CN112389328A - Vehicle collision warning method, device, storage medium and device - Google Patents
Vehicle collision warning method, device, storage medium and device Download PDFInfo
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- CN112389328A CN112389328A CN202011397257.7A CN202011397257A CN112389328A CN 112389328 A CN112389328 A CN 112389328A CN 202011397257 A CN202011397257 A CN 202011397257A CN 112389328 A CN112389328 A CN 112389328A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
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Abstract
The invention discloses a vehicle collision alarm method, equipment, a storage medium and a device, wherein a steering side camera is started through a steering wheel corner signal, and second image information acquired by the steering side camera is acquired in real time; generating road condition information according to first image information and second image information acquired by a front grille camera; and when the distance between the target vehicle and the barrier is not more than the preset safety distance, generating an alarm prompt according to the road condition information and the third image information acquired by the chassis camera. Because the steering side camera is started according to the steering wheel corner signal, an alarm prompt is generated according to the image information acquired by the steering side camera and the information acquired by the chassis camera. Compared with the prior art that the angle of the camera cannot be adjusted and the road condition in front cannot be predicted in advance, the angle adjustment of the camera is realized, and the image of the dead corner of the curve is provided for the driver to judge the road condition in front, so that the road identification degree is improved, and the driving safety is improved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a vehicle collision alarm method, equipment, a storage medium and a device.
Background
At present, along with the development of the automobile industry, the requirement on the safety of automobiles is continuously improved, automobile collision alarming is increasingly focused by various large host factories and becomes the basic configuration of automobile design, generally, radars and cameras are installed on automobiles to monitor blind areas, however, because the angles of the radars and the cameras cannot be adjusted, the blind areas can be frequently generated on the inner side of a curve, the problems of the blind areas and low distance measurement precision are caused, the condition of the front road cannot be judged, the road identification degree is low, and the driving safety is low.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a vehicle collision warning method, device, storage medium and device, and aims to solve the technical problem that the road identification degree is low for the problem that images at the dead corners of curves cannot be provided in the prior art.
In order to achieve the above object, the present invention provides a vehicle collision warning method, including the steps of:
acquiring a steering wheel corner signal of a target vehicle and first image information acquired by a front grille camera;
starting a steering side camera according to the steering wheel corner signal, and acquiring second image information acquired by the steering side camera in real time;
splicing the first image information and the second image information to generate road condition information;
acquiring radar information acquired by a vehicle-mounted radar, the current running speed of the target vehicle and third image information acquired by a chassis camera;
determining the distance between the target vehicle and an obstacle according to the radar information and the current running speed;
and when the distance is not greater than the preset safety distance, generating an alarm prompt according to the road condition information and the third image information.
Preferably, the step of turning on the steering-side camera according to the steering wheel angle signal and acquiring second image information acquired by the steering-side camera in real time includes:
determining a vehicle steering angle according to the steering wheel angle signal;
converting the vehicle steering angle into a deviation angle through a preset algorithm;
and starting the steering side camera according to the deviation angle, and acquiring second image information acquired by the steering side camera in real time.
Preferably, the step of converting the steering angle into a deviation angle by a preset algorithm includes:
determining a steering angle code according to the steering angle;
and searching a deviation angle corresponding to the angle code through a preset algorithm.
Preferably, the step of turning on the steering-side camera according to the steering wheel angle signal and acquiring second image information acquired by the steering-side camera in real time includes:
when the steering wheel corner signal is a right corner signal, determining a right steering angle according to the right corner signal;
determining a right steering angle code according to the right steering angle, and searching a right deviation angle corresponding to the right steering angle code through the preset algorithm;
starting a right steering side camera according to the right deviation angle, and acquiring second image information acquired by the right steering side camera;
or when the steering wheel angle signal is a left-turning angle signal, determining a left-turning angle according to the left-turning angle signal;
determining a left steering angle code according to the left steering angle, and searching a left deviation angle corresponding to the left steering angle code through the preset algorithm;
and starting the left steering side camera according to the left deviation angle to acquire second image information acquired by the left steering side camera.
Preferably, the step of determining the distance between the target vehicle and the obstacle according to the radar information and the current running speed includes:
determining a relative speed between an obstacle and the target vehicle according to the radar information and the current running speed;
and determining the distance between the target vehicle and the obstacle according to the relative speed.
Preferably, the step of generating an alarm prompt according to the traffic information and the third image information when the distance is not greater than the preset safety distance includes:
when the distance is not greater than a first preset safety distance in a preset safety distance range, generating an early warning prompt according to the road condition information and the third image information;
and when the distance is not greater than a second preset safety distance in the preset safety distance range, generating an emergency alarm prompt according to the road condition information and the third image information.
Preferably, the step of generating an early warning and warning prompt according to the road condition information and the third image information when the distance is not greater than a first preset safety distance in a preset safety distance range includes:
when the distance is not greater than a first preset safety distance in a preset safety distance range, generating a video early warning and alarming prompt according to first video data contained in the road condition information and second video data contained in the third image information, and sending early warning and alarming prompt sound through a video and audio system;
correspondingly, when the distance is not greater than a second preset safety distance in the preset safety distance range, the step of generating an emergency alarm prompt according to the road condition information and the third image information includes:
and when the distance is not greater than a second preset safety distance in the preset safety distance range, generating a video emergency alarm prompt according to first video data contained in the road condition information and second video data contained in the third image information, and sending an emergency alarm prompt sound through a video-audio system.
Furthermore, to achieve the above object, the present invention also proposes a vehicle collision warning apparatus comprising a memory, a processor and a vehicle collision warning program stored on the memory and operable on the processor, the vehicle collision warning program being configured to implement the steps of vehicle collision warning as described above.
Furthermore, to achieve the above object, the present invention also proposes a storage medium having stored thereon a vehicle collision warning program which, when executed by a processor, implements the steps of the vehicle collision warning method as described above.
Further, to achieve the above object, the present invention also proposes a vehicle collision warning apparatus including:
the information acquisition module is used for acquiring a steering wheel angle signal of a target vehicle and first image information acquired by a front grille camera;
the information acquisition module is also used for starting the steering side camera according to the steering wheel corner signal and acquiring second image information acquired by the steering side camera in real time;
the information determining module is used for splicing the first image information and the second image information to generate road condition information;
the information acquisition module is also used for acquiring radar information acquired by a vehicle-mounted radar, the current running speed of the target vehicle and third image information acquired by a chassis camera;
the distance determining module is used for determining the distance between the target vehicle and an obstacle according to the radar information and the current running speed;
and the alarm prompt module is used for generating an alarm prompt according to the road condition information and the third image information when the distance is not greater than the preset safety distance.
According to the method, a steering wheel corner signal of a target vehicle and first image information acquired by a front grille camera are acquired; starting a steering side camera according to the steering wheel corner signal, and acquiring second image information acquired by the steering side camera in real time; splicing the first image information and the second image information to generate road condition information; acquiring radar information acquired by a vehicle-mounted radar, the current running speed of the target vehicle and third image information acquired by a chassis camera; determining the distance between the target vehicle and an obstacle according to the radar information and the current running speed; and when the distance is not greater than the preset safety distance, generating an alarm prompt according to the road condition information and the third image information. Because the steering side camera is started according to the steering wheel corner signal, and the alarm prompt is generated according to the image information acquired by the steering side camera and the information acquired by the chassis camera when the distance between the target vehicle and the obstacle is smaller than the safe distance, compared with the prior art, the angle of the camera cannot be adjusted, so that a blind area exists when the vehicle turns, and the front road condition cannot be predicted in advance, the angle adjustment of the camera is realized, and the image of the dead corner of the curve is provided for the driver to judge the front road condition, so that the road identification degree is improved, and the driving safety is improved.
Drawings
FIG. 1 is a schematic diagram of a vehicle collision warning device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of a vehicle collision warning method of the present invention;
FIG. 3 is a schematic flow chart of a second embodiment of a vehicle collision warning method of the present invention;
FIG. 4 is a schematic flow chart diagram of a third embodiment of a vehicle collision warning method of the present invention;
fig. 5 is a block diagram showing the construction of a first embodiment of the vehicle collision warning apparatus of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a vehicle collision warning device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the vehicle collision warning apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), and the optional user interface 1003 may further include a standard wired interface and a wireless interface, and the wired interface for the user interface 1003 may be a USB interface in the present invention. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory or a Non-volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the vehicle collision warning apparatus, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
As shown in FIG. 1, a memory 1005, identified as one type of computer storage medium, may include an operating system, a network communication module, a user interface module, and a vehicle collision alert program.
In the vehicle collision warning apparatus shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting user equipment; the vehicle collision warning apparatus calls a vehicle collision warning program stored in a memory 1005 through a processor 1001 and performs a vehicle collision warning method provided by an embodiment of the present invention.
Based on the hardware structure, the embodiment of the vehicle collision warning method is provided.
Referring to fig. 2, fig. 2 is a flow chart illustrating a first embodiment of the vehicle collision warning method according to the present invention.
In this embodiment, the vehicle collision warning method includes the steps of:
step S10: the method comprises the steps of obtaining a steering wheel angle signal of a target vehicle and first image information collected by a front grille camera.
It should be noted that the execution main body of the embodiment may be a device having a vehicle collision warning function, the device may be a vehicle-mounted computer, a tablet computer, a mobile phone, a notebook computer, and the like, the embodiment takes the vehicle-mounted computer as an illustration, and the embodiment does not limit this, and the vehicle collision warning method of the present invention is described in the embodiment and the following embodiments by taking the vehicle-mounted computer as an illustration.
It should be understood that the steering wheel angle signal may be a signal sent by a steering wheel angle sensor. The steering wheel angle sensor can be used for detecting the middle position, the rotating direction, the rotating angle and the rotating speed of the steering wheel.
It is to be understood that the first image information may be video information collected by a front grille camera while the target vehicle is traveling. The front grille camera may be a panoramic 360 ° camera.
In the concrete implementation, the vehicle-mounted computer can acquire a steering wheel angle signal from the steering wheel angle sensor and acquire video information of the vehicle during running from the front grille camera.
Step S20: and starting a steering side camera according to the steering wheel corner signal, and acquiring second image information acquired by the steering side camera in real time.
Note that the steering-side camera may be a side camera that is turned on when the target vehicle is steered. The steering-side camera may be a camera having an angle adjustment function.
Understandably, the second image information can be steering blind area video information collected by a steering side camera when the target vehicle turns the road.
In the specific implementation, the vehicle-mounted computer can start the steering side camera corresponding to the corner signal according to the received signal sent by the steering wheel corner sensor and the steering side camera according to the steering wheel corner signal, adjust the angle of the side camera according to the corner signal and acquire the video information collected by the steering side camera in real time.
Step S30: and splicing the first image information and the second image information to generate road condition information.
It should be noted that the traffic information may be traffic video information determined according to the first image information and the second image information, and the video information may be displayed on the vehicle display. The road condition information may be road condition video information of the target vehicle when the target vehicle is driving straight, or road condition video information of the target vehicle when the target vehicle is turning.
The vehicle-mounted computer can be used for splicing the first image information and the second image information in real time through an image stituting algorithm, and outputting a panoramic image video through matching of key points of video information.
In the concrete implementation, the vehicle-mounted computer can extract the characteristic points of the first image information collected by the front grille camera and the second image information collected by the lateral camera during steering through a sift algorithm, the characteristic points are matched through an image tracking algorithm, a panoramic image video is output, the road condition information is generated according to the panoramic image video, and the road condition information is displayed on a vehicle display. The algorithm is not limited in this embodiment.
Step S40: and acquiring radar information acquired by a vehicle-mounted radar, the current running speed of the target vehicle and third image information acquired by a chassis camera.
It should be noted that the radar information may be two or more radars installed around the vehicle body. The radar information can be information such as the distance, the distance change rate, the azimuth, the height and the like from a target object to an electromagnetic wave emission point, wherein the target object is irradiated by electromagnetic waves transmitted by a vehicle-mounted radar and the echo of the target object is received by the vehicle-mounted radar.
It will be appreciated that the third image information may be video information captured by a chassis-mounted camera while the vehicle is moving. The chassis camera can be arranged on a first cross beam in front of the chassis according to a target vehicle structure, and shot front road information is sent to the vehicle-mounted computer.
In the concrete implementation, the vehicle-mounted computer can acquire radar information from the radar controller and acquire front road information from the chassis camera controller.
Step S50: and determining the distance between the target vehicle and the obstacle according to the radar information and the current running speed.
It should be noted that the obstacle may be a target object around the body of the target vehicle, such as: vehicles, numbers, stone piers, children, etc.
In the specific implementation, the vehicle-mounted computer can calculate the relative speed of the target vehicle relative to the obstacles existing around the body of the target vehicle according to the time required by the Doppler wave reflected by the obstacles and the current running speed of the target vehicle, and calculate the distance between the target vehicle and the obstacles.
Step S60: and when the distance is not greater than the preset safety distance, generating an alarm prompt according to the road condition information and the third image information.
The preset safe distance may be a safe distance manually set by a person, or may be a safe distance set according to a vehicle driving safety standard. The preset safe distance is a necessary separation distance maintained between the vehicle and the obstacle during traveling in order to avoid an accidental collision between the vehicle and the obstacle.
It can be understood that the alarm prompt can be performed in a video mode through a vehicle display, and can also be performed through the alarm prompt sound of a video and audio system.
In the concrete implementation, when the vehicle-mounted computer recognizes that the distance between the target vehicle and the barrier is not more than the preset safe distance, the vehicle-mounted computer displays the road condition information and the third image information to the driver in the form of a video display and a video and audio system, and prompts the driver of the road condition in front.
The method comprises the steps of acquiring a steering wheel angle signal of a target vehicle and first image information acquired by a front grille camera; starting a steering side camera according to the steering wheel corner signal, and acquiring second image information acquired by the steering side camera in real time; splicing the first image information and the second image information to generate road condition information; acquiring radar information acquired by a vehicle-mounted radar, the current running speed of the target vehicle and third image information acquired by a chassis camera; determining the distance between the target vehicle and an obstacle according to the radar information and the current running speed; and when the distance is not greater than the preset safety distance, generating an alarm prompt according to the road condition information and the third image information. Because turn to the side camera according to steering wheel corner signal, and when the distance between target vehicle and the barrier is less than safe distance, generate the warning suggestion according to the image information that turns to the side camera collection and the information of chassis camera collection, this embodiment can't adjust the camera angle for prior art, there is the blind area when leading to the vehicle to turn, can not foresee the place ahead road conditions in advance, this embodiment has realized camera angle regulation, judge the place ahead road conditions for the driver and provide the image of bend die angle department, thereby improve road identification, promote driving safety.
Referring to fig. 3, fig. 3 is a flowchart illustrating a second embodiment of the vehicle collision warning method according to the present invention, which is proposed based on the first embodiment illustrated in fig. 2.
In this embodiment, the step S20 includes:
step S201: and determining the steering angle of the vehicle according to the steering wheel angle signal.
It should be noted that the vehicle steering angle may be an angle formed by the vehicle front wheel turning left or right to the extreme position and the center line when the front wheel does not deflect.
In the concrete implementation, the steering angle range of the vehicle steering wheel can be-780 degrees to 780 degrees, the steering angle range of the vehicle can be 30 degrees to 40 degrees, the vehicle-mounted computer can determine the current steering angle of the steering wheel operated by the driver according to the steering wheel angle signal, and the steering angle of the vehicle can be determined according to the current steering angle of the steering wheel.
Step S202: and converting the vehicle steering angle into a deviation angle through a preset algorithm.
Note that the deviation angle may refer to a deflection angle of the steering-side camera, and the deviation angle may range from-90 ° to 90 °, which is positive to the left and negative to the right.
It is understood that the preset algorithm may be an algorithm preset in an on-board computer by a target vehicle manufacturer, and the preset algorithm may be used to determine the steering-side camera adjustment angle according to the vehicle steering angle when the target vehicle is turning.
In the concrete implementation, the vehicle steering angle is converted when the target vehicle turns according to a preset algorithm, and the steering side camera deflection angle is adjusted.
Step S203: and starting the steering side camera according to the deviation angle, and acquiring second image information acquired by the steering side camera in real time.
In the specific implementation, the vehicle-mounted computer can start the steering side camera corresponding to the corner signal according to the received signal sent by the steering wheel corner sensor and the steering side camera according to the steering wheel corner signal, adjust the angle of the side camera according to the corner signal and acquire the video information collected by the steering side camera in real time.
Further, the step of converting the steering angle into a deviation angle by a preset algorithm includes: determining a steering angle code according to the steering angle; and searching a deviation angle corresponding to the angle code through a preset algorithm.
It should be noted that the steering angle code may be an angle code corresponding to the steering angle from the steering angle sensor.
In a specific implementation, the parameters of the target vehicle at the turning are as follows: the camera is controlled to deflect according to the deviation angle, so that the blind area of the steering side is shot.
Further, the step of turning on the steering side camera according to the steering wheel angle signal and acquiring second image information acquired by the steering side camera in real time includes: when the steering wheel corner signal is a right corner signal, determining a right steering angle according to the right corner signal; determining a right steering angle code according to the right steering angle, and searching a right deviation angle corresponding to the right steering angle code through the preset algorithm; starting a right steering side camera according to the right deviation angle, and acquiring second image information acquired by the right steering side camera; or when the steering wheel angle signal is a left-turning angle signal, determining a left-turning angle according to the left-turning angle signal; determining a left steering angle code according to the left steering angle, and searching a left deviation angle corresponding to the left steering angle code through the preset algorithm; opening a left steering side camera according to the left deviation angle to acquire second image information acquired by the left steering side camera
It should be noted that there are left and right directions on the turning side, and when the vehicle turns left, the left turning camera is turned on to shoot the left blind area. When the vehicle turns to the right, the right steering camera is started to shoot the right blind area.
It can be understood that the right steering angle corresponds to the right steering angle code, the left steering angle corresponds to the left steering angle code, and since the vehicle steering angle of the target vehicle is different from the steering angle of the camera, when the angle of the camera is adjusted, the vehicle steering angle needs to be converted through a preset algorithm, namely, the camera deflection angle corresponding to the angle code is searched according to the preset algorithm, and the steering side camera is controlled according to the camera deflection angle.
In the concrete implementation, when the steering wheel corner signal is a right corner signal, determining a right steering angle according to the right corner signal; determining a right steering angle code according to the right steering angle, and searching a right deviation angle corresponding to the right steering angle code through a preset algorithm; starting a right steering side camera according to the right deviation angle, and acquiring second image information acquired by the right steering side camera; or when the steering wheel angle signal is a left-turn angle signal, determining a left-turn angle according to the left-turn angle signal; determining a left steering angle code according to the left steering angle, and searching a left deviation angle corresponding to the left steering angle code through a preset algorithm; and opening the left steering side camera according to the left deviation angle to acquire second image information acquired by the left steering side camera.
The method comprises the steps of acquiring a steering wheel angle signal of a target vehicle and first image information acquired by a front grille camera; determining a vehicle steering angle according to the steering wheel angle signal; converting the vehicle steering angle into a deviation angle through a preset algorithm; starting a steering side camera according to the deviation angle, and acquiring second image information acquired by the steering side camera in real time; splicing the first image information and the second image information to generate road condition information; acquiring radar information acquired by a vehicle-mounted radar, the current running speed of the target vehicle and third image information acquired by a chassis camera; determining the distance between the target vehicle and an obstacle according to the radar information and the current running speed; and when the distance is not greater than the preset safety distance, generating an alarm prompt according to the road condition information and the third image information. The steering angle of the vehicle is determined according to the steering wheel angle signal; converting the vehicle steering angle into a deviation angle through a preset algorithm; according to the departure angle opens and turns to side camera to when the distance between target vehicle and the barrier is less than safe distance, according to turning to the image information that side camera gathered and the information generation warning suggestion that the chassis camera gathered, this embodiment can't adjust the camera angle for prior art, there is the blind area when leading to the vehicle to turn, can not foresee the place ahead road conditions in advance, this embodiment has realized camera angle modulation, judge the place ahead road condition for the driver and provide the image of bend dead angle department, thereby improve road identification degree, promote driving safety.
Referring to fig. 4, fig. 4 is a flowchart illustrating a third embodiment of a vehicle collision warning method according to the present invention, which is proposed based on the first embodiment illustrated in fig. 2.
In this embodiment, the step S50 includes:
step S501: and determining the relative speed between the obstacle and the target vehicle according to the radar information and the current running speed.
It should be noted that the radar information may include obstacle trace information, and the trace information includes obstacle direction, speed, and acceleration information.
It will be appreciated that relative velocity may refer to velocity measured with a fischer-tropsch reference system as a reference, such as: and measuring the relative speed between the obstacle and the target vehicle by taking the target vehicle as a reference object.
In a specific implementation, the in-vehicle computer can calculate the relative speed of the target vehicle with respect to the obstacle existing around the target vehicle with high accuracy from the time required for the doppler wave reflected from the obstacle in combination with the vehicle running speed.
Step S502: and determining the distance between the target vehicle and the obstacle according to the relative speed.
In a specific implementation, the vehicle-mounted computer can determine the distance between the target vehicle and the obstacle according to the relative speed.
Further, when the distance is not greater than the preset safety distance, the step of generating an alarm prompt according to the road condition information and the third image information includes: when the distance is not greater than a first preset safety distance in a preset safety distance range, generating an early warning prompt according to the road condition information and the third image information; and when the distance is not greater than a second preset safety distance in the preset safety distance range, generating an emergency alarm prompt according to the road condition information and the third image information.
It should be noted that the first preset safe distance may be a carefully divided safe distance of the preset safe distance, and may be a safe distance manually set by the driver, for example: when the preset safe distance is 0.5m, the first preset safe distance may be set to 0.3 m. The second preset safe distance may be a safe distance obtained by further dividing the first preset safe distance in detail, or may be a safe distance manually set by the driver, for example: when the first preset safety distance is set to 0.3m, the second preset safety distance may be 0.1 m.
It can be understood that the warning alarm prompt can be a warning alarm prompt for the driver through a video display and a video and audio system, for example: when the distance between the vehicle and the obstacle is not more than 0.3m, a video display and a video and audio system are used for sending out early warning and warning prompts to a driver, such as: the video display can display the road condition information and the third image information in a splicing mode, and the audio-video system can give out low-frequency alarm sound.
It should be understood that the emergency alert prompt may be an emergency alert prompt to the driver via a video display and an audio/video system, such as: when the distance between the vehicle and the obstacle is not more than 0.1m, an emergency alarm prompt is sent to the driver through a video display and a video and audio system, such as: the video display can display the road condition information and the third image information in a splicing mode, and the audio-video system can give out high-frequency alarm sound.
In a specific implementation, when the distance between a target vehicle and an obstacle is not more than a first preset safety distance in a preset safety distance range, the vehicle-mounted computer generates an early warning and alarming prompt according to the road condition information and the third image information; and when the distance is not greater than a second preset safety distance in the preset safety distance range, generating an emergency alarm prompt according to the road condition information and the third image information.
Further, when the distance is not greater than a first preset safety distance in a preset safety distance range, generating an early warning and alarm prompt according to the road condition information and the third image information, including: when the distance is not greater than a first preset safety distance in a preset safety distance range, generating a video early warning and alarming prompt according to first video data contained in the road condition information and second video data contained in the third image information, and sending early warning and alarming prompt sound through a video and audio system; correspondingly, when the distance is not greater than a second preset safety distance in the preset safety distance range, the step of generating an emergency alarm prompt according to the road condition information and the third image information includes: and when the distance is not greater than a second preset safety distance in the preset safety distance range, generating a video emergency alarm prompt according to first video data contained in the road condition information and second video data contained in the third image information, and sending an emergency alarm prompt sound through a video-audio system.
In the concrete implementation, when the distance is not greater than a first preset safe distance in a preset safe distance range, generating a video early warning alarm prompt according to first video data contained in the road condition information and second video data contained in the third image information, and sending out an early warning alarm prompt sound through a video-audio system, and when the distance is not greater than a second preset safe distance in the preset safe distance range, generating an emergency alarm prompt according to the road condition information and the third image information, including: and when the distance is not greater than a second preset safety distance in the preset safety distance range, generating a video emergency alarm prompt according to first video data contained in the road condition information and second video data contained in the third image information, and sending an emergency alarm prompt sound through a video-audio system.
The method comprises the steps of acquiring a steering wheel angle signal of a target vehicle and first image information acquired by a front grille camera; starting a steering side camera according to the steering wheel corner signal, and acquiring second image information acquired by the steering side camera in real time; splicing the first image information and the second image information to generate road condition information; acquiring radar information acquired by a vehicle-mounted radar, the current running speed of the target vehicle and third image information acquired by a chassis camera; determining a relative speed between an obstacle and the target vehicle according to the radar information and the current running speed; determining the distance between the target vehicle and an obstacle according to the relative speed; and when the distance is not greater than the preset safety distance, generating an alarm prompt according to the road condition information and the third image information. Because the steering angle of the vehicle is determined according to the steering wheel corner signal, the distance between the target vehicle and the obstacle is determined according to the radar information and the current running speed of the target vehicle, when the distance between the target vehicle and the obstacle is smaller than the safe distance, an alarm prompt is generated according to the image information acquired by the steering side camera and the information acquired by the chassis camera, compared with the prior art, the camera angle cannot be adjusted, a blind area exists when the vehicle turns, the front road condition cannot be predicted in advance, the camera angle adjustment is realized, the image of a curve dead angle is provided for a driver to judge the front road condition, the road identification degree is improved, and the driving safety is improved.
Furthermore, an embodiment of the present invention also provides a storage medium having a vehicle collision warning program stored thereon, which when executed by a processor implements the steps of the vehicle collision warning method as described above.
Referring to fig. 5, fig. 5 is a block diagram showing the construction of a first embodiment of the vehicle collision warning apparatus of the present invention.
As shown in fig. 5, a vehicle collision warning apparatus according to an embodiment of the present invention includes:
the information acquisition module 10 is used for acquiring a steering wheel angle signal of a target vehicle and first image information acquired by a front grille camera;
the information acquisition module 10 is further configured to start a steering side camera according to the steering wheel angle signal, and acquire second image information acquired by the steering side camera in real time;
the information determining module 20 is configured to splice the first image information and the second image information to generate road condition information;
the information acquisition module 10 is further configured to acquire radar information acquired by a vehicle-mounted radar, a current traveling speed of the target vehicle, and third image information acquired by a chassis camera;
a distance determination module 30, configured to determine a distance between the target vehicle and an obstacle according to the radar information and the current driving speed;
and the alarm prompt module 40 is configured to generate an alarm prompt according to the road condition information and the third image information when the distance is not greater than the preset safety distance.
The method comprises the steps of acquiring a steering wheel angle signal of a target vehicle and first image information acquired by a front grille camera; starting a steering side camera according to the steering wheel corner signal, and acquiring second image information acquired by the steering side camera in real time; splicing the first image information and the second image information to generate road condition information; acquiring radar information acquired by a vehicle-mounted radar, the current running speed of the target vehicle and third image information acquired by a chassis camera; determining the distance between the target vehicle and an obstacle according to the radar information and the current running speed; and when the distance is not greater than the preset safety distance, generating an alarm prompt according to the road condition information and the third image information. Because turn to the side camera according to steering wheel corner signal, and when the distance between target vehicle and the barrier is less than safe distance, generate the warning suggestion according to the image information that turns to the side camera collection and the information of chassis camera collection, this embodiment can't adjust the camera angle for prior art, there is the blind area when leading to the vehicle to turn, can not foresee the place ahead road conditions in advance, this embodiment has realized camera angle regulation, judge the place ahead road conditions for the driver and provide the image of bend die angle department, thereby improve road identification, promote driving safety.
Further, the information obtaining module 10 is further configured to determine a vehicle steering angle according to the steering wheel angle signal; converting the vehicle steering angle into a deviation angle through a preset algorithm; and starting the steering side camera according to the deviation angle, and acquiring second image information acquired by the steering side camera in real time.
Further, the information obtaining module 10 is further configured to determine a steering angle code according to the steering angle; and searching a deviation angle corresponding to the angle code through a preset algorithm.
Further, the information obtaining module 10 is further configured to determine a right steering angle according to the right turn signal when the steering wheel turn signal is the right turn signal; determining a right steering angle code according to the right steering angle, and searching a right deviation angle corresponding to the right steering angle code through the preset algorithm; starting a right steering side camera according to the right deviation angle, and acquiring second image information acquired by the right steering side camera; or when the steering wheel angle signal is a left-turning angle signal, determining a left-turning angle according to the left-turning angle signal; determining a left steering angle code according to the left steering angle, and searching a left deviation angle corresponding to the left steering angle code through the preset algorithm; and starting the left steering side camera according to the left deviation angle to acquire second image information acquired by the left steering side camera.
Further, the distance determination module 30 is further configured to determine a relative speed between the obstacle and the target vehicle according to the radar information and the current driving speed; and determining the distance between the target vehicle and the obstacle according to the relative speed.
Further, the alarm prompt module 40 is further configured to generate an early warning alarm prompt according to the road condition information and the third image information when the distance is not greater than a first preset safe distance in a preset safe distance range; and when the distance is not greater than a second preset safety distance in the preset safety distance range, generating an emergency alarm prompt according to the road condition information and the third image information.
Further, the alarm prompt module 40 is further configured to generate a video early-warning alarm prompt according to the first video data included in the road condition information and the second video data included in the third image information when the distance is not greater than a first preset safe distance in a preset safe distance range, and send an early-warning alarm prompt sound through a video-audio system; correspondingly, when the distance is not greater than a second preset safety distance in the preset safety distance range, the step of generating an emergency alarm prompt according to the road condition information and the third image information includes: and when the distance is not greater than a second preset safety distance in the preset safety distance range, generating a video emergency alarm prompt according to first video data contained in the road condition information and second video data contained in the third image information, and sending an emergency alarm prompt sound through a video-audio system.
Furthermore, an embodiment of the present invention also provides a storage medium having a vehicle collision warning program stored thereon, which when executed by a processor implements the steps of the vehicle collision warning method as described above.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment can be referred to the vehicle collision warning method provided by any embodiment of the present invention, and are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order, but rather the words first, second, third, etc. are to be interpreted as names.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g., a Read Only Memory (ROM)/Random Access Memory (RAM), a magnetic disk, an optical disk), and includes several instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A vehicle collision warning method, characterized by comprising the steps of:
acquiring a steering wheel corner signal of a target vehicle and first image information acquired by a front grille camera;
starting a steering side camera according to the steering wheel corner signal, and acquiring second image information acquired by the steering side camera in real time;
splicing the first image information and the second image information to generate road condition information;
acquiring radar information acquired by a vehicle-mounted radar, the current running speed of the target vehicle and third image information acquired by a chassis camera;
determining the distance between the target vehicle and an obstacle according to the radar information and the current running speed;
and when the distance is not greater than the preset safety distance, generating an alarm prompt according to the road condition information and the third image information.
2. The vehicle collision warning method according to claim 1, wherein the step of turning on a steering-side camera according to the steering wheel angle signal and acquiring second image information acquired by the steering-side camera in real time includes:
determining a vehicle steering angle according to the steering wheel angle signal;
converting the vehicle steering angle into a deviation angle through a preset algorithm;
and starting the steering side camera according to the deviation angle, and acquiring second image information acquired by the steering side camera in real time.
3. The vehicle collision warning method as claimed in claim 2, wherein the step of converting the steering angle into a deviation angle by a preset algorithm comprises:
determining a steering angle code according to the steering angle;
and searching a deviation angle corresponding to the angle code through a preset algorithm.
4. The vehicle collision warning method according to claim 3, wherein the step of turning on a steering-side camera according to the steering wheel angle signal and acquiring second image information acquired by the steering-side camera in real time includes:
when the steering wheel corner signal is a right corner signal, determining a right steering angle according to the right corner signal;
determining a right steering angle code according to the right steering angle, and searching a right deviation angle corresponding to the right steering angle code through the preset algorithm;
starting a right steering side camera according to the right deviation angle, and acquiring second image information acquired by the right steering side camera;
or when the steering wheel angle signal is a left-turning angle signal, determining a left-turning angle according to the left-turning angle signal;
determining a left steering angle code according to the left steering angle, and searching a left deviation angle corresponding to the left steering angle code through the preset algorithm;
and starting the left steering side camera according to the left deviation angle to acquire second image information acquired by the left steering side camera.
5. The vehicle collision warning method according to claim 1, wherein the step of determining the distance between the target vehicle and the obstacle based on the radar information and the current traveling speed includes:
determining a relative speed between an obstacle and the target vehicle according to the radar information and the current running speed;
and determining the distance between the target vehicle and the obstacle according to the relative speed.
6. The vehicle collision warning method according to claim 5, wherein the step of generating a warning prompt according to the traffic information and the third image information when the distance is not greater than a preset safe distance includes:
when the distance is not greater than a first preset safety distance in a preset safety distance range, generating an early warning prompt according to the road condition information and the third image information;
and when the distance is not greater than a second preset safety distance in the preset safety distance range, generating an emergency alarm prompt according to the road condition information and the third image information.
7. The vehicle collision warning method according to claim 6, wherein the step of generating an early warning alert according to the traffic information and the third image information when the distance is not greater than a first preset safe distance in a preset safe distance range includes:
when the distance is not greater than a first preset safety distance in a preset safety distance range, generating a video early warning and alarming prompt according to first video data contained in the road condition information and second video data contained in the third image information, and sending early warning and alarming prompt sound through a video and audio system;
correspondingly, when the distance is not greater than a second preset safety distance in the preset safety distance range, the step of generating an emergency alarm prompt according to the road condition information and the third image information includes:
and when the distance is not greater than a second preset safety distance in the preset safety distance range, generating a video emergency alarm prompt according to first video data contained in the road condition information and second video data contained in the third image information, and sending an emergency alarm prompt sound through a video-audio system.
8. A vehicle collision warning apparatus characterized by comprising: memory, a processor and a vehicle collision warning program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the vehicle collision warning method according to any one of claims 1 to 7.
9. A storage medium, characterized in that the storage medium has stored thereon a vehicle collision warning program which, when executed by a processor, carries out the steps of the vehicle collision warning method according to any one of claims 1 to 7.
10. A vehicle collision warning apparatus characterized by comprising:
the information acquisition module is used for acquiring a steering wheel angle signal of a target vehicle and first image information acquired by a front grille camera;
the information acquisition module is also used for starting the steering side camera according to the steering wheel corner signal and acquiring second image information acquired by the steering side camera in real time;
the information determining module is used for splicing the first image information and the second image information to generate road condition information;
the information acquisition module is also used for acquiring radar information acquired by a vehicle-mounted radar, the current running speed of the target vehicle and third image information acquired by a chassis camera;
the distance determining module is used for determining the distance between the target vehicle and an obstacle according to the radar information and the current running speed;
and the alarm prompt module is used for generating an alarm prompt according to the road condition information and the third image information when the distance is not greater than the preset safety distance.
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| CN202011397257.7A CN112389328A (en) | 2020-12-03 | 2020-12-03 | Vehicle collision warning method, device, storage medium and device |
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Application publication date: 20210223 |