CN114715024A - Automobile acousto-optic reminding method, automobile acousto-optic reminding equipment, storage medium and automobile acousto-optic reminding device - Google Patents
Automobile acousto-optic reminding method, automobile acousto-optic reminding equipment, storage medium and automobile acousto-optic reminding device 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
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
- B60Q1/1415—Dimming circuits
- B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
- B60Q1/143—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
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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
- B60Q11/00—Arrangement of monitoring devices for devices provided for in groups B60Q1/00 - B60Q9/00
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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
- B60Q5/00—Arrangement or adaptation of acoustic signal devices
- B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
- B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
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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
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/10—Indexing codes relating to particular vehicle conditions
- B60Q2300/11—Linear movements of the vehicle
- B60Q2300/112—Vehicle speed
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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
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/30—Indexing codes relating to the vehicle environment
- B60Q2300/31—Atmospheric conditions
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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
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/30—Indexing codes relating to the vehicle environment
- B60Q2300/33—Driving situation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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Abstract
The invention discloses an automobile acousto-optic reminding method, device, storage medium and device, which are used for acquiring laser radar information, driving environment information and speed information of a target vehicle; determining the driving blind area and the obstacle information of the target vehicle according to the laser radar information; determining weather information and road condition information of the current environment according to the driving environment information; and controlling a horn and a high beam and a low beam of the target vehicle to perform acousto-optic reminding according to the vehicle speed information, the meteorological information, the road condition information, the driving blind area and the barrier information. Because the horn and the high and low beams of the target vehicle are controlled to perform acousto-optic reminding through the vehicle speed information, the meteorological information, the road condition information, the driving blind area and the obstacle information, compared with the prior art that a driver cannot perform acousto-optic reminding simultaneously during the driving process of the vehicle, the acousto-optic reminding method has potential safety hazards, realizes automatic acousto-optic reminding under multiple working conditions, reduces the operation burden of the driver, and improves the driving safety.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to an automobile acousto-optic reminding method, automobile acousto-optic reminding equipment, an automobile acousto-optic reminding storage medium and an automobile acousto-optic reminding device.
Background
At present, the intellectualization, automation and networking of automobiles have made a sudden and violent technological breakthrough, and the advanced technologies are or are already used on the automobiles. However, at intersections, particularly intersections without traffic lights at night and turning roads, horn ringing and far and near light interactive prompting are often required to ensure safety.
When driving in mountainous areas at night, the sight is poor, and especially when driving in narrow roads and continuous multi-right-angle turns in mountainous areas, the scanning angle of a driver is limited, and a turning visual angle blind area exists. Because the prior art does not relate to the acousto-optic reminding method, a driver needs to step on a brake pedal to decelerate, and also needs to turn a steering wheel by hands, simultaneously vacate hands to sound a horn, and also needs to manually turn on a meeting flash lamp, so that the driver can be in a mess of hands and feet by one-wave continuous operation. At this time, if the vehicle speed is too fast, the vehicle is easy to be out of control to rush out of the road edge, and vehicle damage and people death accidents are expected.
The above is only for the purpose of assisting understanding of the technical solution of the present invention, and does not represent an admission that the above is the prior art.
Disclosure of Invention
The invention mainly aims to provide an automobile acousto-optic reminding method, automobile acousto-optic reminding equipment, an automobile storage medium and an automobile acousto-optic reminding device, and aims to solve the technical problems that in the prior art, drivers cannot simultaneously carry out acousto-optic reminding in the driving process of driving automobiles, and potential safety hazards exist.
In order to achieve the purpose, the invention provides an automobile acousto-optic reminding method, which comprises the following steps:
acquiring laser radar information, driving environment information and vehicle speed information of a target vehicle;
determining the driving blind area and the obstacle information of the target vehicle according to the laser radar information;
determining weather information and road condition information of the current environment according to the driving environment information;
and controlling a horn and a high beam and a low beam of the target vehicle to perform acousto-optic reminding according to the vehicle speed information, the meteorological information, the road condition information, the driving blind area and the obstacle information.
Optionally, the step of determining the blind driving area and the obstacle information of the target vehicle according to the lidar information includes:
acquiring an included angle formed by a reflected laser beam in the laser radar information and the right front of the target vehicle;
determining a driving blind area of the target vehicle according to the included angle and a preset angle;
performing point cloud segmentation on the laser point cloud image in the laser radar information to obtain segmented point cloud data;
performing clustering analysis on the point cloud data to obtain an obstacle point set;
and determining obstacle information according to the obstacle point set.
Optionally, the step of determining weather information and road condition information of the current environment according to the driving environment information includes:
determining weather information of the current environment according to visibility, air humidity, rainfall and snowfall in the running environment information;
judging whether the current road surface is dry according to the air humidity, the rainfall and the snowfall amount to obtain a judgment result;
determining the type of a driving environment through an image acquired by a camera, and determining road condition information according to the judgment result, the type of the driving environment and the visibility.
Optionally, the step of determining whether the current road surface is dry according to the air humidity, the rainfall and the snowfall amount to obtain a determination result includes:
when the air humidity, the rainfall and/or the snowfall exceed preset values, judging that the current road surface is a wet and slippery road surface;
and when the air humidity, the rainfall and/or the snowfall do not exceed preset values, judging that the current road surface is a dry road surface.
Optionally, the step of controlling the horn and the high and low beams of the target vehicle to perform acousto-optic reminding according to the vehicle speed information, the weather information, the road condition information, the blind driving area and the obstacle information includes:
when the driving environment type is an urban area, the visibility is lower than a preset value, and the vehicle is driven at an intersection without a traffic signal lamp or a sharp turn, controlling a horn and a high beam and a low beam of the target vehicle to perform acousto-optic reminding according to a preset time interval according to the current road condition, the current vehicle speed and a preset distance interval;
and when the driving environment type is an urban area, the visibility is lower than a preset value, and the vehicle is driven at a continuous intersection or turns continuously, controlling the high beam and the low beam of the target vehicle to perform light reminding according to the current road condition, the current vehicle speed and a preset distance interval.
Optionally, the preset distance interval includes: the method comprises a first distance interval and a second distance interval, wherein the step of carrying out acousto-optic reminding on a horn and a high beam and a low beam of a target vehicle according to a current vehicle speed and a preset distance interval and a preset time interval comprises the following steps:
when the current vehicle speed reaches a first preset vehicle speed, controlling a horn and a high beam and a low beam of the target vehicle to perform acousto-optic reminding according to a first distance interval and a preset time interval;
and when the current speed reaches a second preset speed, controlling a horn and a high beam and a low beam of the target vehicle to perform acousto-optic reminding according to a second distance interval and a preset time interval.
Optionally, after the step of controlling the high beam and the low beam of the target vehicle to perform light reminding according to the preset time interval according to the current road condition, the current vehicle speed and the preset distance interval when the driving environment type is an urban area, the visibility is lower than the preset value and the vehicle is driving at a continuous intersection or a continuous turn, the method further comprises the step of controlling the high beam and the low beam of the target vehicle to perform light reminding according to the preset time interval
And when the driving environment type is a non-downtown area, the visibility is lower than a preset value, and the vehicle is driven at an intersection without a traffic signal lamp or makes a sharp turn, controlling a horn and a high beam and a low beam of the target vehicle to perform acousto-optic reminding according to the current road condition, the current vehicle speed and a preset distance interval and a preset time interval.
In addition, in order to achieve the above object, the present invention further provides an automobile acousto-optic warning device, where the automobile acousto-optic warning device includes a memory, a processor, and an automobile acousto-optic warning program stored in the memory and capable of running on the processor, and the automobile acousto-optic warning program is configured to implement the steps of the automobile acousto-optic warning as described above.
In addition, in order to achieve the above object, the present invention further provides a storage medium, where the storage medium stores an automobile acousto-optic warning program, and when the automobile acousto-optic warning program is executed by a processor, the steps of the automobile acousto-optic warning method are implemented as described above.
In addition, in order to achieve the above object, the present invention further provides an automobile sound and light reminding device, which includes:
the information acquisition module is used for acquiring laser radar information, running environment information and vehicle speed information of a target vehicle;
the information determining module is used for determining the driving blind area and the obstacle information of the target vehicle according to the laser radar information;
the information determining module is also used for determining weather information and road condition information of the current environment according to the running environment information;
and the acousto-optic reminding module is used for controlling the horn and the high-beam and low-beam lamps of the target vehicle to carry out acousto-optic reminding according to the vehicle speed information, the meteorological information, the road condition information, the driving blind area and the barrier information.
The method comprises the steps of obtaining laser radar information, driving environment information and vehicle speed information of a target vehicle; determining the driving blind area and the obstacle information of the target vehicle according to the laser radar information; determining weather information and road condition information of the current environment according to the driving environment information; and controlling a horn and a high beam and a low beam of the target vehicle to perform acousto-optic reminding according to the vehicle speed information, the meteorological information, the road condition information, the driving blind area and the barrier information. Because the horn and the high and low beams of the target vehicle are controlled to perform acousto-optic reminding through the vehicle speed information, the meteorological information, the road condition information, the driving blind area and the obstacle information, compared with the prior art that a driver cannot perform acousto-optic reminding simultaneously during the driving process of the vehicle, the acousto-optic reminding method has potential safety hazards, realizes automatic acousto-optic reminding under multiple working conditions, reduces the operation burden of the driver, and improves the driving safety.
Drawings
FIG. 1 is a schematic structural diagram of an automobile sound and light reminding device of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of the acousto-optic reminding method for an automobile according to the invention;
FIG. 3 is a schematic flow chart of a second embodiment of the car audio-visual reminding method of the invention;
FIG. 4 is a block diagram of the first embodiment of the car audio-visual reminding device of the 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 do not limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an automobile sound and light reminding device of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the car sound-light reminding device 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) 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 is not intended to be limiting, and may include more or fewer components than those shown, or some components may be combined, 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 car audio and visual alert program.
In the automobile sound-light reminding device shown in fig. 1, the network interface 1004 is mainly used for connecting a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting user equipment; the automobile acousto-optic reminding device calls an automobile acousto-optic reminding program stored in the memory 1005 through the processor 1001 and executes the automobile acousto-optic reminding method provided by the embodiment of the invention.
Based on the hardware structure, the embodiment of the automobile acousto-optic reminding method is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the automobile acousto-optic reminding method of the invention, and the first embodiment of the automobile acousto-optic reminding method of the invention is provided.
In this embodiment, the automobile sound-light reminding method includes the following steps:
step S10: and acquiring laser radar information, driving environment information and vehicle speed information of the target vehicle.
It should be noted that the executing body of the present embodiment may be a device for controlling an automobile sound and light reminding system, such as: the automobile acousto-optic reminding system comprises an execution system (a high beam, a low beam and a loudspeaker), a controller and an information acquisition system (a camera, a navigation system and the like). The embodiment takes the car acousto-optic warning device as an illustration, which is not limited in this embodiment, and the car acousto-optic warning method of the present invention is illustrated in this embodiment and the following embodiments by taking the car acousto-optic warning device as an example.
It will be appreciated that the lidar information may be information collected by a lidar mounted on the body of the target vehicle. The information may be related information obtained by the lidar detecting an object around the body of the target vehicle: the related information includes, but is not limited to, object distance, orientation, altitude, speed, and attitude, shape, etc. parameter information. The driving environment information may be information collected by a camera, an automatic wiper sensor, an air humidity detection device, and a sound collection device provided at an external chassis of the target vehicle. Wherein the driving environment information includes a driving environment type, visibility, air humidity, rainfall amount, and snowfall amount of a current environment. Wherein the driving environment types include: types of downtown, non-downtown, suburban, mountainous, etc. The vehicle speed information includes information such as a relative vehicle speed, a traveling vehicle speed, and an acceleration. Including but not limited to, the vehicle head offset acceleration, the vehicle body lateral acceleration, and the vehicle body longitudinal acceleration.
Step S20: and determining the driving blind area and the obstacle information of the target vehicle according to the laser radar information.
It should be noted that the blind travel area and the obstacle information of the target vehicle are determined based on the direction angle and the point cloud data corresponding to the transmission wave and the reflection wave in the laser radar information.
It can be understood that when a driver encounters a continuously-curved mountain road, the driver cannot avoid obstacles timely due to the blind area of the view angle, and an accident occurs, so that the driving blind area of the vehicle is identified particularly importantly, and the driving safety problem caused by the obstacles can be effectively avoided when the driver drives the vehicle to drive in the non-driving blind area by combining the information of the obstacles. The obstacle information refers to information of traffic participants around the target vehicle, and the traffic participants include, but are not limited to, pedestrians, vehicles, traffic railings, stone piers, and the like.
In the concrete implementation, in order to avoid the driving safety problem caused by the driving blind area and the obstacle, the driving blind area and the obstacle information of the target vehicle are determined through the laser radar information, so that the driving safety problem of a driver, which is influenced by the driving blind area and the obstacle, can be effectively avoided.
Further, the step S20 includes: acquiring an included angle formed by a reflected laser beam in the laser radar information and the right front of the target vehicle; determining a driving blind area of the target vehicle according to the included angle and a preset angle; performing point cloud segmentation on the laser point cloud image in the laser radar information to obtain segmented point cloud data; performing clustering analysis on the point cloud data to obtain an obstacle point set; and determining obstacle information according to the obstacle point set.
It should be noted that, the laser radar is used for identifying the driving blind areas and the obstacles, so that the influence of external light on the identification process can be avoided, and the 360-degree environment around the vehicle body can be scanned and identified. In the running process of the vehicle, an included angle formed by the received reflected laser beam and the right front of the target vehicle is compared with a preset included angle, whether the vehicle is in a running visual angle blind area or not is judged according to a comparison result, and a blind area range is determined according to a judgment result, so that a driver can be reminded of avoiding obstacles in the blind area according to the blind area range. The preset included angle can be a preset minimum angle for forming a driving blind area in a preset distance, and the included angle formed by the reflected laser beam and the dead ahead of the target vehicle is compared with the preset included angle, so that whether the vehicle is in the driving blind area or not is judged, and a driver can be reminded to notice an obstacle in the blind area. For example: when a driver encounters a continuously curved slope and mountain road, when the driving visual angle blind area is identified to exceed the preset angle, the horn and the flash can be automatically started, so that the driver can safely meet the vehicle with the other side, and safety accidents caused by busy hands and feet of the driver are avoided.
It can be understood that, in this embodiment, the obstacle in the blind area of the viewing angle of the driver is not limited to be identified by the lidar, but also can be identified by the lidar, so as to avoid the driving safety problem caused by the non-viewing angle of the driver, for example: the light is too dark, and the driver does not see the barrier clearly, so that the barrier is not avoided in time. When the obstacles in the view angle blind area and the non-view angle blind area are identified, point cloud segmentation is carried out on a laser point cloud image in the laser radar information based on a preset segmentation algorithm to obtain segmented point cloud data, and clustering analysis is carried out on the segmented point cloud data based on a preset clustering algorithm, so that obstacle judgment is carried out according to an obtained obstacle point set, and obstacle information is determined. The preset segmentation algorithm may be a preset algorithm for segmenting different scenes, and the algorithm includes, but is not limited to: RANSAC algorithm, Plane model segmentation algorithm (Plane model segmentation), and Region growing segmentation algorithm (Region growing segmentation). The plane model segmentation algorithm is suitable for plane or cylindrical objects, and objects with a region propagation segmentation rule by using a graph, such as: houses and automobiles. The preset clustering algorithm may be a preset algorithm for performing clustering analysis on different types of discrete point clouds to judge the object contour. Including but not limited to the k-means algorithm.
It should be understood that when the laser radar identifies an obstacle, the three-dimensional point cloud image is subjected to grid filtering to obtain point cloud data retaining the characteristics of the obstacle, and the point cloud data is segmented according to the type of the object to obtain different types of point cloud data, wherein the types include, but are not limited to, road surfaces and obstacles. Performing cluster analysis on different types of point cloud data to combine and aggregate discrete point cloud data points to generate a plurality of point sets, wherein the point sets comprise: the obstacle point set and the road surface point set, and the size and the number of the obstacles can be determined according to the point set, so that the obstacle information is determined.
Step S30: and determining weather information and road condition information of the current environment according to the running environment information.
It should be noted that the weather information includes, but is not limited to, information such as visibility, air humidity, rainfall, and snowfall amount of the current environment, and the road condition information includes, but is not limited to, road information, vehicle congestion index, intersection information, and curve information.
It can be appreciated that the vehicle congestion index, intersection information, and curve information can be obtained by a GPS navigation system. The road surface information can be obtained by comparing a road surface picture acquired by the vehicle-mounted camera with a preset road surface picture, judging whether the road surface is a wet and slippery road surface according to a comparison result, or comparing the sound information acquired by the sound acquisition device arranged on the vehicle outer chassis with prestored information in tone and frequency, and judging whether the road surface is a dry road surface according to the comparison result.
In the concrete implementation, the road condition (dry and wet and slippery) is identified by acquiring the meteorological information of the current environment in a period of time before passing through a curve, an intersection and a three-way intersection, so that the road condition information is determined.
Step S40: and controlling a horn and a high beam and a low beam of the target vehicle to perform acousto-optic reminding according to the vehicle speed information, the meteorological information, the road condition information, the driving blind area and the obstacle information.
In the concrete implementation, the horn and the high and low beams of the target vehicle are controlled to perform acousto-optic reminding through the vehicle speed information, the meteorological information, the road condition information, the driving blind area and the obstacle information.
In the embodiment, the laser radar information, the running environment information and the vehicle speed information of the target vehicle are acquired; determining the driving blind area and the obstacle information of the target vehicle according to the laser radar information; determining weather information and road condition information of the current environment according to the driving environment information; and controlling a horn and a high beam and a low beam of the target vehicle to perform acousto-optic reminding according to the vehicle speed information, the meteorological information, the road condition information, the driving blind area and the barrier information. Because this embodiment carries out the reputation through speed of a motor vehicle information, meteorological information, road conditions information, the loudspeaker and far and near-light lamp of the blind area of traveling and barrier information control target vehicle and reminds, this embodiment can not carry out the reputation simultaneously and remind for prior art driver in driving the vehicle driving process, has the potential safety hazard, and this embodiment has realized carrying out the reputation under the multiplex condition and has reminded automatically, reduces driver's operation burden, promotes driving safety.
Referring to fig. 3, fig. 3 is a schematic flow chart of a second embodiment of the automobile acousto-optic warning method according to the present invention, and the second embodiment of the automobile acousto-optic warning method is provided based on the first embodiment shown in fig. 2.
In this embodiment, the step S30 includes:
step S301: and determining the meteorological information of the current environment according to the visibility, the air humidity, the rainfall and the snowfall in the running environment information.
Step S302: and judging whether the current road surface is dry according to the air humidity, the rainfall and the snowfall amount to obtain a judgment result.
Further, the step S302 includes: when the air humidity, the rainfall and/or the snowfall exceed preset values, judging that the current road surface is a wet and slippery road surface; and when the air humidity, the rainfall and/or the snowfall do not exceed preset values, judging that the current road surface is a dry road surface.
It should be noted that, for the road condition (dry, slippery) identification, by obtaining the local weather condition (clear, cloudy, rainy, snowy) in a period of time before the curve, intersection and three-way intersection, if the weather condition is rainy/snowy, in order to further determine whether the road surface of the driving area is slippery, the road information (whether there is water, whether there is light, and the comparison between the preset road type picture and the obtained picture) obtained by the camera is obtained, if the obtained road surface shows water, there is light, and the comparison with the preset picture is made, the result is a wet road, for the accurate wet slippery degree of the road, the rain drop and rain amount information of the automatic wiper sensor (which can automatically identify whether there is water drop and water drop size on the glass, density to determine the swing frequency of the rain to execute the wiper) installed on the vehicle and obtaining the air humidity detecting device around the vehicle body, and if the ambient air humidity is greater than the preset wet slip value, determining the wet slip degree of the road surface.
It can be understood that if the weather condition is not rain/snow, in order to further determine the dryness degree of the road surface in the driving area, the air humidity detection device around the vehicle body is obtained, when the ambient air humidity is lower than a preset dryness value, the dryness degree of the road surface is further determined, the sound information of the tire and the road surface when the tire drives on the road surface at the chassis outside the vehicle is collected, the sound color or the frequency and the like are compared through the picked sound information and the pre-stored information, and the dryness degree of the road surface is determined according to the comparison result.
Step S303: determining the type of the driving environment through the pictures collected by the camera, and determining road condition information according to the judgment result, the type of the driving environment and the visibility.
It should be noted that the image acquired by the camera identifies buildings and roads in the vehicle surroundings, and determines the type of the driving environment according to the identification result.
It can be understood that the judgment result is divided into a wet road surface result and a dry road surface result, and the acousto-optic control strategies corresponding to different driving road conditions are determined according to the driving environment type, the judgment result and the visibility, for example: when the driving environment type is a downtown area and the visibility is low, the light reminding is needed, and when the visibility is higher than a preset value, the light reminding has a small effect, so that the electric quantity loss is saved, and only the whistle reminding can be adopted without using the light reminding.
The method comprises the steps of obtaining laser radar information, running environment information and vehicle speed information of a target vehicle; determining the driving blind area and the obstacle information of the target vehicle according to the laser radar information; determining weather information of the current environment according to visibility, air humidity, rainfall and snowfall in the driving environment information; judging whether the current road surface is dry according to the air humidity, the rainfall and the snowfall amount to obtain a judgment result; determining the type of a driving environment through the pictures acquired by the camera, and determining road condition information according to the judgment result, the type of the driving environment and the visibility; and controlling a horn and a high beam and a low beam of the target vehicle to perform acousto-optic reminding according to the vehicle speed information, the meteorological information, the road condition information, the driving blind area and the barrier information. Because this embodiment carries out the reputation through the loudspeaker and far and near-light lamp of speed of a motor vehicle information, meteorological information, road conditions information, the blind area of traveling and barrier information control target vehicle and reminds, this embodiment can not carry out the reputation simultaneously and remind for prior art driver in driving the vehicle driving process, has the potential safety hazard, and this embodiment has realized carrying out the reputation under the multiplex condition and has reminded automatically, reduces driver's operation burden, promotes driving safety.
Based on the first embodiment shown in fig. 2, a third embodiment of the automobile acousto-optic warning method is provided.
In this embodiment, the step S40 includes: when the driving environment type is an urban area, the visibility is lower than a preset value, and the vehicle is driven at an intersection without a traffic signal lamp or a sharp turn, controlling a horn and a high beam and a low beam of the target vehicle to perform acousto-optic reminding according to a preset time interval according to the current road condition, the current vehicle speed and a preset distance interval; and when the driving environment type is an urban area, the visibility is lower than a preset value, and the vehicle is driven at a continuous intersection or turns continuously, controlling the high beam and the low beam of the target vehicle to perform light reminding according to a preset time interval according to the current road condition, the current vehicle speed and a preset distance interval.
The preset distance interval is a safety distance interval that is preset in accordance with the traveling speed of the vehicle.
Further, the preset distance interval includes: the method comprises a first distance interval and a second distance interval, wherein the step of carrying out acousto-optic reminding on a horn and a high beam and a low beam of a target vehicle according to a current vehicle speed and a preset distance interval and a preset time interval comprises the following steps: when the current vehicle speed reaches a first preset vehicle speed, controlling a horn and a high beam and a low beam of the target vehicle to perform acousto-optic reminding according to a first distance interval and a preset time interval; and when the current speed reaches a second preset speed, controlling a horn and a high beam and a low beam of the target vehicle to perform acousto-optic reminding according to a second distance interval and a preset time interval.
It should be noted that the first distance interval is a safety distance interval preset to ensure driving safety when the vehicle speed reaches the first vehicle speed. The second distance interval is a safety distance interval preset for ensuring driving safety when the vehicle speed reaches a second vehicle speed. The preset time interval refers to a reminding time interval preset during acousto-optic reminding.
In the concrete implementation, when the visibility is higher than a preset value, at a certain distance away from the intersection/turn, the horn is sounded: at a first distance interval from the intersection/curve, a short horn is sounded, and at a second distance interval from the intersection/curve, a horn is sounded. For example: the horn sounding is short when the dry road with the vehicle speed higher than 40km/h is 15 meters away from the intersection/curve, or the horn sounding is short when the dry road with the vehicle speed lower than 40km/h is 10 meters away from the intersection/curve, or the horn sounding is short when the wet road with the vehicle speed lower than 40km/h is 15 meters away from the intersection/curve.
Further, after the step of controlling the high beam and the low beam of the target vehicle to perform light reminding according to the preset time interval according to the current road condition, the current vehicle speed and the preset distance interval when the driving environment type is an urban area, the visibility is lower than the preset value and the driving is at a continuous intersection or a continuous turn, the method further comprises the following steps: and when the driving environment type is a non-downtown area, the visibility is lower than a preset value, and the vehicle is driven at an intersection without a traffic signal lamp or makes a sharp turn, controlling a horn and a high beam and a low beam of the target vehicle to perform acousto-optic reminding according to the current road condition, the current vehicle speed and a preset distance interval and a preset time interval.
It should be noted that the preset value is a value with a small reminding function of the high beam and the low beam when the visibility of the environment where the vehicle is located is higher than a certain value.
It can be understood that when the driving environment type is a non-downtown area, the visibility is lower than a preset value, and the vehicle is driven at an intersection without a traffic signal lamp or in a sharp turn, the horn and the high beam and the low beam of the target vehicle are controlled to perform acousto-optic reminding according to the current road condition, the current vehicle speed and a preset distance interval and a preset time interval. And when the driving environment type is a non-downtown area, the visibility is higher than a preset value, and the vehicle is driven at an intersection without a traffic signal lamp or makes a sharp turn, controlling a horn of the target vehicle to remind according to a preset time interval according to the current road condition, the current vehicle speed and a preset distance interval.
In the embodiment, the laser radar information, the running environment information and the vehicle speed information of the target vehicle are acquired; determining the driving blind area and the obstacle information of the target vehicle according to the laser radar information; determining weather information and road condition information of the current environment according to the driving environment information; and controlling a horn and a high beam and a low beam of the target vehicle to perform acousto-optic reminding according to the vehicle speed information, the meteorological information, the road condition information, the driving blind area and the barrier information. Because this embodiment carries out the reputation through the loudspeaker and far and near-light lamp of speed of a motor vehicle information, meteorological information, road conditions information, the blind area of traveling and barrier information control target vehicle and reminds, this embodiment can not carry out the reputation simultaneously and remind for prior art driver in driving the vehicle driving process, has the potential safety hazard, and this embodiment has realized carrying out the reputation under the multiplex condition and has reminded automatically, reduces driver's operation burden, promotes driving safety.
In addition, in order to achieve the above object, the present invention further provides a storage medium, where the storage medium stores an automobile acousto-optic warning program, and when the automobile acousto-optic warning program is executed by a processor, the steps of the automobile acousto-optic warning method are implemented as described above.
Referring to fig. 4, fig. 4 is a block diagram of a first embodiment of the car audio-visual reminding device of the present invention.
As shown in fig. 4, the car sound-light reminding device provided by the embodiment of the invention comprises:
the information acquisition module 10 is used for acquiring laser radar information, driving environment information and vehicle speed information of a target vehicle;
an information determination module 20, configured to determine a driving blind area and obstacle information of the target vehicle according to the lidar information;
the information determining module 20 is further configured to determine weather information and road condition information of the current environment according to the driving environment information;
and the acousto-optic reminding module 30 is used for controlling the horn and the high and low beam lamps of the target vehicle to carry out acousto-optic reminding according to the vehicle speed information, the meteorological information, the road condition information, the driving blind area and the barrier information.
In the embodiment, the laser radar information, the running environment information and the vehicle speed information of the target vehicle are acquired; determining the driving blind area and the obstacle information of the target vehicle according to the laser radar information; determining weather information and road condition information of the current environment according to the driving environment information; and controlling a horn and a high beam and a low beam of the target vehicle to perform acousto-optic reminding according to the vehicle speed information, the meteorological information, the road condition information, the driving blind area and the barrier information. Because this embodiment carries out the reputation through speed of a motor vehicle information, meteorological information, road conditions information, the loudspeaker and far and near-light lamp of the blind area of traveling and barrier information control target vehicle and reminds, this embodiment can not carry out the reputation simultaneously and remind for prior art driver in driving the vehicle driving process, has the potential safety hazard, and this embodiment has realized carrying out the reputation under the multiplex condition and has reminded automatically, reduces driver's operation burden, promotes driving safety.
Further, the information determining module 20 is further configured to obtain an included angle formed between a reflected laser beam in the laser radar information and a position right in front of the target vehicle, and determine a driving blind area of the target vehicle according to the included angle and a preset angle; performing point cloud segmentation on the laser point cloud image in the laser radar information to obtain segmented point cloud data; performing clustering analysis on the point cloud data to obtain an obstacle point set; and determining obstacle information according to the obstacle point set.
Further, the information determining module 20 is further configured to determine weather information of the current environment according to visibility, air humidity, rainfall and snowfall in the driving environment information; judging whether the current road surface is dry according to the air humidity, the rainfall and the snowfall amount to obtain a judgment result; determining the type of a driving environment through an image acquired by a camera, and determining road condition information according to the judgment result, the type of the driving environment and the visibility.
Further, the information determining module 20 is further configured to determine that the current road surface is a wet and slippery road surface when the air humidity, the rainfall and/or the snowfall exceed preset values; and when the air humidity, the rainfall and/or the snowfall do not exceed a preset value, judging that the current road surface is a dry road surface.
Further, the acousto-optic reminding module 30 is further configured to control a horn and a high beam and a low beam of the target vehicle to carry out acousto-optic reminding according to a preset time interval according to a current road condition, a current vehicle speed and a preset distance interval when the driving environment type is a downtown area, the visibility is lower than a preset value, and the vehicle is driving at an intersection without a traffic signal lamp or a sharp turn; and when the driving environment type is an urban area, the visibility is lower than a preset value, and the vehicle is driven at a continuous intersection or turns continuously, controlling the high beam and the low beam of the target vehicle to perform light reminding according to the current road condition, the current vehicle speed and a preset distance interval.
Further, the sound and light reminding module 30 is further configured to control a horn and a high beam and a low beam of the target vehicle to perform sound and light reminding according to a preset time interval according to the first distance interval when the current vehicle speed reaches a first preset vehicle speed; and when the current speed reaches a second preset speed, controlling a horn and a high beam and a low beam of the target vehicle to perform acousto-optic reminding according to a second distance interval and a preset time interval.
Further, the acousto-optic reminding module 30 is further configured to control the horn and the high and low beams of the target vehicle to perform acousto-optic reminding according to a preset time interval according to the current road condition, the current vehicle speed and a preset distance interval when the driving environment type is a non-downtown area, the visibility is lower than a preset value, and the vehicle is driving at an intersection without a traffic signal lamp or a sharp turn.
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 car audible and visual reminding 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 (which may be a mobile phone, a computer, a server, 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. The automobile acousto-optic reminding method is characterized by comprising the following steps of:
acquiring laser radar information, driving environment information and vehicle speed information of a target vehicle;
determining the driving blind area and the obstacle information of the target vehicle according to the laser radar information;
determining weather information and road condition information of the current environment according to the driving environment information;
and controlling a horn and a high beam and a low beam of the target vehicle to perform acousto-optic reminding according to the vehicle speed information, the meteorological information, the road condition information, the driving blind area and the obstacle information.
2. The acousto-optic automobile reminding method according to claim 1, wherein the step of determining the blind driving area and the obstacle information of the target vehicle according to the lidar information comprises the steps of:
acquiring an included angle formed by a reflected laser beam in the laser radar information and the right front of the target vehicle;
determining a driving blind area of the target vehicle according to the included angle and a preset angle;
performing point cloud segmentation on the laser point cloud image in the laser radar information to obtain segmented point cloud data;
performing clustering analysis on the point cloud data to obtain an obstacle point set;
and determining obstacle information according to the obstacle point set.
3. The acousto-optic automobile reminding method according to claim 1, wherein the step of determining weather information and road condition information of the current environment according to the driving environment information comprises:
determining weather information of the current environment according to visibility, air humidity, rainfall and snowfall in the running environment information;
judging whether the current road surface is dry according to the air humidity, the rainfall and the snowfall amount to obtain a judgment result;
determining the type of a driving environment through an image acquired by a camera, and determining road condition information according to the judgment result, the type of the driving environment and the visibility.
4. The automobile acousto-optic reminding method according to claim 3, wherein the step of judging whether the current road surface is dry according to the air humidity, the rainfall and the snowfall amount to obtain a judgment result comprises:
when the air humidity, the rainfall and/or the snowfall exceed preset values, judging that the current road surface is a wet and slippery road surface;
and when the air humidity, the rainfall and/or the snowfall do not exceed preset values, judging that the current road surface is a dry road surface.
5. The acousto-optic reminding method for vehicle according to any of claims 1-4, wherein said step of controlling the horn and the high and low beam lights of said target vehicle to carry out acousto-optic reminding according to said vehicle speed information, said meteorological information, said road condition information, said blind area and said obstacle information comprises:
when the driving environment type is an urban area, the visibility is lower than a preset value, and the vehicle is driven at an intersection without a traffic signal lamp or a sharp turn, controlling a horn and a high beam and a low beam of the target vehicle to perform acousto-optic reminding according to a preset time interval according to the current road condition, the current vehicle speed and a preset distance interval;
and when the driving environment type is an urban area, the visibility is lower than a preset value, and the vehicle is driven at a continuous intersection or turns continuously, controlling the high beam and the low beam of the target vehicle to perform light reminding according to the current road condition, the current vehicle speed and a preset distance interval.
6. The acousto-optic automobile reminding method according to claim 5, wherein the preset distance interval comprises: the method comprises a first distance interval and a second distance interval, wherein the step of carrying out acousto-optic reminding on a horn and a high beam and a low beam of a target vehicle according to a current vehicle speed and a preset distance interval and a preset time interval comprises the following steps:
when the current vehicle speed reaches a first preset vehicle speed, controlling a horn and a high beam and a low beam of the target vehicle to perform acousto-optic reminding according to a first distance interval and a preset time interval;
and when the current speed reaches a second preset speed, controlling a horn and a high beam and a low beam of the target vehicle to perform acousto-optic reminding according to a second distance interval and a preset time interval.
7. The acousto-optic automobile reminding method according to claim 5, wherein after the step of controlling the high beam and the low beam of the target vehicle to light and remind at the preset time interval according to the current road condition, the current vehicle speed and the preset distance interval when the driving environment is of an urban area type, the visibility is lower than the preset value and the vehicle is driving at a continuous intersection or a continuous turn, the method further comprises:
and when the driving environment type is a non-downtown area, the visibility is lower than a preset value, and the vehicle is driven at an intersection without a traffic signal lamp or makes a sharp turn, controlling a horn and a high beam and a low beam of the target vehicle to perform acousto-optic reminding according to the current road condition, the current vehicle speed and a preset distance interval and a preset time interval.
8. The automobile acousto-optic reminding device is characterized by comprising: the automobile acousto-optic reminding method comprises a memory, a processor and an automobile acousto-optic reminding program which is stored on the memory and can run on the processor, wherein when the automobile acousto-optic reminding program is executed by the processor, the steps of the automobile acousto-optic reminding method are realized according to any one of claims 1 to 7.
9. A storage medium, wherein the storage medium stores an acousto-optic car alert program, and the acousto-optic car alert program when executed by a processor implements the steps of the acousto-optic car alert method according to any one of claims 1 to 7.
10. The utility model provides an automobile acousto-optic warning device which characterized in that, automobile acousto-optic warning device includes:
the information acquisition module is used for acquiring laser radar information, running environment information and vehicle speed information of a target vehicle;
the information determining module is used for determining the driving blind area and the obstacle information of the target vehicle according to the laser radar information;
the information determining module is also used for determining weather information and road condition information of the current environment according to the running environment information;
and the acousto-optic reminding module is used for controlling the horn and the high-beam and low-beam lamps of the target vehicle to carry out acousto-optic reminding according to the vehicle speed information, the meteorological information, the road condition information, the driving blind area and the barrier information.
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