CN111469760A - Vehicle blind area detection method, device and system - Google Patents
Vehicle blind area detection method, device and system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
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Abstract
The application provides a vehicle blind area detection method, device and system. The application provides a vehicle blind area detection method, which comprises the following steps: acquiring images acquired by image acquisition equipment arranged on two sides of a vehicle, and identifying the images; when the target exists in the specified detection area, acquiring steering information of the vehicle; and determining a target alarming mode according to the identified target information of the target and the steering information, and executing the target alarming mode. The vehicle blind area detection method, the vehicle blind area detection device and the vehicle blind area detection system solve the problem that a conventional method cannot automatically monitor obstacle targets, and can improve the experience of drivers.
Description
Technical Field
The application relates to the technical field of intelligent traffic, in particular to a vehicle blind area detection method, device and system.
Background
With the development of economy and the improvement of the living standard of people, more and more people select vehicles as transportation tools, however, when the vehicles are merged, turned or turned around, a blind field of view exists when the driving environment is observed through a side view mirror, and drivers cannot observe obstacle targets in the blind field of view, for example, the vehicles, pedestrians, obstacles and the like in the blind field of view cannot be observed, so that traffic accidents are easily caused. Therefore, blind area detection is important to reduce traffic accidents.
At present, the blind area detection method generally comprises the following steps: the camera through setting up in the vehicle both sides gathers the image of the unable field of vision blind area that observes of vehicle both sides side-view mirror to send the image of gathering to the driver's cabin and show, so that the driver can know the condition of obstacle target in this field of vision blind area.
However, when the blind area detection is performed by using the above method, only a simple image is displayed, and a driver needs to autonomously monitor an obstacle target in a blind area of a visual field, which is likely to cause interference with normal driving of the driver.
Disclosure of Invention
In view of this, the present application provides a vehicle blind area detection method, device and system, so as to provide a blind area detection method capable of performing an automatic early warning, and improve driver experience.
The application provides a vehicle blind area detection method in a first aspect, and the method comprises the following steps:
acquiring images acquired by image acquisition equipment arranged on two sides of a vehicle, and identifying the images;
when the target exists in the specified detection area, acquiring steering information of the vehicle;
and determining a target alarming mode according to the identified target information of the target and the steering information, and executing the target alarming mode.
A second aspect of the present application provides a vehicle blind area detection apparatus, which includes an acquisition module, an identification module, and a processing module; wherein,
the acquisition module is used for acquiring images acquired by image acquisition equipment arranged on two sides of the vehicle;
the identification module is used for identifying the image;
the acquisition module is further used for acquiring steering information of the vehicle when the identification module identifies that the target exists in the specified detection area;
and the processing module is used for determining a target alarming mode according to the identified target information of the target and the steering information and executing the target alarming mode.
A third aspect of the present application provides a vehicle blind zone detection system, comprising an image capture device and a processor, wherein,
the image acquisition equipment is arranged on two sides of the vehicle and is used for acquiring images;
the processor is configured to:
acquiring an image acquired by the image acquisition equipment, and identifying the image;
when the target exists in the specified detection area, acquiring steering information of the vehicle;
and determining a target alarming mode according to the identified target information of the target and the steering information, and executing the target alarming mode.
The application provides a vehicle blind area detection method, device and system, through the image that acquires the image acquisition equipment collection of installing in the vehicle both sides to discerning above-mentioned image, and then when discerning that there is the target in appointed detection area, acquire the turn to information of vehicle, thereby according to discerning the target information of target with turn to information, confirm the target alarm mode, and carry out the target alarm mode, like this, can independently monitor the target in the field of vision blind area, improve driver's experience.
Drawings
Fig. 1 is a flowchart of a vehicle blind area detection method according to an embodiment of the present application;
FIG. 2 is a schematic view of an installation location of an image capture device shown in an exemplary embodiment of the present application;
FIG. 3 is a schematic view of a designated detection area shown in an exemplary embodiment of the present application;
FIG. 4 is a flowchart of a vehicle blind spot detection method according to another embodiment of the present application;
FIG. 5 is a schematic view of a designated hazardous area shown in one embodiment of the present application;
fig. 6 is a schematic structural diagram of a vehicle blind area detection device according to an embodiment of the present application;
fig. 7 is a schematic diagram of a vehicle blind area detection system according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application 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 also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
The application provides a vehicle blind area detection method, device and system to improve driver experience.
In the following, some specific examples are given to illustrate the technical solutions provided in the present application in detail. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 1 is a flowchart of a vehicle blind area detection method according to an embodiment of the present application. Referring to fig. 1, the vehicle blind area detection method provided in this embodiment may include:
s101, acquiring images acquired by image acquisition equipment arranged on two sides of a vehicle, and identifying the images.
Specifically, the image capturing devices are installed on both sides of the vehicle. For example, fig. 2 is a schematic view of an installation position of an image capturing apparatus according to an exemplary embodiment of the present application, and referring to fig. 2, in the example shown in fig. 2, the image capturing apparatus is installed below side mirrors on left and right sides of a vehicle (only the image capturing apparatus installed on the right side of the vehicle is shown in fig. 2), and the right front field of view of the image capturing apparatus is at an angle of 120 ° with respect to the vehicle body.
It should be noted that, in one embodiment, the entire image may be identified. Of course, in another embodiment, the detection area designated in the image may also be identified. It should be noted that the specified detection area is set according to actual needs, and the specified detection area may be an area covering 2 lane widths and a 120 ° included angle range of the vehicle body side surface. For example, fig. 3 is a schematic diagram of a designated detection area according to an exemplary embodiment of the present application. Referring to fig. 3, in the example shown in fig. 3, the designated detection area is a pentagonal area surrounded by white lines. It should be noted that, in the example shown in fig. 3, the image captured by the image capturing device located on the right side of the vehicle is taken as an example to describe the specified detection area, and for the image captured by the image capturing device located on the left side of the vehicle, the detection area in the image is similar to the detection area in fig. 3, and details are not repeated here.
In addition, after the image is recognized, whether the target exists in the image or not and target information of the target can be recognized. The object is a person, a vehicle, a non-vehicle, or the like. In one embodiment, the target may also include animals such as cats, dogs, etc. The object information is information related to the object, and may generally include position information and category information, which is used to characterize a preset category to which the object belongs, wherein the preset category is set according to actual needs, for example, in one embodiment, three preset categories, which are a pedestrian, a motor vehicle and a non-motor vehicle, are included. The position information is information of the position of the target, including information of the position of the target in the image and information of the actual position of the target relative to the vehicle derived therefrom.
And S102, when the target exists in the specified detection area, acquiring the steering information of the vehicle.
Specifically, the steering information of the vehicle can be acquired through a signal line of the vehicle body, and the steering information is transmitted between different components in the vehicle through the signal line of the vehicle. Wherein the steering information of the vehicle may indicate that the vehicle has or does not have a steering intention or is steering. In one embodiment, the steering information is operation information or state information of a component related to a steering operation of the vehicle, for example, a turn lamp or a steering wheel. In one embodiment, the steering information may include that a vehicle steering lamp is turned on or that a steering wheel of the vehicle is turned and the turning angle exceeds a preset value, or the like. Further, the steering information may also include that the steering lamp is not turned on, the steering wheel is not turned by the driver, or is turned but the turning angle does not exceed a preset value (for example, the driver adjusts the position and orientation of the vehicle in the lane by slightly turning the steering wheel), and the like.
The above-described signals indicating the on-off state of the turn signal, the turning state of the steering wheel, and the like may be transmitted via the signal line. For example, a vehicle turn light being turned on or a steering wheel of the vehicle being turned and the turning angle exceeding a preset value, etc. may indicate that the vehicle has steering intent or is turning, while a turn light not being turned on, a steering wheel not being turned by a driver or the turning angle not exceeding a preset value, etc. may indicate that the vehicle has no steering intent.
S103, determining a target alarming mode according to the identified target information of the target and the steering information, and executing the target alarming mode.
The vehicle is provided with a warning lamp, a buzzer, a voice alarm, a display screen and other devices which are specially used or can be used for alarming and prompting. Accordingly, the alarm modes supported by the vehicle can comprise that the alarm lamp flashes or is normally on, the buzzer or the voice alarm gives out alarm sound, the display screen displays alarm text information and the like. The target alarm mode is one or more alarm modes determined according to the current situation.
For example, in an embodiment, when the category information in the target information is a pedestrian, if the steering information indicates that there is a steering intention or steering is being performed, the target warning manner is determined as the second warning manner, and if the steering information indicates that there is no steering intention, the warning is not determined. When the category information in the target information is a motor vehicle or a non-motor vehicle, if the steering information indicates that the steering intention exists or the steering is in progress, the target alarm mode is determined to be a first alarm mode, and if the steering information indicates that the steering intention does not exist, the target alarm mode is determined to be a second alarm mode.
It should be noted that the warning effect of the first warning mode is higher than that of the second warning mode. For example, in one embodiment, the first alarm manner may be to activate an audible and visual alarm device (e.g., the audible and visual alarm device may be a warning light and/or a buzzer), and the second alarm manner may be to output a text reminding message. For another example, in another embodiment, the first alarm mode may output an icon, activate an indicator light, and output a voice prompt, and the second alarm mode may output an icon or activate an indicator light.
The following detailed embodiments are provided to describe in detail the specific implementation principle and implementation process of this step, and are not described herein again.
According to the vehicle blind area detection method provided by the embodiment, the images acquired by the image acquisition devices arranged on two sides of the vehicle are acquired and identified, and then when the target exists in the specified detection area, the steering information of the vehicle is acquired, so that the target alarm mode is determined according to the identified target information of the target and the steering information, and the target alarm mode is executed, therefore, the target in the blind area can be monitored autonomously, and the driver experience is improved.
Fig. 4 is a flowchart of a vehicle blind area detection method according to another embodiment of the present application. Referring to fig. 4, the method provided in this embodiment, based on the above embodiment, the step of determining the target alarm manner according to the identified target information of the target and the steering information, may include:
s401, judging whether the target has danger or not according to the target information.
Specifically, in an embodiment, a specific implementation process of the step may include:
(1) when the category information in the target information is a first category, determining whether the target is in a designated dangerous area according to the position information in the target information identified from the current frame image, if so, determining that the target is dangerous, and if not, determining that the target is not dangerous.
(2) When the type information in the target information is a second type, determining whether the target is close to the dangerous area or not according to the position information in the target information identified from the current frame image and the previous frame image, if so, determining that the target is dangerous, if not, determining whether the target is in the dangerous area or not according to the position information in the target information identified from the current frame image, if so, determining that the target is dangerous, and if not, determining that the target is not dangerous.
Note that the travel speed of the first category is lower than the travel speed of the second category. For example, in one embodiment, the second category may be motor vehicles or non-motor vehicles and the first category is pedestrians.
The designated dangerous area is set as needed. For example, FIG. 5 is a schematic diagram illustrating a designated hazardous area, according to one embodiment. In the example shown in fig. 5, the designated dangerous area is a trapezoidal area surrounded by black lines. It should be noted that, in the example shown in fig. 5, the image captured by the image capturing device located on the right side of the vehicle is taken as an example to describe the designated dangerous area, and for the image captured by the image capturing device located on the left side of the vehicle, the dangerous area in the image is similar to the dangerous area in fig. 5, and details thereof are not repeated here.
Specifically, according to the position information in the target information, a bottom center point of a target frame for representing the target can be obtained, whether the bottom center point is in a dangerous area or not is further judged, if yes, the target is determined to be in the dangerous area, and if not, the target is determined not to be in the dangerous area.
Further, the specific implementation process of determining whether the target approaches the dangerous area according to the position information in the target information identified from the current frame image and the previous frame image may include:
(1) and determining the moving direction of the target according to the position information in the target information identified from the current frame image and the previous frame image.
Specifically, a first bottom center point of a target frame for representing the target may be obtained according to position information in the target information of the target identified from the current frame image, a second bottom center point of the target frame for representing the target may be further obtained according to position information in the target information of the target identified from the previous frame image, and then a moving direction of the target may be determined according to the first bottom center point and the second bottom center point, where the moving direction may be represented by a vector in which the second bottom center point points to the first bottom center point.
(2) And judging whether the moving direction points to the dangerous area.
Specifically, in an embodiment, if a direction of a vector for representing a moving direction intersects with a dangerous area, the moving direction is considered to be directed to the dangerous area, otherwise, the moving direction is considered not to be directed to the dangerous area.
(3) And if so, determining that the target is close to the dangerous area.
(4) If not, determining that the target is not close to the dangerous area.
And S402, if yes, determining that the target alarm mode is an alarm mode matched with the steering information.
Specifically, in an embodiment, when the steering information indicates that there is a steering intention or steering is being performed, it is determined that the target warning manner is a first warning manner; when the steering information indicates that no steering intention exists, determining that the target alarm mode is a second alarm mode; and the warning function of the first warning mode is higher than that of the second warning mode.
And S403, if not, determining that the target alarm mode is not to alarm.
The method provided by the embodiment provides a method for determining a target alarm mode according to the identified target information of the target and the steering information, so that different alarm modes are provided based on different target information and steering information, and the experience of a driver can be further improved.
The vehicle blind area detection method provided by the application is introduced above, and the vehicle blind area detection device and the vehicle blind area detection system provided by the application are introduced below:
fig. 6 is a schematic structural diagram of a vehicle blind area detection device according to an embodiment of the present application. Referring to fig. 6, the vehicle blind area detection apparatus provided by the present application may include an obtaining module 610, an identifying module 620, and a processing module 630; wherein,
the acquiring module 610 is used for acquiring images acquired by image acquisition devices arranged on two sides of a vehicle;
the identification module 620 is configured to identify the image;
the obtaining module 610 is further configured to obtain steering information of the vehicle when the identifying module identifies that an object exists in the specified detection area;
the processing module 630 is configured to determine a target alarm mode according to the identified target information of the target and the steering information, and execute the target alarm mode.
Specifically, the apparatus provided in this embodiment may be used to implement the technical solution of the method embodiment shown in fig. 1, and the implementation principle and the technical effect are similar, which are not described herein again.
Further, the processing module 630 is specifically configured to:
judging whether the target has danger or not according to the target information;
if so, determining that the target alarm mode is an alarm mode matched with the steering information;
if not, determining that the target alarm mode is not to alarm.
Further, the processing module 630 is specifically configured to:
when the category information in the target information is a first category, determining whether the target is in a designated dangerous area according to the position information in the target information identified from the current frame image, if so, determining that the target is dangerous, and if not, determining that the target is not dangerous;
when the category information in the target information is a second category, determining whether the target is close to the dangerous area or not according to the position information in the target information identified from the current frame image and the previous frame image, if so, determining that the target is dangerous, if not, determining whether the target is in the dangerous area or not according to the position information in the target information identified from the current frame image, if so, determining that the target is dangerous, otherwise, determining that the target is not dangerous.
Note that the travel speed of the first category is lower than the travel speed of the second category. For example, in one embodiment, the second category may be motor vehicles or non-motor vehicles and the first category is pedestrians.
Further, the processing module 630 is specifically configured to:
when the steering information indicates that a steering intention exists or steering is performed, determining that the target alarm mode is a first alarm mode;
when the steering information indicates that no steering intention exists, determining that the target alarm mode is a second alarm mode; and the warning function of the first warning mode is higher than that of the second warning mode.
Further, the processing module 630 is specifically configured to:
judging whether the bottom central point of a target frame for representing the target is in the dangerous area;
if yes, determining that the target is in the dangerous area;
if not, determining that the target is not within the hazardous area.
Further, the processing module 630 is specifically configured to:
determining the moving direction of the target according to the position information in the target information identified from the current frame image and the previous frame image;
judging whether the moving direction points to the dangerous area;
if so, determining that the target approaches the dangerous area;
if not, determining that the target is not close to the dangerous area.
Fig. 7 is a schematic diagram of a vehicle blind area detection system according to an embodiment of the present application. Referring to fig. 7, the vehicle blind spot detection system may include an image capture device 710 and a processor 720, wherein,
the image acquisition devices 710 are installed on both sides of the vehicle and used for acquiring images;
the processor 720 is configured to:
acquiring an image acquired by the image acquisition equipment, and identifying the image;
when the target exists in the specified detection area, acquiring steering information of the vehicle;
and determining a target alarming mode according to the identified target information of the target and the steering information, and executing the target alarming mode.
Specifically, the image capture device 710 may be a camera. Further, processor 720 may be integrated into image capture device 710 or may be integrated into another device separate from image capture device 710, for example, in one embodiment, processor 720 is integrated into a vehicle blind spot detection device installed in a cab. In the present embodiment, this is not limited.
In addition, the system of this embodiment may be used to implement the technical solution of the method embodiment shown in fig. 1, and the implementation principle and the technical effect are similar, which are not described herein again.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.
Claims (13)
1. A vehicle blind area detection method, characterized by comprising:
acquiring images acquired by image acquisition equipment arranged on two sides of a vehicle, and identifying the images;
when the target exists in the specified detection area, acquiring steering information of the vehicle;
and determining a target alarming mode according to the identified target information of the target and the steering information, and executing the target alarming mode.
2. The method of claim 1, wherein determining a target alert mode based on the target information and the turn information for the identified target comprises:
judging whether the target has danger or not according to the target information;
if so, determining that the target alarm mode is an alarm mode matched with the steering information;
if not, determining that the target alarm mode is not to alarm.
3. The method of claim 2, wherein said determining whether the target is dangerous based on the target information comprises:
when the category information in the target information is a first category, determining whether the target is in a designated danger area according to the position information in the target information identified from the current frame image,
if so, determining that the target is dangerous,
if not, determining that the target is not dangerous;
determining whether the object approaches the dangerous area according to position information in the object information identified from the current frame image and the previous frame image when the category information in the object information is of a second category,
if so, determining that the target is dangerous,
if not, determining whether the target is in the dangerous area according to the position information in the target information identified from the current frame image,
if so, determining that the target is dangerous,
if not, determining that the target is not dangerous.
4. The method of claim 2, wherein the determining the target alert mode as the alert mode that matches the steering information comprises:
when the steering information indicates that the vehicle has a steering intention or is steering, determining that the target alarm mode is a first alarm mode;
when the steering information indicates that the vehicle has no steering intention, determining that the target alarming mode is a second alarming mode;
and the warning function of the first warning mode is higher than that of the second warning mode.
5. The method of claim 3, wherein determining whether the object is within the danger area according to the position information in the object information identified from the current frame image comprises:
judging whether the bottom central point of a target frame for representing the target is in the dangerous area;
if yes, determining that the target is in the dangerous area;
if not, determining that the target is not within the hazardous area.
6. The method of claim 3, wherein the determining whether the object is close to the dangerous area according to the position information in the object information identified from the current frame image and the previous frame image comprises:
determining the moving direction of the target according to the position information in the target information identified from the current frame image and the previous frame image;
judging whether the moving direction points to the dangerous area;
if so, determining that the target approaches the dangerous area;
if not, determining that the target is not close to the dangerous area.
7. The vehicle blind area detection device is characterized by comprising an acquisition module, an identification module and a processing module; wherein,
the acquisition module is used for acquiring images acquired by image acquisition equipment arranged on two sides of the vehicle;
the identification module is used for identifying the image;
the acquisition module is further used for acquiring steering information of the vehicle when the identification module identifies that the target exists in the specified detection area;
and the processing module is used for determining a target alarming mode according to the identified target information of the target and the steering information and executing the target alarming mode.
8. The apparatus of claim 7, wherein the processing module is specifically configured to:
judging whether the target has danger or not according to the target information;
if so, determining that the target alarm mode is an alarm mode matched with the steering information;
if not, determining that the target alarm mode is not to alarm.
9. The apparatus of claim 8, wherein the processing module is specifically configured to:
when the category information in the target information is a first category, determining whether the target is in a designated danger area according to the position information in the target information identified from the current frame image,
if so, determining that the target is dangerous,
if not, determining that the target is not dangerous;
determining whether the object approaches the dangerous area according to position information in the object information identified from the current frame image and the previous frame image when the category information in the object information is of a second category,
if so, determining that the target is dangerous,
if not, determining whether the target is in the dangerous area according to the position information in the target information identified from the current frame image,
if so, determining that the target is dangerous,
if not, determining that the target is not dangerous.
10. The apparatus of claim 8, wherein the processing module is specifically configured to:
when the steering information indicates that the vehicle has a steering intention or is steering, determining that the target alarm mode is a first alarm mode;
when the steering information indicates that the vehicle has no steering intention, determining that the target alarming mode is a second alarming mode;
and the warning function of the first warning mode is higher than that of the second warning mode.
11. The apparatus of claim 9, wherein the processing module is specifically configured to:
judging whether the bottom central point of a target frame for representing the target is in the dangerous area;
if yes, determining that the target is in the dangerous area;
if not, determining that the target is not within the hazardous area.
12. The apparatus of claim 9, wherein the processing module is specifically configured to:
determining the moving direction of the target according to the position information in the target information identified from the current frame image and the previous frame image;
judging whether the moving direction points to the dangerous area;
if so, determining that the target approaches the dangerous area;
if not, determining that the target is not close to the dangerous area.
13. A vehicle blind zone detection system, comprising an image capture device and a processor, wherein,
the image acquisition equipment is arranged on two sides of the vehicle and is used for acquiring images;
the processor is configured to:
acquiring an image acquired by the image acquisition equipment, and identifying the image;
when the target exists in the specified detection area, acquiring steering information of the vehicle;
and determining a target alarming mode according to the identified target information of the target and the steering information, and executing the target alarming mode.
Applications Claiming Priority (2)
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| CN113103957A (en) * | 2021-04-28 | 2021-07-13 | 上海商汤临港智能科技有限公司 | Blind area monitoring method and device, electronic equipment and storage medium |
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| CN112277799B (en) * | 2020-10-30 | 2023-01-06 | 重庆长安汽车股份有限公司 | Automobile blind area detection alarm method and system |
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| WO2020151560A1 (en) | 2020-07-30 |
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