CN115834841A - Safety monitoring method, device and equipment based on vehicle-mounted radar and vehicle - Google Patents

Abstract

The invention relates to the technical field of systems for measuring target position data, and particularly provides a safety monitoring method, a device, equipment and a vehicle based on a vehicle-mounted radar, wherein in the safety monitoring method, a monitoring area and a non-monitoring area of a radar module are set based on a human-computer interaction module; when the processing module judges that the target invades the monitored area based on the monitoring information sent by the radar module, the camera module is controlled to shoot and upload the monitored area. The method and the device utilize the sensor and the computing power of the automobile, provide a mode for carrying out safety monitoring on the surrounding environment, and do not increase extra cost. By utilizing the capability of the vehicle-mounted radar, the area within a range of 360 degrees of dozens of meters can be monitored, the problem that the effect of the camera is reduced in a low-light environment is solved, and the vehicle-mounted radar can be used in all weather. Furthermore, the invention expands the capability of the intelligent automobile to the fields outside the automobile, such as security of house entrance, camping camp and the like, and has wide application range.

Description

Safety monitoring method, device and equipment based on vehicle-mounted radar and vehicle

Technical Field

The invention belongs to the technical field of systems for measuring target position data, and particularly relates to a safety monitoring method, a safety monitoring device, safety monitoring equipment and a vehicle based on a vehicle-mounted radar.

Background

Millimeter wave radar is one of the important sensors for intelligent driving, and with the development of intelligent driving technology, vehicle-mounted radar is increasingly popularized on automobiles. In the process of driving or parking the vehicle, the millimeter wave radar undertakes the work of detecting targets around the vehicle. When the vehicle is stationary, the millimeter wave radar is used less frequently. The millimeter wave radar has the advantages of all weather, wide detection range, rich detection target information and the like, and is widely applied to security. The automobile with the millimeter wave radar sensor can also play a role in safety monitoring when the automobile is stopped and is still. For the car that has been equipped with preceding radar and 4 angle radars, can provide 360 coverage, compare in single security protection radar, coverage is wider, can provide the safety monitoring function for the user.

Patent document 1: CN202210216289.5 parking security and protection method, system and vehicle. The method is characterized in that whether a target appears around is detected by using a radar of the vehicle in a parking state, and if the target approaches the vehicle, an alarm is given. This solution has the following problems: 1. only monitoring the vehicle, giving an alarm when a target approaches the vehicle, and not monitoring other areas; 2. the target output by the radar is required to be relied on, and the radar has poor detection performance on the static or extremely low-speed target; 3. only alarms locally, and cannot be remotely alarmed when the user is not nearby.

Patent document 2: CN202210628100.3 is a millimeter wave radar-based storage security system and a control method thereof. The system for security monitoring by using the millimeter wave radar is provided, the millimeter wave radar is used for providing target azimuth information, and a camera is used for shooting. This solution requires additional hardware equipment and, due to the installation location between the radars, there may be blind areas in the monitored area.

Disclosure of Invention

The purpose of the invention is: the method, the device, the equipment and the vehicle aim at providing a safety monitoring method, a device and a vehicle based on a vehicle-mounted radar, and are used for solving the problems that the vehicle periphery can only be monitored by the conventional vehicle-mounted radar and the target monitoring performance is poor due to relative rest or extremely low speed

In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:

in a first aspect, the application provides a safety monitoring method based on a vehicle-mounted radar, which is applied to monitoring equipment, wherein the monitoring equipment comprises a human-computer interaction module, a radar module, a camera module and a processing module, the human-computer interaction module is electrically connected with the radar module, the radar module and the camera module are respectively in communication connection with the processing module, and the method comprises the following steps:

s110, setting a monitoring area and a non-monitoring area of the radar module based on the man-machine interaction module;

and S120, when the processing module judges that the target invades the monitored area based on the monitoring information sent by the radar module, the camera module is controlled to shoot and upload the monitored area.

With reference to the first aspect, in some optional embodiments, the determining that the target invades the monitored area is that the processing module determines, based on target information of a non-monitored area detected and sent by the radar module, that the target approaches the monitored area from the non-monitored area, and/or the processing module determines, based on a change in a cloud point map generated based on cloud point information of the monitored area detected and sent by the radar module, that the low-speed target invades the monitored area.

With reference to the first aspect, in some optional embodiments, the monitoring device further includes a control module, a transmission module, and a cloud server, the control module is electrically connected to the processing module and the transmission module, respectively, and the method further includes,

s130, when the processing module judges that a target invades, the control module receives the invasion information sent by the processing module to control the response of the alarm module, and sends the invasion information to the cloud server based on the transmission module.

With reference to the first aspect, in some optional embodiments, a photosensitive unit is embedded in the camera module, and when the photosensitive unit detects that the brightness of the monitored area is insufficient during shooting by the camera module, the photosensitive unit requests the control module to perform light supplement on the monitored area based on a processing module.

With reference to the first aspect, in some optional embodiments, when the low-speed target in the monitored area is determined to be invaded, the latest cloud point-like graph is used as a reference graph for determining the invasion of the low-speed target in the monitored area.

In a second aspect, the present application provides a safety monitoring device based on a vehicle-mounted radar, which is applied to the above monitoring device, the device includes:

the preset unit is used for setting a monitoring area and a non-monitoring area of the radar module based on the man-machine interaction module;

and the monitoring unit is used for controlling the camera module to shoot and upload the monitoring area when the processing module judges that the monitoring area has target invasion based on the monitoring information sent by the radar module.

With reference to the second aspect, in some optional embodiments, the preset unit is coupled to the human-computer interaction module, and the monitoring unit is coupled to the processing module.

In a third aspect, the present application provides a monitoring device, further comprising a storage module, in which a computer program is stored, which, when executed by the monitoring device, enables the monitoring device to perform the method as described above.

In a fourth aspect, the present application further provides a vehicle including the above safety monitoring device and a vehicle body, the safety monitoring device being mounted on the vehicle body.

The invention adopting the technical scheme has the following advantages:

the method and the device have the advantages that not only target information output by the radar is adopted, but also point cloud information of the radar is adopted, and the monitoring capability is realized for objects which cannot form radar targets. Compared with the traditional security scheme, the vehicle-mounted radar can move along with the vehicle and move to the side of an object needing safety monitoring, and configuration is more flexible. Further, the present invention extends the capabilities of smart cars to areas outside the vehicle, and can be applied to: 1. when camping in the open air, the safety monitoring and protection of the camping area can prevent invasion; 2. the vehicle is driven to the periphery of the protected target to prevent the invasion and theft of the protected target, such as the security of a house entrance, the theft and theft prevention monitoring of important materials around the vehicle and the like. 3. The intelligent automobile charging system can be used as a charging value-added function of an intelligent automobile.

Drawings

The invention is further illustrated by the non-limiting examples given in the accompanying drawings;

FIG. 1 is a schematic view of the apparatus of the present application;

FIG. 2 is a flow chart of the method of the present invention;

fig. 3 shows the coverage area of a 4-angle millimeter wave radar monitoring area.

The main element symbols are as follows:

10: a human-computer interaction module; 20: a radar module; 30: a camera module; 40: a processing module; 50: a control module; 60: a transmission module; 70: a cloud server; 80: an alarm module; 90: a preset unit; 100: and a monitoring unit.

Detailed Description

The invention is described in detail below with reference to the drawings and specific embodiments, it is to be noted that in the drawings or description, similar or identical parts are provided with the same reference numerals, and implementations not shown or described in the drawings are known to those of ordinary skill in the art. In addition, directional terms, such as "upper", "lower", "top", "bottom", "left", "right", "front", "rear", and the like, used in the embodiments are only directions referring to the drawings, and are not intended to limit the scope of the present invention.

As shown in fig. 1, the monitoring device provided by the present application includes a human-computer interaction module 10, a radar module 20, a camera module 30, and a processing module 40. The human-computer interaction module 10 is electrically connected to the radar module 20. The radar module 20 and the camera module 30 are electrically connected to the processing module 40, respectively. The monitoring device further comprises a control module 50, a transmission module 60 and a cloud server 70. The control module 50 is electrically connected to the processing module 40 and the transmission module 60, respectively. The transmission module 60 is electrically connected to the cloud server 70.

The human-machine interaction module 10 may be a vehicle-mounted human-machine interaction interface for the driver to set any monitoring area within the largest area that can be detected by the radar module 20. The monitoring area is not limited to the periphery of the vehicle, but may also be an area farther away from the vehicle, such as a gate in front of the vehicle, a sidewalk beside the vehicle, a camping tent beside the vehicle, or an entrance/exit. Preferably, the input setting mode of the human-computer interaction module 10 may be manual selection input, audio receiving input, or the like.

The radar module 20 is a vehicle-mounted radar for detecting target information near the vehicle in real time. As shown in fig. 3, for a vehicle type in which at least one angular radar is disposed at each of the four corners of the vehicle, a target in a range of 360 ° in the vicinity of the vehicle can be monitored. The millimeter wave radar adopts a radar sensor equipped for intelligent driving of the automobile, the millimeter wave radar installed around the automobile comprises a forward radar, a backward radar and an angle radar, and the millimeter wave radars can be used all or partially. Generally, the 4-angle radar can provide 360-degree sensing, the coverage range of the radar is referred to as figure 3 in the attached drawing, and only a small number of blind areas exist at a short distance of the vehicle body.

The camera module 30 may be an in-vehicle camera disposed around the vehicle. When the monitoring area is set, the processing module 40 selects a camera capable of shooting the monitoring area to complete the shooting operation. For most of the existing vehicle models with at least 4 cameras mounted on the vehicle body, the safety monitoring method can be completed only by program loading without additionally adding camera equipment, and the manufacturing cost of vehicles is not required to be added. Preferably, the camera module 30 is embedded with a photosensitive unit, and when the photosensitive unit determines that the brightness of the monitored area is insufficient, the camera module can request the control module 50 to control the vehicle lighting device to fill light into the monitored area.

The processing module 40 is configured to receive the real-time monitoring information sent by the radar module 20, and determine whether a target is about to enter a monitored area from a non-monitored area or whether a low-speed target invades the monitored area by combining the real-time monitoring information and past monitoring information, which is described in detail below. The processing module 40 may be a domain controller on the vehicle or a separate ECU. The processing module 40 also requests the control module 50 to make an alarm prompt when judging that the target invades, and controls the camera module 30 to take a picture of the monitored area.

The control module 50 may be a vehicle body controller capable of controlling devices such as horn and light of the vehicle. And is used for controlling the equipment to alarm when receiving the intrusion information sent by the processing module 40. Further, when receiving a light supplement demand sent by the camera module 30 based on the processing module 40, the control module 50 controls the lighting device to supplement light to the monitored area.

The transmission module 60 may be an on-board TBOX module for wirelessly communicating the vehicle. The transmission module 60 can transmit the intrusion information and the vehicle alarm information received by the control module 50 to a cloud server, a cloud end and a smart device (e.g., a mobile phone, a bracelet, a notebook, etc.) of the driver.

The cloud server 70 is used for connecting with the transmission module 60 and the intelligent device end of the driver. The cloud server 70 receives the intrusion information and the alarm information sent by the transmission module 60, stores and processes the intrusion information and the alarm information, and sends the intrusion information and the alarm information to the intelligent device side.

The control device can also comprise an intelligent device end which is used for communicating with the cloud server. The intelligent device side receives the intrusion information and the alarm information sent by the cloud server 70, and reminds the user in a video mode, an audio mode and the like.

The storage module stores therein a computer program which, when executed by the control module 50 and the processing module 40, enables the monitoring device to perform the corresponding steps of the security monitoring method described below.

Referring to fig. 2, an embodiment of the present application provides a safety monitoring method based on a vehicle-mounted radar, including the following steps:

s110, setting a monitoring area and a non-monitoring area of the radar module 20 based on the man-machine interaction module 10;

and S120, when the processing module 40 judges that the target invades the monitored area based on the monitoring information sent by the radar module 20, controlling the camera module 30 to shoot and upload the monitored area.

In step S110, a monitoring area and a non-monitoring area of the radar module 20 are set based on the human-machine interaction module 10. First, the vehicle is parked around the monitored area. Compared with the safety monitoring system which is not movable after being installed, the monitoring system based on the vehicle sensor can move along with the vehicle, and a proper position is selected according to the position and the range of the monitored area, so that the vehicle can be parked around the monitored area. Next, a monitoring area is set. Because the monitoring range of the millimeter wave radar is large, the universe is monitored, and more alarms are generated. A user can set a monitoring area to be protected, such as the position around a camp site during camping, through the human-computer interaction module 10; areas which do not need to be monitored, such as the activity areas of the center of the camp, can also be set through the human-computer interaction module 10, so that normal activities in the camp do not cause false triggering. After receiving the monitoring area information transmitted by the human-computer interaction module 10, the radar module 20 maintains the power-on working state of the millimeter wave radar and processing module 40, continuously detects the surrounding environment, and sends target information and point cloud information in the monitoring area to the processing module 40. Because the surrounding environment is static relative to the automobile, the environmental characteristics around the automobile can be obtained through long-time accumulation of the point cloud.

In step S120, when the processing module 40 determines that the monitored area has the target intrusion based on the monitoring information sent by the radar module 20, the camera module 30 is controlled to shoot and upload the monitored area. And judging whether the monitored area has the target intrusion, wherein the judgment based on the target information and the judgment based on the point cloud accumulation are included. Specifically, the judgment based on the target information is: the processing module 40 determines that the target approaches the monitored area from the non-monitored area based on the target information of the non-monitored area detected and transmitted by the radar module 20. The judgment based on point cloud accumulation is: the processing module 40 judges the intrusion of the low-speed target in the monitoring area based on the change of the point cloud image generated by the cloud point information of the monitoring area detected and sent by the radar module 20.

The judgment based on the monitoring information is that: the moving target information reported by the radar module 20 includes a target position, a size, a speed, a target type, a course angle, and the like, and is determined according to the target information. And calculating the motion track of the target according to the position, the speed, the course angle and the historical motion state of the target, and performing alarm operation when the target is about to enter a monitoring area.

The judgment based on point cloud accumulation is as follows: the extremely low speed target is difficult to detect from the target information of the radar module 20, and can be supplemented based on the judgment of point cloud accumulation. Specifically, since the radar module 20 is in a static state relative to the surrounding environment, the received point cloud of the surrounding environment is substantially unchanged, and an accurate point cloud map of the surrounding environment of the automobile is obtained and continuously updated by means of point cloud accumulation. If the target is not invaded, the accumulated point cloud picture only has extremely small change; when an intrusion target exists, the point cloud graph sends large changes. Setting the frame number needed by point cloud accumulation as N, and the main steps are as follows:

STEP1: when the monitoring function is started, continuously receiving the number of point cloud frames sent by the radar module 20, when the number of frames reaches N, marking FLAG =1, and entering STEP1;

STEP2: continuously receiving the number of the point cloud frames sent by the radar module 20, and accumulating by using the current frame and the previous point cloud of N-1 to obtain an accumulated point cloud picture P1.

STEP3: clustering the point clouds in the graph P1 by using a clustering algorithm to obtain a point cloud clustering graph P2, wherein the positions and the shapes of a plurality of targets obtained by clustering in the graph P2

STEP4: if FLAG =1, the graph P2 is the first clustering point cloud graph after the function is turned on, P2 is assigned to the reference graph P0, and the FLAG amplitude is set to 0; if FLAG is not equal to 1, enter STEP5

STEP5, comparing the P2 with the P0, comparing whether the position and the shape of the target in the P2 are changed or not and whether a newly increased clustering target and a newly decreased clustering target exist or not by taking the P0 as a reference, and entering the STEP2 if the P2 is not changed relative to the P0; if the P2 changes relative to the P0, updating the reference map P0 by using the latest clustering point cloud map, assigning the P2 to the P0 and entering the STEP6;

STEP6: and (5) performing alarm operation.

When the processing module 40 performs the alarm operation, it requests the camera module 30 to take a picture of the situation in the monitored area. And outputting the shot target information to a cloud server. If the light is insufficient, the processing module 40 requests the control module 50 to turn on the light around the vehicle body at the same time, and shooting is performed to supplement the light.

When the processing module 40 determines that the monitored area has the target intrusion, the following steps are also executed,

s130, when the processing module 40 determines that a target invades, the control module 50 receives the invasion information sent by the processing module 40 and controls the alarm module 80 to respond, and sends the invasion information to the cloud server 70 based on the transmission module 60. When the processing module 40 performs an alarm operation, it requests an audible and visual alarm to the control module 50 of the automobile, and the control module 50 controls the alarm module 80 to respond, for example, the light of the automobile flashes and performs an audible alarm to remind the intrusion object. The cloud server 70 sends the target information and the alarm information to the intelligent device side, and the intelligent device side receives the target information and the alarm information sent by the cloud server 70, displays the target information and the alarm information on the intelligent device side, and reminds a user.

The embodiment of the present application further provides a safety monitoring device based on a vehicle-mounted radar, where the safety monitoring device includes at least one software function module stored in a storage module in the form of software or Firmware or solidified in an Operating System (OS) in a monitoring device. The processing module 40 and the control module 50 are used for executing executable modules stored in the storage module, such as software function modules and computer program modules included in the processing module.

The safety monitoring device includes a presetting unit 90 and a monitoring unit 100. The presetting unit 90 is coupled to the human-computer interaction module 10, and the monitoring unit 100 is coupled to the processing module 40. The functions that each component has may be as follows:

a presetting unit 90 for setting a monitoring area and a non-monitoring area of the radar module 20 based on the human-computer interaction module 10;

and the monitoring unit 100 is configured to control the camera module 30 to shoot and upload the monitored area when the processing module 40 determines that the monitored area has the target invasion based on the monitoring information sent by the radar module 20.

In this embodiment, the storage module may be, but is not limited to, a random access memory, a read only memory, a programmable read only memory, an erasable programmable read only memory, an electrically erasable programmable read only memory, and the like. In this embodiment, the storage module may be used to store the operation algorithm, the judgment result, and the like in the processing module. Of course, the storage module may also be used to store a program, and the processing module executes the program after receiving the execution instruction.

It is to be understood that the monitoring device configuration shown in fig. 1 is only a schematic configuration, and the monitoring device may also include more components than those shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.

It should be noted that, as will be clearly understood by those skilled in the art, for convenience and brevity of description, the preset process, the monitoring process and the alarm process of the safety monitoring device described above may refer to the corresponding processes of the steps in the foregoing method, and will not be described in detail herein.

The embodiment of the application also provides a vehicle. The vehicle comprises a vehicle body and the safety monitoring device, wherein the safety monitoring device is arranged on the vehicle body.

From the above description of the embodiments, it is clear to those skilled in the art that the present application can be implemented by hardware, or by software plus a necessary general hardware platform, and based on such understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.), and includes several instructions to enable a computer device (which can be a personal computer, a monitoring device, or a network device, etc.) to execute the method described in the embodiments of the present application.

In summary, as shown in fig. 1 and fig. 2, embodiments of the present application provide a safety monitoring method, device, and apparatus based on a vehicle-mounted radar, and a vehicle. In the method, a mode of carrying out safety monitoring on the surrounding environment is provided by utilizing the sensor and the computing power of the automobile, and no additional cost is increased. By utilizing the capability of the vehicle-mounted radar, the area within a 360-degree range of dozens of meters (generally more than 50 m) can be monitored, the problem that the effect of the camera is reduced in a low-light environment is solved, and the vehicle-mounted radar can be used in all weather. Further, the present invention extends the capabilities of smart cars to areas outside the vehicle, and can be applied to: 1. when camping in the open air, the safety monitoring and protection of the camping area can prevent invasion; 2. the vehicle is driven to the periphery of the protected target to prevent the intrusion and the theft and robbery of the protected target, such as the security of a house entrance, the theft and robbery prevention monitoring of important goods and materials around the vehicle and the like. The intelligent automobile payment value-added function can be achieved.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus, system, and method may be implemented in other ways. The apparatus, system, and method embodiments described above are illustrative only, as the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.

The safety monitoring method, device, equipment and vehicle based on the vehicle-mounted radar provided by the invention are described in detail above. The description of the specific embodiments is only intended to facilitate an understanding of the method of the invention and its core ideas. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims (9)

1. A safety monitoring method based on vehicle-mounted radar is applied to monitoring equipment, the monitoring equipment comprises a human-computer interaction module (10), a radar module (20), a camera module (30) and a processing module (40), the human-computer interaction module (10) is electrically connected with the radar module (20), the radar module (20) and the camera module (30) are respectively in communication connection with the processing module (40), and the method comprises the following steps:

s110, setting a monitoring area and a non-monitoring area of the radar module (20) based on the human-computer interaction module (10);

and S120, when the processing module (40) judges that the target invades the monitored area based on the monitoring information sent by the radar module (20), controlling the camera module (30) to shoot and upload the monitored area.

2. The safety monitoring method according to claim 1, wherein the monitored area is judged to have target intrusion, the processing module (40) judges that the target approaches the monitored area from the non-monitored area based on target information of the non-monitored area detected and transmitted by the radar module (20), and/or the processing module (40) judges that the target intrudes at a low speed in the monitored area based on amplitude of occurrence of a cloud map generated by cloud point information of the monitored area detected and transmitted by the radar module (20).

3. The security monitoring method according to claim 1 or 2, wherein the monitoring device further comprises a control module (50), a transmission module (60) and a cloud server (70), the control module (50) being electrically connected with the processing module (40) and the transmission module (60), respectively, the transmission module (60) being electrically connected with the cloud server (70), the method further comprising,

s130, when the processing module (40) judges that a target invades, the control module (50) receives the response of the invasion information control alarm module (80) sent by the processing module (40), and sends the invasion information to the cloud server (70) based on the transmission module (60).

4. The security monitoring method according to claim 3, characterized in that a photosensitive unit is embedded in the camera module (30), and when the photosensitive unit detects insufficient brightness of the monitored area during shooting by the camera module (30), the control module (50) is requested to supplement light to the monitored area based on a processing module (40).

5. The security monitoring method according to claim 2, wherein when the intrusion of the low-speed target in the monitored area is determined, the latest cloud-like point map is used as a reference map for determining the intrusion of the low-speed target in the monitored area.

6. A safety monitoring device based on a vehicle-mounted radar, which is applied to the monitoring apparatus according to claim 1, the device comprising:

a presetting unit (90) for setting a monitoring area and a non-monitoring area of the radar module (20) based on the human-computer interaction module (10);

and the monitoring unit (100) is used for controlling the camera module (30) to shoot and upload the monitored area when the processing module (40) judges that the monitored area has target invasion based on the monitoring information sent by the radar module (20).

7. Safety monitoring device according to claim 6, characterized in that said presetting unit (90) is coupled to said human-machine interaction module (10) and said monitoring unit (100) is coupled to said processing module (40).

8. A monitoring device according to claim 1, characterized in that the monitoring device further comprises a storage module having stored therein a computer program which, when executed by the monitoring device, enables the monitoring device to carry out the method according to any one of claims 1-5.

9. A vehicle characterized by comprising the safety monitoring device according to claim 6 and a vehicle body on which the safety monitoring device is mounted.

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