CN115705781A

CN115705781A - Vehicle blind area detection method, vehicle, server and storage medium

Info

Publication number: CN115705781A
Application number: CN202110923950.1A
Authority: CN
Inventors: 康延辉
Original assignee: ZTE Corp
Current assignee: ZTE Corp
Priority date: 2021-08-12
Filing date: 2021-08-12
Publication date: 2023-02-17
Also published as: WO2023015925A1

Abstract

The embodiment of the invention provides a vehicle blind area detection method, a vehicle, a server and a storage medium, wherein a first vehicle sends a blind area information request instruction comprising vehicle information of the first vehicle to the server; the server acquires equipment information of camera equipment near the first vehicle based on the vehicle information, and determines target camera equipment according to the vehicle information and the equipment information; the server acquires the blind area image information shot by the target camera equipment and sends the blind area image information to the first vehicle; the first vehicle displays the blind area image information through the electronic rearview mirror. According to the embodiment of the invention, the blind area images of the vehicle, which are not displayed by the electronic rearview mirror, can be reduced, and the accident occurrence condition is reduced; secondly, the blind area is fed back to a driver in an image mode, so that the driver can clearly know the blind area of the vehicle; in addition, for the existing vehicle, the communication function and the electronic rearview mirror function can be realized by upgrading software only by supporting, so that the cost is low, and the system structure is simple.

Description

Vehicle blind area detection method, vehicle, server and storage medium

Technical Field

The embodiment of the invention relates to the technical field of vehicle networking, in particular to a vehicle blind area detection method, a vehicle controller, a vehicle, a server and a computer readable storage medium.

Background

In the process of changing lanes of vehicles or when the vehicles pass through tunnel portals, accidents such as scraping and rubbing of the vehicles are often caused due to the existence of sight blind areas, and therefore, in order to solve the problems, the blind areas can be mainly detected in the market in the following two ways:

in the first mode, whether a vehicle exists in a blind area is detected through a vehicle-mounted sensor or a reversing radar, and then the vehicle is prompted through an optical signal, but the distance and the direction from the vehicle to the blind area cannot be displayed in the first mode, and only the vehicle in the blind area or the vehicle in the blind area is prompted.

The second mode, carry on the camera in a plurality of azimuths simultaneously like rear view camera with look sideways at the camera and realize the blind area and detect, but the equipment utilization of this mode is low, with high costs, system complexity height.

Disclosure of Invention

The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

The embodiment of the invention provides a vehicle blind area detection method, a vehicle controller, a vehicle, a server and a computer readable storage medium, which can clearly display the condition of the vehicle blind area under the conditions of lower cost and lower system complexity.

In a first aspect, an embodiment of the present invention provides a method for detecting a vehicle blind area, which is applied to a first vehicle, and includes:

sending a blind area information request instruction to a server, wherein the blind area information request instruction comprises vehicle information of the first vehicle;

acquiring blind area image information from the server, wherein the blind area image information is obtained by shooting through target shooting equipment, and the target shooting equipment is determined by the server according to the vehicle information and equipment information of shooting equipment near the first vehicle;

and displaying the blind area image information through an electronic rearview mirror of the first vehicle.

In a second aspect, an embodiment of the present invention further provides a method for detecting a vehicle blind area, which is applied to a server, and the method includes:

acquiring a blind area information request instruction from a first vehicle, wherein the blind area information request instruction comprises vehicle information of the first vehicle;

acquiring equipment information of camera equipment near the first vehicle based on the vehicle information, and determining target camera equipment according to the vehicle information and the equipment information;

acquiring blind area image information shot by the target camera equipment;

and sending the blind area image information to the first vehicle so that the first vehicle displays the blind area image information through an electronic rearview mirror.

In a third aspect, an embodiment of the present invention further provides a vehicle controller, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the detection method according to the first aspect when executing the computer program.

In a fourth aspect, the embodiment of the present invention further provides a vehicle, including the vehicle controller according to the third aspect.

In a fifth aspect, an embodiment of the present invention further provides a server, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the detection method according to the second aspect when executing the computer program.

In a sixth aspect, embodiments of the present invention further provide a computer-readable storage medium, which stores computer-executable instructions for performing the detection method according to the first aspect or the detection method according to the second aspect.

The embodiment of the invention comprises the following steps: when a first vehicle needs to detect a vehicle blind area, the first vehicle sends a blind area information request instruction including vehicle information of the first vehicle to a server; then the server acquires equipment information of camera equipment near the first vehicle based on the vehicle information, and determines target camera equipment according to the vehicle information and the equipment information; then, the server acquires the blind area image information shot by the target camera equipment and sends the blind area image information to the first vehicle; and finally, the first vehicle can display the blind area image information through an electronic rearview mirror. According to the technical scheme of the embodiment of the invention, the blind area image information shot by the target camera equipment near the first vehicle is shared to the electronic rearview mirror of the first vehicle through the vehicle networking technology, so that the blind area images of the vehicle which are not displayed by the electronic rearview mirror are reduced, and the accident occurrence is reduced; secondly, the embodiment of the invention can feed back to the driver in an image mode, so that the driver can clearly know whether the vehicle is in the blind area of the vehicle, and can also know the distance and the direction between the vehicle in the blind area and the driver through the image information of the blind area; in addition, the embodiment of the invention does not need to carry cameras in a plurality of directions at the same time, and for the existing vehicle, the sharing of the blind area image information can be realized by a method of upgrading software only by supporting the communication function and the electronic rearview mirror function, so the embodiment of the invention can reduce the cost and the complexity of the system structure.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and not to limit the invention.

FIG. 1 is a schematic illustration of a vehicle blind spot provided by one embodiment of the present invention;

FIG. 2 is a schematic illustration of a vehicle blind spot provided by another embodiment of the present invention;

FIG. 3 is a schematic diagram of a controller for performing a method of detecting a vehicle blind spot according to one embodiment of the present invention;

fig. 4 is a communication architecture diagram of an overall system for performing a method for detecting a vehicle blind area according to an embodiment of the present invention;

FIG. 5 is a flow chart of a method for detecting vehicle blind spots provided in one embodiment of the present invention;

fig. 6 is a flowchart of a request instruction for generating blind area information in a method for detecting a vehicle blind area according to an embodiment of the present invention;

FIG. 7 is a flowchart illustrating a process of displaying visual area image information and blind area image information on an electronic rearview mirror after stitching together in a method for detecting a blind area of a vehicle according to an embodiment of the present invention;

FIG. 8 is a flowchart illustrating a step of stitching image information in a method for detecting a blind area in a vehicle according to an embodiment of the present invention;

FIG. 9 is a flowchart of a method for detecting vehicle blind spots, according to an embodiment of the present invention;

fig. 10 is a flowchart for acquiring device information of an image pickup device near a first vehicle in a vehicle blind area detection method according to an embodiment of the present invention;

fig. 11 is a flowchart of determining a target image capturing apparatus based on vehicle information and apparatus information in a method of detecting a blind area of a vehicle according to an embodiment of the present invention;

FIG. 12 is a flowchart illustrating a method for detecting a vehicle blind spot according to an embodiment of the present invention for screening a target vehicle from candidate vehicles;

FIG. 13 is a plot of the distribution of the visibility and blind areas during travel of the vehicle according to one embodiment of the present invention;

FIG. 14 is a basic flow diagram of communication data interaction provided by one embodiment of the present invention;

FIG. 15 is a flowchart for the server to detect whether there is a satisfactory vehicle around the vehicle Car1 according to an embodiment of the present invention;

FIG. 16 is a schematic view of a display area of an electronic rearview mirror of a vehicle according to one embodiment of the present invention;

FIG. 17 is a plot of the visible and blind areas during travel of a vehicle according to one embodiment of the present invention;

fig. 18 is a distribution diagram of visible and blind areas of a vehicle and a road camera during driving according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It is noted that while functional block divisions are provided in device diagrams and logical sequences are shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions within devices or flowcharts. The terms "first," "second," and the like in the description, in the claims, or in the drawings described above, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.

In the related art, accidents such as vehicle scratch and the like often occur due to the existence of sight blind areas in the lane changing process of vehicles or when the vehicles pass through tunnel portals. In order to solve the above problem, the market can mainly detect the blind area in the following two ways:

The second mode, carry on the camera in a plurality of azimuths simultaneously like rear view camera with look sideways at the camera and realize the blind area and detect, but the equipment utilization rate of this mode is low, with high costs, the system complexity height.

In order to solve the above problems, and as new energy vehicles become popular and communication technologies such as 5G technology mature, a real-time communication function between vehicles can be realized, based on which, embodiments of the present invention provide a method for detecting a vehicle blind area, a vehicle controller, a vehicle, a server and a computer readable storage medium, including but not limited to the following steps: when a first vehicle needs to detect a vehicle blind area, the first vehicle sends a blind area information request instruction including vehicle information of the first vehicle to a server; then the server acquires equipment information of camera equipment near the first vehicle based on the vehicle information, and determines target camera equipment according to the vehicle information and the equipment information; then the server acquires the blind area image information shot by the target camera equipment and sends the blind area image information to the first vehicle; and finally, the first vehicle displays the blind area image information through an electronic rearview mirror. According to the technical scheme of the embodiment of the invention, the blind area image information shot by the target camera equipment near the first vehicle is shared to the electronic rearview mirror of the first vehicle through the vehicle networking technology, so that the blind area images of the vehicle which are not displayed by the electronic rearview mirror are reduced, and the accident occurrence is reduced; secondly, the embodiment of the invention can feed back to the driver in an image mode, so that the driver can clearly know whether the vehicle is in the blind area of the vehicle, and can also know the distance and the direction between the vehicle in the blind area and the driver through the image information of the blind area; in addition, the embodiment of the invention does not need to be simultaneously provided with cameras in a plurality of directions, and for the existing vehicle, the sharing of the blind area image information can be realized by a software upgrading method only by supporting the communication function and the electronic rearview mirror function, so that the embodiment of the invention can reduce the cost and the complexity of the system structure.

The embodiments of the present invention will be further explained with reference to the drawings.

As shown in fig. 1 and 2, fig. 1 is a schematic view of a vehicle blind area provided by an embodiment of the present invention, and fig. 2 is a schematic view of a vehicle blind area provided by another embodiment of the present invention.

Specifically, as shown in fig. 1, the driver cannot completely observe the left and right rear sides of the vehicle through the rear view mirror due to a defect of the vehicle itself, and thus the rear view mirror of the vehicle has a blind spot of sight, resulting in a vehicle being prone to accidents during lane change.

In addition, as shown in fig. 2, due to the light problem, when a vehicle passes through the tunnel entrance, that is, when the vehicle enters and leaves the tunnel, a blind area of sight occurs due to the light problem, thereby easily causing an accident.

In order to solve the problems mentioned in fig. 1 and 2 above, various embodiments of a communication architecture of a controller and an overall system for performing a detection method of a vehicle blind area of the present invention are presented below.

As shown in fig. 3, fig. 3 is a schematic diagram of a controller for performing a method for detecting a vehicle blind area according to an embodiment of the present invention.

In the example of fig. 3, the controller 100 is provided with a processor 110 and a memory 120, wherein the processor 110 and the memory 120 may be connected by a bus or by other means, and fig. 3 takes the example of connection by a bus as an example.

The memory 120, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs as well as non-transitory computer executable programs. Further, the memory 120 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 120 optionally includes memory 120 located remotely from the processor 110, which may be connected to the controller via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

It will be understood by those skilled in the art that the controller may be applied to a 3G communication network system, an LTE communication network system, a 5G communication network system, a mobile communication network system that is evolved later, and the like, and the embodiment is not limited in particular.

It will be appreciated by those skilled in the art that the controller shown in fig. 3 is not limiting of embodiments of the invention and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.

In the controller shown in fig. 3, the processor 110 may call a detection program of a vehicle blind area stored in the memory 120, thereby performing a detection method of a vehicle blind area.

In addition, as shown in fig. 4, fig. 4 is a communication architecture diagram of an overall system for performing a method for detecting a blind area of a vehicle according to an embodiment of the present invention.

Specifically, the overall system of the embodiment of the present invention includes, but is not limited to, a server 200, a Road Side Unit (RSU) 300, and a vehicle 400, where the server and the RSU are connected in communication, and the vehicle and the RSU are connected in communication, that is, the server and the RSU vehicle realize communication through a network.

It will be appreciated that the communication network between the server and the roadside units may be a 5G network.

It should be noted that the overall system of the embodiment of the present invention may further include, but is not limited to, a road camera 500, where the road camera may also communicate with the server through a road side unit and a network.

In addition, regarding the application scenario of the embodiment of the present invention, for a vehicle, the vehicle needs to have a 5G internet data access capability, be able to communicate with a road side unit, and support streaming media transmission and decoding functions; secondly, the vehicle needs to be provided with an electronic rearview mirror; in addition, the vehicle requires an onboard computer with a relatively high processing capacity; also, the vehicles need to support data exchange protocols between V2X vehicles; finally, the vehicle needs to have GNSS positioning capabilities.

In addition, it is noted that, regarding the controller in fig. 1, it may be provided in the server or the vehicle in fig. 2.

Based on the above controller and the overall system, various embodiments of the vehicle-side vehicle blind area detection method of the invention are presented below.

As shown in fig. 5, fig. 5 is a flowchart of a method for detecting a blind area of a vehicle according to an embodiment of the present invention, which is applied to a first vehicle, including but not limited to step S100, step S200, and step S300.

Step S100, sending a blind area information request instruction to a server, wherein the blind area information request instruction comprises vehicle information of a first vehicle;

step S200, acquiring blind area image information from a server, wherein the blind area image information is obtained by shooting through target shooting equipment, and the target shooting equipment is determined by the server according to vehicle information and equipment information of shooting equipment near a first vehicle;

and step S300, displaying the blind area image information through the electronic rearview mirror of the first vehicle.

Specifically, when a first vehicle needs to detect a vehicle blind area, the first vehicle sends a blind area information request instruction including vehicle information of the first vehicle to a server; then the server acquires equipment information of camera equipment near the first vehicle based on the vehicle information, and determines target camera equipment according to the vehicle information and the equipment information; then the server acquires the blind area image information shot by the target camera equipment and sends the blind area image information to the first vehicle; and finally, the first vehicle displays the blind area image information through an electronic rearview mirror.

According to the technical scheme of the embodiment of the invention, the blind area image information shot by the target camera equipment near the first vehicle can be shared to the electronic rearview mirror of the first vehicle through the vehicle networking technology, so that the blind area images of the vehicle which are not displayed by the electronic rearview mirror are reduced, and the accident occurrence condition is reduced; secondly, the embodiment of the invention can feed back to the driver in an image mode, so that the driver can clearly know whether the vehicle is in the blind area of the vehicle, and can also know the distance and the direction between the vehicle in the blind area and the driver through the image information of the blind area; in addition, the embodiment of the invention does not need to carry cameras in a plurality of directions at the same time, and for the existing vehicle, the sharing of the blind area image information can be realized by a method of upgrading software only by supporting the communication function and the electronic rearview mirror function, so the embodiment of the invention can reduce the cost and the complexity of the system structure.

It should be noted that the vehicle blind areas according to the embodiment of the present invention may be sight blind areas such as a left rear position and a right rear position of the vehicle, which are determined by the nature of the vehicle structure, or sight blind areas such as tunnel openings, which are generated due to large light changes.

Illustratively, when the vehicle blind area is a left rear side position or a right rear side position of the vehicle, the blind area image information corresponds to image information in which the left rear side position or the right rear side position can be photographed; when the vehicle blind area is the tunnel portal, the blind area image information corresponds to image information capable of shooting the tunnel portal.

In addition, the vehicle information about the first vehicle includes, but is not limited to, first vehicle positioning information, first vehicle heading information, first vehicle speed information, first vehicle acceleration information, and first vehicle type information.

In addition, the above-mentioned image pickup apparatus refers to an apparatus capable of picking up an image, wherein the image pickup apparatus of the embodiment of the present invention may be a second vehicle carrying an electronic rearview mirror, or may be a road camera near a roadside unit communicating with a first vehicle.

Exemplarily, when the camera device is a second vehicle carrying an electronic rearview mirror, the device information of the camera device includes, but is not limited to, second vehicle positioning information, second vehicle heading information, second vehicle speed information, second vehicle acceleration information, and second vehicle type information; when the camera device is a road camera near a road side unit communicating with the first vehicle, the device information of the camera device includes, but is not limited to, device positioning information and camera shooting azimuth information.

In addition, it should be noted that the target image capturing apparatus refers to one or more of the image capturing apparatuses.

In addition, it should be noted that, the electronic rearview mirror includes, but is not limited to, a rearview camera and a display screen, wherein the rearview camera is in communication connection with the display screen, the rearview camera is used for acquiring an image of a road outside a vehicle, and the display screen is used for displaying the image of the road outside the vehicle acquired by the rearview camera. In addition, in the embodiment of the invention, the display screen can also display the blind area image information.

As shown in fig. 6, fig. 6 is a flowchart of a request instruction for generating blind area information in a method for detecting a vehicle blind area according to an embodiment of the present invention, and before step S100, the method for detecting a vehicle blind area according to an embodiment of the present invention further includes, but is not limited to, step S410 and step S420.

Step S410, obtaining the steering lamp information of a first vehicle;

and step S420, generating a blind area information request instruction according to the steering lamp information.

Specifically, in order to generate the blind area information request instruction only when the vehicle needs to change lanes, the embodiment of the invention can acquire the steering lamp information of the vehicle in real time and generate the blind area information request instruction according to the steering lamp information. Because the turn lights of the vehicle comprise a left turn light and a right turn light, when the left turn light is turned on, the embodiment of the invention can generate a request instruction of the blind area information of the left rear side of the vehicle; when the right steering lamp is turned on, the embodiment of the invention can generate a request instruction of the information of the blind area at the right rear side of the vehicle.

In addition, it should be noted that, in addition to generating the blind area information request instruction by the turn signal information, the embodiment of the present invention may also generate the blind area information request instruction by detecting the steering direction or the steering angle of the steered wheel or the steering wheel; specifically, the embodiment of the present invention may detect steering orientation information or steering angle information of a steering wheel or a steering wheel, and generate a blind area information request instruction according to the steering orientation information or the steering angle information. When the steering direction and the steering angle of a steering wheel or a steering wheel are deviated to the left side, the embodiment of the invention can generate a vehicle left rear side blind area information request instruction; when the steering direction and the steering angle of the steering wheel or the steering wheel are deviated to the right side, the embodiment of the invention generates the request instruction of the information of the blind area on the right rear side of the vehicle.

In addition, it should be noted that, in addition to generating the blind zone information request command through the turn light information, the wheel turning direction, the wheel turning angle, the steering wheel turning direction and the steering wheel turning angle, the embodiment of the present invention may also generate the blind zone information request command according to the user command; illustratively, the user may generate the blind area information request instruction by touching a key or a screen, or may generate the blind area information request instruction by voice.

In addition, it can be understood that the embodiment of the present invention also does not need to generate the blind area information request instruction only during steering, that is, the embodiment of the present invention can continuously send the blind area information request instruction to the server at any time to continuously obtain the blind area image information. Illustratively, the vehicle of the embodiment of the invention acquires the blind area image information all the time after the start.

As shown in fig. 7, fig. 7 is a flowchart illustrating that the visible area image information and the blind area image information are displayed on the electronic rearview mirror after being spliced in the method for detecting a vehicle blind area according to an embodiment of the present invention, and the step S300 includes, but is not limited to, the steps S510, S520, and S530.

Step S510, visible area image information shot by an electronic rearview mirror of a first vehicle is obtained;

s520, generating spliced image information obtained by splicing the image information of the visible area and the image information of the blind area;

and step S530, displaying the splicing image information through the electronic rearview mirror of the first vehicle.

Specifically, in order to enable a driver to observe a visual area originally photographed by the electronic rearview mirror and a blind area photographed by the target camera device when the vehicle needs to change lanes, the vehicle according to the embodiment of the invention acquires visual area image information photographed by the electronic rearview mirror and blind area image information photographed by the target camera device, splices the visual area image information and the blind area image information to obtain spliced image information, and displays the spliced image information through the electronic rearview mirror. Therefore, in the embodiment of the invention, a driver can clearly know the conditions of the visible area and the blind area at the same time only by observing the information of the spliced image displayed by the electronic rearview mirror.

In addition, the display screen of the electronic rearview mirror can be divided into two display areas, wherein one display area is used for displaying the image information of the visible area, and the other display area is used for displaying the image information of the blind area.

As shown in fig. 8, fig. 8 is a flowchart of a stitching step of stitching image information in a method for detecting a blind area of a vehicle according to an embodiment of the present invention. The vehicle information in the embodiment of the invention comprises first vehicle positioning information, first vehicle course information, first vehicle speed information, first vehicle acceleration information and first vehicle type information, the target camera equipment is a second vehicle carrying an electronic rearview mirror, and the equipment information comprises second vehicle positioning information, second vehicle course information, second vehicle speed information, second vehicle acceleration information and second vehicle type information;

the method for splicing the image information includes, but is not limited to, step S610, step S620, step S630 and step S640.

Step S610, calculating to obtain relative position information and relative displacement information between the first vehicle and the second vehicle according to the first vehicle positioning information, the first vehicle course information, the first vehicle speed information, the first vehicle acceleration information, the second vehicle positioning information, the second vehicle course information, the second vehicle speed information and the second vehicle acceleration information;

step S620, calculating to obtain the visual angle information of the electronic rearview mirror of the second vehicle according to the relative position information, the relative displacement information, the first vehicle type information and the second vehicle type information;

step S630, visual angle image information in the blind area image information is determined according to the visual angle information;

and step S640, splicing the image information of the visual area and the image information of the visual angle to obtain spliced image information.

The first vehicle positioning information and the second vehicle positioning information are related to, namely, the longitude and latitude where the vehicle is located; secondly, regarding the first vehicle course information and the second vehicle course information, namely the course of the vehicle, namely the driving direction of the vehicle; in addition, with respect to the above-described first vehicle speed information and second vehicle speed information, that is, the traveling speed of the vehicle; in addition, with respect to the above-described first vehicle acceleration information and second vehicle acceleration information, that is, the running acceleration of the vehicle; in addition, the first vehicle type information and the second vehicle type information may refer to a size of the vehicle or an installation position of the electronic rearview mirror on the vehicle.

Specifically, in order to realize the splicing of the spliced image information, the first vehicle calculates according to the longitude and latitude, the speed, the course and the acceleration of the vehicle and according to the longitude and latitude, the speed, the course and the acceleration of the second vehicle, and calculates to obtain the relative position information and the relative displacement information between the first vehicle and the second vehicle; and then, calculating the vehicle type information of the two vehicles to obtain the visual angle of the electronic rearview mirror of the second vehicle, finally determining the visual angle image information in the blind area image information according to the visual angle information, and splicing the visual area image information and the visual angle image information to obtain spliced image information.

Based on the above controller, the overall system, and the vehicle-side vehicle blind area detection method, various embodiments of the server-side vehicle blind area detection method of the present invention are set forth below.

As shown in fig. 9, fig. 9 is a flowchart of a method for detecting a blind area of a vehicle according to an embodiment of the present invention, which is applied to a server, including but not limited to step S700, step S800, step S900 and step S1000.

Step S700, a blind area information request instruction from a first vehicle is obtained, wherein the blind area information request instruction comprises vehicle information of the first vehicle;

step S800, acquiring equipment information of camera equipment near the first vehicle based on the vehicle information, and determining target camera equipment according to the vehicle information and the equipment information;

step S900, acquiring blind area image information shot by target camera equipment;

and S1000, sending the blind area image information to the first vehicle so that the first vehicle displays the blind area image information through the electronic rearview mirror.

Specifically, when a first vehicle needs to detect a vehicle blind area, the first vehicle sends a blind area information request instruction including vehicle information of the first vehicle to a server; then the server acquires equipment information of camera equipment near the first vehicle based on the vehicle information, and determines target camera equipment according to the vehicle information and the equipment information; then, the server acquires the blind area image information shot by the target camera equipment and sends the blind area image information to the first vehicle; and finally, the first vehicle can display the blind area image information through an electronic rearview mirror.

According to the technical scheme of the embodiment of the invention, the blind area image information shot by the target camera equipment near the first vehicle can be shared to the electronic rearview mirror of the first vehicle through the Internet of vehicles technology, so that the blind area images of the vehicle which are not displayed by the electronic rearview mirror are reduced, and the accident occurrence is reduced; secondly, the embodiment of the invention can feed back to the driver in an image mode, so that the driver can clearly know whether the vehicle is in the blind area of the vehicle, and can also know the distance and the direction between the vehicle in the blind area and the driver through the image information of the blind area; in addition, the embodiment of the invention does not need to carry cameras in a plurality of directions at the same time, and for the existing vehicle, the sharing of the blind area image information can be realized by a method of upgrading software only by supporting the communication function and the electronic rearview mirror function, so the embodiment of the invention can reduce the cost and the complexity of the system structure.

It should be noted that, the specific implementation and technical effects of the method for detecting a vehicle blind area on the server side according to the embodiment of the present invention may be referred to the specific implementation and technical effects of the method for detecting a vehicle blind area on the vehicle side.

In addition, as shown in fig. 10, fig. 10 is a flowchart for acquiring device information of an image pickup device near a first vehicle in a method for detecting a blind area of a vehicle according to an embodiment of the present invention; the vehicle information includes first vehicle positioning information, the device information of the image pickup device includes device positioning information, and the device information about the image pickup device near the first vehicle acquired based on the vehicle information in the above-described step S800 includes, but is not limited to, step S1100.

Step S1100, acquiring equipment information of the camera equipment near the first vehicle based on the first vehicle positioning information.

Specifically, the server may scan the camera devices in the vicinity of the first vehicle according to the first vehicle positioning information of the first vehicle. The server can calculate the distance between the first vehicle and the camera device according to the first vehicle positioning information and the device positioning information, and when the distance between the first vehicle and the camera device is less than a preset distance, the camera device can be used as the camera device near the first vehicle, and then the device information of the camera device is acquired; when the distance between the first vehicle and the image pickup apparatus is greater than a preset distance, the image pickup apparatus may be ignored.

In addition, as shown in fig. 11, fig. 11 is a flowchart for determining a target image capturing apparatus based on vehicle information and apparatus information in a method for detecting a blind area of a vehicle according to an embodiment of the present invention. The vehicle information comprises first vehicle course information, first vehicle speed information and first vehicle acceleration information, the camera equipment is a second vehicle carrying the electronic rearview mirror, and the equipment information comprises second vehicle course information, second vehicle speed information and second vehicle acceleration information; regarding the determination of the target image capturing apparatus from the vehicle information and the apparatus information in the above-described step S800, there are, but not limited to, step S1210, step S1220, step S1230, and step S1240.

Step S1210, determining the driving directions of a first vehicle and a second vehicle according to the first vehicle course information and the second vehicle course information;

step S1220, comparing the first vehicle speed information with the second vehicle speed information to obtain a speed difference value between the first vehicle and the second vehicle;

step S1230, comparing the first vehicle acceleration information with the second vehicle acceleration information to obtain an acceleration difference value between the first vehicle and the second vehicle;

and S1240, screening out a second vehicle which corresponds to the driving direction, the speed difference value smaller than the preset speed difference value and the acceleration difference value smaller than the preset acceleration difference value as a target vehicle.

Specifically, regarding the process of screening out the target vehicle from the plurality of image pickup apparatuses in the vicinity of the first vehicle, the following may be made: firstly, judging whether the driving directions of a first vehicle and a second vehicle are consistent, if not, not considering the camera equipment, and if so, continuously judging whether the speed difference value of the first vehicle and the second vehicle is less than a preset speed difference value; when the speed difference value is larger than the preset speed difference value, the camera equipment is not considered, and when the speed difference value is smaller than the preset speed difference value, whether the acceleration difference value of the first vehicle and the second vehicle is smaller than the preset acceleration difference value or not is judged; and when the acceleration difference is smaller than the preset acceleration difference, the second vehicle is taken as the target vehicle.

In other words, the embodiment of the invention analyzes the driving direction, the speed difference value and the acceleration difference value of the vehicle, and takes the corresponding second vehicle as the target vehicle only under the condition that the driving direction, the speed difference value and the acceleration difference value all accord with the preset conditions; otherwise, if one or more parameters do not meet the preset conditions, the second vehicle is not taken as the target vehicle.

It should be noted that, regarding the above-mentioned filtering process, in addition to the filtering according to the above-mentioned sequence of the driving direction, the speed difference value and the acceleration difference value, the filtering may also be performed according to the sequence of the driving direction, the acceleration difference value and the speed difference value, and the filtering may also be performed according to the sequence of the speed difference value, the acceleration difference value and the driving direction, and the embodiments of the present invention are not limited.

In addition, as shown in fig. 12, fig. 12 is a flowchart for screening out a target vehicle from candidate vehicles in a vehicle blind area detection method according to an embodiment of the present invention. The vehicle information further comprises first vehicle type information, and the equipment information further comprises second vehicle type information; regarding the step S1240, there are, but not limited to, step S1310, step S1320, and step S1330.

Step 1310, screening a plurality of second vehicles which are consistent with the driving direction, have a speed difference value smaller than a preset speed difference value and have an acceleration difference value smaller than a preset acceleration difference value as candidate vehicles;

step S1320, for each candidate vehicle, calculating the rearview mirror distance of the adjacent electronic rearview mirrors of the first vehicle and the candidate vehicle according to the first vehicle type information and the second vehicle type information;

step S1330 selects the candidate vehicle corresponding to the shortest mirror distance as the target vehicle.

Specifically, after the plurality of second vehicles are preliminarily screened out as the candidate vehicles according to the driving directions, the speed difference values and the acceleration difference values of the vehicles, the appropriate vehicle is further screened out from the plurality of candidate vehicles as the target vehicle. Specifically, the embodiment of the invention calculates the rearview mirror distance of the adjacent electronic rearview mirrors of the first vehicle and the candidate vehicle according to the first vehicle type information and the second vehicle type information, and then selects the candidate vehicle with the shortest rearview mirror distance as the target vehicle.

In addition, regarding the above-mentioned mirror distance, when the first vehicle needs to change lane to the right, the position of the candidate vehicle is located to the right of the first vehicle, and the mirror distance is a distance between the right electronic mirror of the first vehicle and the left electronic mirror of the candidate vehicle.

In addition, the rearview mirror distance refers to a vertical distance between two electronic rearview mirrors, and the vertical distance is perpendicular to the heading direction.

Based on the above-described detection method of the vehicle blind area on the vehicle side and the detection method of the vehicle blind area on the server side, the following provides various specific embodiments of the present invention.

As shown in fig. 13, fig. 13 is a distribution diagram of visible areas and blind areas during driving of a vehicle according to an embodiment of the present invention; specifically, fig. 13 includes a vehicle Car1, a vehicle Car2, a vehicle Car3, and a vehicle Car4, where the vehicle Car2 and the vehicle Car3 are both located on the right side of the vehicle Car1, the vehicle Car2 is located in front of the vehicle Car3, and the vehicle Car4 is located between the vehicle Car1 and the vehicle Car 3.

When the vehicle Car1 needs to make a right lane change, the visible region of the right side electronic rear view mirror of the vehicle Car1 is the region BDE, and since the vehicle Car4 is not located in the region BDE, the driver of the vehicle Car1 cannot observe the presence of the vehicle Car4 through the right side electronic rear view mirror; however, the visible area of the left side electronic rear view mirror of the vehicle Car2 is the area ABC, and since a part of the structure of the vehicle Car4 is located in the area ABC, the presence of the vehicle Car4 can be observed in the left side electronic rear view mirror of the vehicle Car 2.

Based on fig. 13, an embodiment of the present invention proposes the basic flowchart in fig. 14, which includes, but is not limited to, step S1410, step C100, step S1420, step S1430, step S1440 and step S1450.

Step S1410, turning on a steering lamp by the vehicle Car1, and sending an adjacent vehicle rearview mirror data request to a server;

step C100, the server detects whether a vehicle meeting the requirement exists near the vehicle Car1, if so, the step S1420 is executed, otherwise, the step S1450 is executed;

step S1420, the server requests the vehicle Car2 to transmit the mirror data thereof;

step S1430, the server receives the rearview mirror data sent by the vehicle Car2 and then forwards the rearview mirror data to the vehicle Car1;

step S1440, synthesizing the rearview mirror data of the vehicle Car1 and the rearview mirror data of the vehicle Car2, and displaying the synthesized data on the electronic rearview mirror;

and step S1450, ending.

In addition, as for the specific determination method in step C100 in fig. 14, reference may be made to fig. 15, where fig. 15 is a flowchart illustrating that the server detects whether there is a vehicle meeting the requirement around the vehicle Car1 according to an embodiment of the present invention, and the method includes, but is not limited to, step S1510, step C210, step C220, step C230, step S1520, and step S1530.

Step S1510, the server scans vehicles around the vehicle Car1;

step C210, judging whether vehicles with the same heading exist, if so, executing step C220, otherwise, executing step S1530;

step C220, judging whether the speed difference is smaller than a preset speed difference, if so, executing step C230, otherwise, executing step S1530;

step C230, judging whether the acceleration difference is smaller than a preset acceleration difference, if so, executing step S1520, otherwise, executing step S1530;

step 1520, selecting the vehicle with the nearest rearview mirror as the vehicle meeting the requirement according to the vehicle type information;

and step S1530, end.

It can be understood that the preset speed difference value in the embodiment of the present invention may be reasonably set according to actual situations, and for example, the preset speed difference value may be set to 10m/s; secondly, the preset acceleration difference value of the embodiment of the present invention may also be set reasonably according to the actual situation, and exemplarily, the preset acceleration difference value may be set to 5m/s.

In addition, based on the method steps of fig. 14, the display area of the right side electronic rearview mirror of the vehicle Car1 may be made as shown in fig. 16, specifically, the left side is the display area of the vehicle Car1, and the right side is the display area of the rearview mirror of the vehicle Car 2.

Specifically, as shown in fig. 13, the triangular region BCG is an image of the vehicle Car2, the triangular region BGF is an image of the vehicle Car1, and as the vehicle Car1 and the vehicle Car2 move relative to each other, the area of the triangular region BCG is constant, and similarly, the area of the triangular region BFG is also constant, so that the two regions are spliced together according to the proportional relationship between the region BCG and the region BFG, so as to form a complete image as shown in fig. 16.

In addition, based on the distribution diagram of fig. 13, as shown in fig. 17, another embodiment of the present invention provides a distribution diagram of visible areas and blind areas during traveling of a vehicle during traveling.

As for fig. 17, the detection method according to the embodiment of the present invention can specifically solve the following three situations:

in the first case: the vehicle Car1 can observe the presence of the vehicle Car4 when lane change is required. The specific process is as follows: the vehicle Car1 sends a message requesting to acquire data of an adjacent vehicle rearview mirror to the server, the server responds to the calculation to select an adjacent vehicle and sends the request of the vehicle Car1 to the vehicle Car2, the vehicle Car2 sends an image of the electronic rearview mirror on the left side of the vehicle to the server, the server sends the image of the electronic rearview mirror of the vehicle Car2 and information such as the vehicle type, coordinates, course, speed and acceleration of the vehicle to the vehicle Car1, and the vehicle Car1 starts to calculate after receiving the information of the vehicle Car 2. The vehicle Car1 first calculates the longitude and latitude, the speed, the heading, and the acceleration of the vehicle Car1 and the longitude and latitude, the speed, the heading, and the acceleration of the vehicle Car2 according to the received information of the vehicle Car2, reads the relative position and the relative displacement between the vehicles, and then obtains the viewing angle of the vehicle rearview mirror through the vehicle type information of the vehicle Car1 and the vehicle type information of the vehicle Car 2. As can be seen from fig. 17, the triangular region ABC is the visible region of the vehicle Car2, and the triangular region BDE is the visible region of the vehicle Car1; for example, if there is a vehicle located in the position of the vehicle Car4, as can be seen from the geometrical relationship, the vehicle Car4 is located in a blind area of the vehicle Car1, and the vehicle Car4 cannot be seen through the electronic rearview mirror of the vehicle Car1, and if the vehicle Car1 is to change its lane to the right, the vehicle Car interferes with the moving direction of the vehicle Car4, so that the possibility of an accident is increased. However, because of the mirror sharing function of the embodiment of the invention, a part of the vehicle Car4 is located inside the triangular region BGC, and the vehicle Car4 can be observed through the electronic mirror of the vehicle Car 2. Since the vehicle Car4 is displayed in the rear view mirror of the vehicle Car1 by the combined image as shown in fig. 16, when the driver of the vehicle Car1 sees that there is a vehicle behind the right of the vehicle, a corresponding action is taken, thereby avoiding an accident.

In the second case: the vehicle Car2 can observe the lane change overtaking of the vehicle Car3 to the left front when lane change is required. The specific process is as follows: the process in which the vehicle Car2 requests the server for the adjacent vehicle electronic rear view mirror information may refer to the process of the first case described above. As can be seen from fig. 17, the vehicle Car3 is located in the blind area of the vehicle Car2, and at this time, the vehicle Car3 changes lane to the left and overtakes, and since the vehicle Car3 is located in the visible area of the vehicle Car1, the vehicle Car2 can see the situation of the vehicle Car3 through the electronic rearview mirror sharing function, so that the driver of the vehicle Car2 takes corresponding action, thereby avoiding the occurrence of an accident.

In a third case: the presence of the vehicle Car5 can be observed when the lane change is required by the vehicle Car1 and the vehicle Car 2. The specific process is as follows: the process of the vehicle Car1 and the vehicle Car2 requesting the server for the adjacent vehicle electronic rear view mirror information may refer to the process of the first case described above. As can be seen from fig. 17, the triangular area BEC is a blind area of the vehicle Car1, the triangular area ACD is a blind area of the vehicle Car2, and the triangular area GCE is a common blind area of the vehicle Car1 and the vehicle Car 2; for the vehicles in the public blind area, neither the vehicle Car1 nor the vehicle Car2 is discoverable. If the vehicle Car3 exists at this time, the vehicle Car5 is within the visible area of the vehicle Car3, and the vehicle Car3 transmits the rearview mirror information to the vehicle Car2 and the vehicle Car1, then the vehicle Car1 and the vehicle Car2 can know the existence of the vehicle Car5 at this time, so that drivers of the vehicle Car1 and the vehicle Car2 take corresponding actions, and thus the occurrence of accidents is avoided.

In addition, as shown in fig. 18, fig. 18 is a distribution diagram of visible areas and blind areas of a vehicle and a road camera during driving according to an embodiment of the present invention.

Specifically, when the vehicle Car1 sends a request for rearview mirror data to the server, if the server finds that there is no vehicle meeting the conditions around the vehicle Car1, the server may share the image collected by the road camera of the roadside unit closer to the vehicle Car1, as shown in fig. 18, the triangular region BCD is an intersection of the blind area of the vehicle Car1 and the visible area of the road camera, and when the vehicle moves, the area of the triangular region BCD is unchanged, and the area of the triangular region BCE is also unchanged, so that the vehicle can be shown to the driver through the electronic rearview mirror screen according to the combination mode shown in fig. 16 according to the proportional relationship between the triangular region BCD and the BDE.

Based on the above-described vehicle blind area detection method, various embodiments of the vehicle controller, the vehicle, and the computer-readable storage medium of the present invention are set forth below.

In addition, an embodiment of the present invention provides a vehicle controller including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the computer program implementing the method of detecting a blind zone of a vehicle as described above.

It will be appreciated that the processor and memory may be connected by a bus or other means.

It should be noted that the vehicle controller in this embodiment may correspond to the system architecture platform in the embodiment shown in fig. 3, and can form a part of the system architecture platform in the embodiment shown in fig. 3, both of which belong to the same inventive concept, so that both have the same implementation principle and beneficial effects, and are not described in detail herein.

The non-transitory software programs and instructions required to implement the vehicle blind area detection method of the above-described embodiment are stored in a memory, and when executed by a processor, perform the vehicle blind area detection method of the above-described embodiment, for example, the method steps in fig. 5 to 8 described above are performed.

It should be noted that the specific implementation and technical effects of the vehicle controller according to the embodiment of the present invention can be referred to the specific implementation and technical effects of the vehicle blind area detection method described above.

It is to be understood that the vehicle controller of the embodiment of the present invention may be, but is not limited to, TBOX.

Additionally, one embodiment of the present invention provides a vehicle including, but not limited to, the vehicle controller described above.

It should be noted that, since the vehicle according to the embodiment of the present invention includes the vehicle controller described above, and the vehicle controller described above is capable of executing the method for detecting the vehicle blind area described above, the specific implementation and technical effects of the vehicle according to the embodiment of the present invention may be correspondingly referred to the specific implementation and technical effects of the method for detecting the vehicle blind area described above.

In addition, an embodiment of the present invention provides a server including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the computer program implementing the method of detecting a blind area of a vehicle as described above.

It should be noted that the server in this embodiment may correspond to the system architecture platform in the embodiment shown in fig. 3, and may form a part of the system architecture platform in the embodiment shown in fig. 3, and both of them belong to the same inventive concept, so both of them have the same implementation principle and beneficial effect, and are not described in detail herein.

The non-transitory software programs and instructions required to implement the vehicle blind area detection method of the above-described embodiment are stored in a memory, and when executed by a processor, perform the vehicle blind area detection method of the above-described embodiment, for example, the method steps in fig. 9 to 12 described above are performed.

It should be noted that, the specific implementation and technical effects of the server according to the embodiment of the present invention can be referred to the specific implementation and technical effects of the vehicle blind area detection method described above.

Furthermore, an embodiment of the present invention also provides a computer-readable storage medium storing computer-executable instructions for performing the above-mentioned vehicle blind area detection method, for example, performing the above-described method steps in fig. 5 to 12.

One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as is well known to those skilled in the art.

While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the foregoing and various other changes, omissions and deviations in the form and detail thereof may be made without departing from the scope of this invention.

Claims

1. A method of detecting a vehicle blind area, applied to a first vehicle, the method comprising:

2. The method of claim 1, wherein before sending the blind zone information request instruction to the server, the method further comprises:

acquiring turn light information of the first vehicle;

and generating the blind area information request instruction according to the steering lamp information.

3. The method of claim 1, wherein the displaying the blind spot image information via an electronic rearview mirror of the first vehicle comprises:

acquiring visible area image information shot by an electronic rearview mirror of the first vehicle;

generating spliced image information obtained by splicing the visual area image information and the blind area image information;

and displaying the spliced image information through an electronic rearview mirror of the first vehicle.

4. The method of any one of claims 1 to 3, wherein the vehicle information includes at least one of: the first vehicle positioning information, the first vehicle heading information, the first vehicle speed information, the first vehicle acceleration information or the first vehicle type information.

5. The method according to any one of claims 1 to 3, wherein the target image capturing apparatus is a second vehicle carrying an electronic rearview mirror, and the apparatus information includes at least one of: second vehicle positioning information, second vehicle heading information, second vehicle speed information, second vehicle acceleration information, or second vehicle type information.

6. The method of claim 3, wherein the vehicle information comprises first vehicle positioning information, first vehicle heading information, first vehicle speed information, first vehicle acceleration information, and first vehicle type information, the target camera device is a second vehicle carrying an electronic rearview mirror, and the device information comprises second vehicle positioning information, second vehicle heading information, second vehicle speed information, second vehicle acceleration information, and second vehicle type information; the spliced image information is obtained by splicing the following steps:

calculating to obtain relative position information and relative displacement information between the first vehicle and the second vehicle according to the first vehicle positioning information, the first vehicle course information, the first vehicle speed information, the first vehicle acceleration information, the second vehicle positioning information, the second vehicle course information, the second vehicle speed information and the second vehicle acceleration information;

calculating to obtain the visual angle information of the electronic rearview mirror of the second vehicle according to the relative position information, the relative displacement information, the first vehicle type information and the second vehicle type information;

determining visual angle image information in the blind area image information according to the visual angle information;

and splicing the visual area image information and the visual angle image information to obtain spliced image information.

7. The method of any one of claims 1 to 3, wherein the target camera device comprises a second vehicle carrying an electronic rearview mirror or comprises a road camera near a road side unit in communication with the first vehicle.

8. A method for detecting a vehicle blind area is applied to a server and comprises the following steps:

acquiring blind area image information shot by the target camera equipment;

9. The method of claim 8, wherein the vehicle information includes first vehicle positioning information, and wherein the obtaining device information of camera devices in the vicinity of the first vehicle based on the vehicle information includes:

and acquiring equipment information of camera equipment near the first vehicle based on the first vehicle positioning information.

10. The method according to claim 8 or 9, wherein the vehicle information includes first vehicle heading information, first vehicle speed information, and first vehicle acceleration information, the camera device is a second vehicle carrying an electronic rearview mirror, and the device information includes second vehicle heading information, second vehicle speed information, and second vehicle acceleration information;

the determining a target image capturing apparatus according to the vehicle information and the apparatus information includes:

determining the driving directions of the first vehicle and the second vehicle according to the first vehicle course information and the second vehicle course information;

comparing the first vehicle speed information and the second vehicle speed information to obtain a speed difference value between the first vehicle and the second vehicle;

comparing the first vehicle acceleration information with the second vehicle acceleration information to obtain an acceleration difference value between the first vehicle and the second vehicle;

screening out the second vehicle corresponding to the driving direction is consistent, the speed difference value is smaller than a preset speed difference value, and the acceleration difference value is smaller than a preset acceleration difference value as a target vehicle.

11. The method of claim 10, wherein the vehicle information further includes first vehicle-type information, the device information further includes second vehicle-type information; screening out with the direction of travel is unanimous, the speed difference is less than preset speed difference and the acceleration difference is less than the corresponding second vehicle of preset acceleration difference as the target vehicle, include:

screening a plurality of second vehicles which are consistent with the driving direction, have the speed difference value smaller than a preset speed difference value and have the acceleration difference value smaller than a preset acceleration difference value as candidate vehicles;

for each candidate vehicle, calculating the rearview mirror distance of the adjacent electronic rearview mirrors of the first vehicle and the candidate vehicle according to the first vehicle type information and the second vehicle type information;

selecting the candidate vehicle corresponding to the shortest rear view mirror distance as a target vehicle.

12. The method of claim 8 or 9, wherein the camera device is a road camera near a roadside unit in communication with the first vehicle.

13. A vehicle controller, characterized by comprising: memory, processor and computer program stored on the memory and executable on the processor, the processor implementing the detection method according to any one of claims 1 to 7 when executing the computer program.

14. A vehicle comprising a vehicle controller according to claim 13.

15. A server, comprising: memory, processor and computer program stored on the memory and executable on the processor, the processor implementing the detection method according to any one of claims 8 to 12 when executing the computer program.

16. A computer-readable storage medium having stored thereon computer-executable instructions for performing the detection method of any one of claims 1 to 7 or the detection method of any one of claims 8 to 12.