corresponding to the at least 2 time points;

c22', determining the relative speed of the first vehicle and the second vehicle according to the at least 2 vehicle distances and the determined time length;

assuming that 2 vehicle distances S1 and S2 are determined, a time period t is determined, the speed of the first vehicle is V1, the speed of the second vehicle is V2, the relative speed of the first vehicle and the second vehicle is (V1-V2), and S1- (V1-V2) t is S2, that is, (V1-V2) can be determined according to the above formula.

C23', selecting whether to execute the early warning operation according to the relative speed of the first vehicle and the second vehicle.

Specifically, since the first vehicle does not collide with the second vehicle when V1 is less than or equal to V2, if it is determined that the relative speed of the first vehicle and the second vehicle is less than or equal to 0, the warning operation is not performed; on the contrary, if the relative speed of the first vehicle and the second vehicle is greater than 0, an early warning operation is performed.

In the embodiment, after the second vehicle exists in the region of interest, the relative speed of the first vehicle and the second vehicle is further calculated, and the relative speed of the first vehicle and the second vehicle is a key factor influencing whether the first vehicle and the second vehicle collide or not, so that the accuracy of subsequent early warning is ensured.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Corresponding to the vehicle early warning method described in the foregoing embodiment, fig. 5 shows a structural block diagram of a vehicle early warning device provided in the embodiment of the present application, which is applied to a first vehicle, and for convenience of description, only the parts related to the embodiment of the present application are shown.

Referring to fig. 6, the vehicle warning apparatus 6 includes: a movement direction determining unit 61, a direction angle determining unit 62, a movement direction correcting unit 63, an area-of-interest determining unit 64, a second vehicle detecting unit 65, and an early warning selecting unit 66, wherein:

a moving direction determination unit 61 for determining a moving direction of the first vehicle;

wherein, the moving direction of the first vehicle refers to a direction in which the first vehicle moves forward or backward.

A direction angle determination unit 62 for determining a direction angle of the first vehicle, wherein the direction angle is used for indicating the possibility that the first vehicle is biased to the left or the right of the moving direction;

specifically, the heading angle of the first vehicle may be output by an IMU disposed at the first vehicle. If the IMU includes a gyroscope, outputting, by the gyroscope, a heading angle of the first vehicle.

A moving direction correcting unit 63 for correcting a moving direction of the first vehicle according to the direction angle;

an interest region determining unit 64 for determining an interest region according to the corrected moving direction of the first vehicle;

in some embodiments, in order to perform the early warning operation on the vehicle in time, the size of the region of interest is set to be in inverse proportion to the speed of the first vehicle.

A second vehicle detection unit 65 for detecting whether a second vehicle is present in the region of interest;

in some embodiments, the second vehicle is a vehicle having more features in the area of interest (e.g., the ratio of the features in the area of interest to the features of the vehicle is greater than a preset feature ratio threshold).

And an early warning selection unit 66 for selecting whether to execute early warning operation according to the detection result.

In practical cases, since the road may not always be straight, in order to more accurately determine the moving direction of the first vehicle, the determination may be made in conjunction with a lane line, and in this case, the moving direction determining unit 61 includes:

an image acquisition module for acquiring an image in front of the first vehicle;

specifically, the image forward of the first vehicle is acquired by a camera mounted on the first vehicle, which may be a camera in the FCW. In order to acquire an image right in front of the first vehicle, the camera is arranged to be mounted on a horizontal center line of a front windshield of the first vehicle, preferably, the position of the camera is as far upward as possible within a wiper coverage range of the horizontal center line of the front windshield, and the lens faces the outside of the vehicle and faces the right in front as possible.

The lane line detection module is used for detecting whether a lane line exists in the image;

the first movement direction determining module is used for determining the extending direction of a lane line where the first vehicle is located as the movement direction of the first vehicle if the lane line exists;

and the second movement direction determining module is used for determining the current movement direction of the first vehicle as the movement direction of the first vehicle if no lane line exists.

In some embodiments, since the direction angle is used to indicate a possibility that the first vehicle is biased to the left or the right of the moving direction, that is, it cannot be guaranteed that the first vehicle can immediately move along the direction pointed by the direction angle, in order to avoid a subsequent warning error caused by an excessively large adjustment amplitude, a direction pointed by a direction angle between 0 ° and the direction angle is selected as a new moving direction, and the moving direction correcting unit 63 is specifically configured to:

In order to further improve the accuracy of the determined moving direction, when the moving direction correcting unit 63 selects a direction pointed by a direction angle between 0 ° and the direction angle as the corrected moving direction of the first vehicle, it is specifically configured to:

the middle direction angle determining module is used for determining a middle direction angle, and the middle direction angle is 0 degree and a direction angle in the middle of the direction angles;

a large direction angle selection module, configured to select, if the direction angle is greater than a preset angle threshold, a direction pointed by a direction angle between the middle direction angle and the direction angle as a corrected moving direction of the first vehicle;

and the small direction angle selecting module is used for selecting a direction pointed by a direction angle between 0 degree and the middle direction angle as the corrected moving direction of the first vehicle if the direction angle is smaller than or equal to a preset angle threshold.

In some embodiments, since the magnitude of the direction angle reflects the magnitude of the possibility that the first vehicle is biased to the left or right of the moving direction, that is, when the direction angle is smaller, the possibility that the first vehicle is biased to the left or right of the moving direction is smaller, and at this time, the correction process may not be performed. Namely, the vehicle warning device 6 further includes:

the direction angle comparison unit is used for comparing the determined direction angle with a preset correction angle threshold value;

correspondingly, the motion direction correction unit 63 is specifically configured to: and if the direction angle is larger than or equal to the preset correction angle threshold, correcting the movement direction of the first vehicle according to the direction angle.

And the direction angle non-correction unit is used for determining the region of interest directly according to the determined movement direction of the first vehicle if the direction angle is smaller than the preset correction angle threshold.

In some embodiments, in order to improve the accuracy of the early warning, after the second vehicle exists in the region of interest, it is further required to determine whether the relationship between the first vehicle and the second vehicle satisfies the relationship before selecting whether to perform the early warning operation. In this case, the warning selecting unit 66 includes:

the distance acquisition module is used for acquiring the distance between the first vehicle and the second vehicle if the second vehicle exists;

and the early warning execution or non-execution selection module is used for selecting whether to execute early warning operation according to the acquired vehicle distance between the first vehicle and the second vehicle.

In some embodiments, the warning whether to execute the selection module includes:

the early warning execution module is used for executing early warning operation if the acquired distance between the first vehicle and the second vehicle is smaller than or equal to a preset distance threshold;

and the early warning non-execution module is used for not executing early warning operation if the acquired distance between the first vehicle and the second vehicle is greater than a preset distance threshold.

In some embodiments, in order to further improve the accuracy of the early warning, the vehicle distance acquiring module is specifically configured to, when acquiring the vehicle distance between the first vehicle and the second vehicle:

correspondingly, whether the early warning executes the selection module or not comprises the following steps:

a duration determining module, configured to determine durations corresponding to the at least 2 time points;

a relative speed determination module for determining the relative speed of the first vehicle and the second vehicle according to the at least 2 vehicle distances and the determined time length;

and the early warning operation selection module is used for selecting whether to execute early warning operation according to the relative speed of the first vehicle and the second vehicle.

It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.

Fig. 7 is a schematic structural diagram of a terminal device according to an embodiment of the present application. As shown in fig. 7, the terminal device 7 of this embodiment includes: at least one processor 70 (only one processor is shown in fig. 7), a memory 71, and a computer program 72 stored in the memory 71 and executable on the at least one processor 70, the processor 70 implementing the steps in any of the various method embodiments described above when executing the computer program 72:

determining a direction of motion of the first vehicle;

detecting whether a second vehicle exists in the region of interest;

The terminal device 7 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device may include, but is not limited to, a processor 70, a memory 71. Those skilled in the art will appreciate that fig. 7 is only an example of the terminal device 7, and does not constitute a limitation to the terminal device 7, and may include more or less components than those shown, or combine some components, or different components, for example, and may further include input/output devices, network access devices, and the like.

The Processor 70 may be a Central Processing Unit (CPU), and the Processor 70 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 71 may in some embodiments be an internal storage unit of the terminal device 7, such as a hard disk or a memory of the terminal device 7. In other embodiments, the memory 71 may also be an external storage device of the terminal device 7, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 7. Further, the memory 71 may also include both an internal storage unit and an external storage device of the terminal device 7. The memory 71 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 71 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

An embodiment of the present application further provides a network device, where the network device includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, the processor implementing the steps of any of the various method embodiments described above when executing the computer program.

The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.

The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

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

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. A vehicle early warning method is applied to a first vehicle and comprises the following steps:

determining a direction of motion of the first vehicle;

detecting whether a second vehicle exists in the region of interest;

selecting whether to execute early warning operation or not according to the detection result;

the correcting the moving direction of the first vehicle according to the direction angle comprises:

determining a middle direction angle, wherein the middle direction angle is 0 degrees and a direction angle in the middle of the direction angles;

if the direction angle is larger than a preset angle threshold value, selecting a direction pointed by one direction angle between the middle direction angle and the direction angle as the motion direction of the first vehicle after correction;

and if the direction angle is smaller than or equal to a preset angle threshold value, selecting a direction pointed by one direction angle between 0 degree and the middle direction angle as the corrected moving direction of the first vehicle.

2. The vehicle warning method of claim 1, wherein the determining the direction of movement of the first vehicle comprises:

acquiring an image in front of the first vehicle;

detecting whether a lane line exists in the image;

if the lane line exists, determining the extending direction of the lane line where the first vehicle is located as the moving direction of the first vehicle;

and if no lane line exists, determining the current movement direction of the first vehicle as the movement direction of the first vehicle.

3. The vehicle early warning method according to claim 1, wherein the selecting whether to execute the early warning operation according to the detection result comprises:

if a second vehicle exists, acquiring the distance between the first vehicle and the second vehicle;

and selecting whether to execute early warning operation according to the acquired distance between the first vehicle and the second vehicle.

4. The vehicle early warning method according to claim 3, wherein the selecting whether to execute the early warning operation according to the acquired vehicle distance between the first vehicle and the second vehicle comprises:

if the acquired distance between the first vehicle and the second vehicle is smaller than or equal to a preset distance threshold, executing early warning operation;

and if the acquired distance between the first vehicle and the second vehicle is larger than a preset distance threshold, not executing early warning operation.

5. The vehicle early warning method according to claim 3, wherein the acquiring of the vehicle distance between the first vehicle and the second vehicle specifically comprises:

correspondingly, whether early warning operation is executed or not is selected according to the acquired distance between the first vehicle and the second vehicle, and the method comprises the following steps:

determining the time length corresponding to the at least 2 time points;

determining the relative speed of the first vehicle and the second vehicle according to the at least 2 vehicle distances and the determined time length;

and selecting whether to execute early warning operation according to the relative speed of the first vehicle and the second vehicle.

6. A vehicle warning device applied to a first vehicle, comprising:

the early warning selection unit is used for selecting whether to execute early warning operation according to the detection result;

the movement direction correction unit includes:

7. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 5 when executing the computer program.

8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 5.