WO2018036086A1 - Vehicle monitoring method and apparatus - Google Patents

Vehicle monitoring method and apparatus Download PDF

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Publication number
WO2018036086A1
WO2018036086A1 PCT/CN2017/070484 CN2017070484W WO2018036086A1 WO 2018036086 A1 WO2018036086 A1 WO 2018036086A1 CN 2017070484 W CN2017070484 W CN 2017070484W WO 2018036086 A1 WO2018036086 A1 WO 2018036086A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
driving state
dangerous driving
lane
obstacle object
Prior art date
Application number
PCT/CN2017/070484
Other languages
French (fr)
Chinese (zh)
Inventor
刘均
宋朝忠
欧阳张鹏
Original Assignee
深圳市元征科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市元征科技股份有限公司 filed Critical 深圳市元征科技股份有限公司
Publication of WO2018036086A1 publication Critical patent/WO2018036086A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Definitions

  • the present invention relates to the field of automotive technology, and in particular, to a vehicle monitoring method and apparatus.
  • the main object of the present invention is to provide a vehicle monitoring method and apparatus, which aims to solve the technical problem that the safety of driving a vehicle in the prior art is not high.
  • a vehicle monitoring method provided by the present invention includes:
  • the camera Calling the camera to capture a road condition image of the vehicle from multiple angles, the road condition image including a lane image of the current location of the vehicle and a surrounding environment image;
  • the method further includes:
  • an infrared ranging sensor to detect a distance between the vehicle and an obstacle object on the road
  • the vehicle is determined whether the vehicle is in a dangerous driving state, wherein when the distance between the vehicle and the obstacle object is less than the preset distance threshold, it is determined that the vehicle is in a dangerous driving state.
  • the step of comparing the distance between the vehicle and the obstacle object with a preset distance threshold comprises:
  • the distance between the vehicle and the obstacle object is compared with a preset distance threshold corresponding to the obstacle object, wherein different types of obstacle objects correspond to different preset distance thresholds.
  • the step of determining that the vehicle is in a dangerous driving state when the distance between the vehicle and the obstacle object is less than the preset distance threshold includes:
  • the step of determining whether the vehicle is in a dangerous driving state according to the captured road condition image comprises:
  • the step of determining whether the vehicle replaces a lane according to the lane image comprises:
  • the step of issuing an alarm prompt message when the vehicle is in a dangerous driving state comprises:
  • a corresponding voice prompt message is sent to alert the user.
  • the present invention further provides a vehicle monitoring device, the vehicle monitoring device comprising:
  • An acquisition module configured to invoke a camera to capture a road condition image of the vehicle from multiple angles, where the road condition image includes a lane image of the current location of the vehicle and a surrounding environment image;
  • a determining module configured to determine, according to the captured road condition image, whether the vehicle is in a dangerous driving state
  • the alarm module is configured to issue an alarm prompt message when the vehicle is in a dangerous driving state.
  • the vehicle monitoring device further includes:
  • a detecting module configured to detect, by using an infrared ranging sensor, a distance between the vehicle and an obstacle object on the road;
  • a comparison module configured to compare a distance between the vehicle and the obstacle object with a preset distance threshold
  • the determining module is further configured to determine, according to a comparison result that the distance between the vehicle and the obstacle object is compared with a preset distance threshold, whether the vehicle is in a dangerous driving state, where the vehicle and the obstacle object When the distance between the distances is less than the preset distance threshold, it is determined that the vehicle is in a dangerous driving state.
  • the comparison module is configured to compare a distance between the vehicle and the obstacle object with a preset distance threshold corresponding to the obstacle object, wherein different types of obstacle objects correspond to different preset distance thresholds.
  • the determining module is configured to determine that the vehicle is in a dangerous driving state when a distance between the vehicle and the obstacle object is less than a preset distance threshold corresponding to the obstacle object.
  • the determining module comprises:
  • a first determining unit configured to determine, according to the lane image, whether the vehicle replaces a lane
  • a second determining unit configured to determine, according to an open/close state of the turn signal, whether the vehicle is in a dangerous driving state when the vehicle changes lanes, wherein when the vehicle replaces the lane and the turn signal is turned off, determining The vehicle is in a dangerous driving state.
  • the first determining unit is configured to:
  • the alarm module is used to:
  • a corresponding voice prompt message is sent to alert the user.
  • the vehicle monitoring method and device when the vehicle is running, captures a road condition image of the vehicle by calling a camera, and then determines whether the vehicle is in a dangerous driving state according to the captured road condition image, and sends out when the vehicle is in a dangerous driving state.
  • the alarm prompt message realizes the automatic alarm, prompting the user to take measures to avoid the current driving risk, thereby improving the safety of the vehicle driving.
  • FIG. 1 is a schematic flow chart of a first embodiment of a vehicle monitoring method according to the present invention
  • FIG. 2 is a schematic diagram of a refinement process for determining whether the vehicle is in a dangerous driving state according to the captured road condition image in the first embodiment of the vehicle monitoring method of the present invention
  • FIG. 3 is a schematic flow chart of a second embodiment of a vehicle monitoring method according to the present invention.
  • FIG. 4 is a schematic diagram of functional modules of a first embodiment of a vehicle monitoring device according to the present invention.
  • FIG. 5 is a schematic diagram of a refinement function module of a judging module in a first embodiment of the vehicle monitoring device of the present invention
  • FIG. 6 is a schematic diagram of functional modules of a second embodiment of a vehicle monitoring device of the present invention.
  • the invention provides a vehicle monitoring method.
  • the vehicle monitoring method includes:
  • Step S10 invoking a camera to capture a road condition image of the vehicle from multiple angles, the road condition image including a lane image of the current location of the vehicle and a surrounding environment image;
  • the vehicle is provided with a camera in advance, for example, if the vehicle is provided with a lane keeping assist system, the lane keeping assist system includes a camera.
  • the vehicle calls the camera to capture the road condition image of the vehicle in real time from a plurality of angles, wherein the road condition image includes a lane image of the lane in which the vehicle is currently located, a surrounding environment image of the current location of the vehicle, and the like. For example, by adjusting the shooting angle of the camera, an environmental image within a range of 100 m around the current position of the vehicle is taken.
  • Step S20 determining, according to the captured road condition image, whether the vehicle is in a dangerous driving state
  • the user does not need to view the road condition image by himself, so that it is determined whether the vehicle is currently safe according to the road condition image, but the vehicle automatically determines the vehicle according to the captured road condition image. Is it dangerous to drive? For example, it is determined whether the vehicle is in a dangerous driving state by detecting whether there is a fault object in the road condition image, such as a pedestrian, another vehicle or an object. When it is detected that there is a faulty object, it is judged that the vehicle is in a dangerous driving state.
  • a fault object in the road condition image such as a pedestrian, another vehicle or an object.
  • the step S20 includes:
  • Step S21 determining, according to the lane image, whether the vehicle replaces a lane
  • Step S22 determining, when the vehicle changes lanes, whether the vehicle is in a dangerous driving state according to an opening and closing state of the steering light, wherein when the vehicle changes lane and the turn signal is turned off, determining that the vehicle is Dangerous driving state.
  • the lane change situation of the vehicle may be considered. Specifically, the vehicle determines whether the vehicle replaces the lane based on the lane marking of the lane image in the captured road condition image, for example, detecting whether the vehicle crosses the marking line on both sides of the lane according to the road condition image. When the vehicle crosses the marking line on both sides of the lane, it is judged that the vehicle replaces the lane; otherwise, when the vehicle does not cross the marking line on both sides of the lane, it is judged that the vehicle has not replaced the lane.
  • the current opening and closing state of the turn signal is further detected, and it is detected whether the turn signal is turned on.
  • the turn signal is turned on, it means that the user intentionally changes the lane. Usually, the user pays attention to the road situation when changing lanes, and there is no safety problem. If the turn signal is off, it means that the user may not intentionally change the lane at this time, which is a certain risk. At this time, it is judged that the vehicle is in a dangerous driving state.
  • Step S30 when the vehicle is in a dangerous driving state, an alarm prompt message is issued.
  • the vehicle When it is judged that the vehicle is not in a dangerous driving state, that is, the vehicle is currently driving safely, at this time, the vehicle continues to call the camera to capture a road condition image of the vehicle during traveling, thereby detecting whether the vehicle is in a dangerous driving state in real time according to the road condition image.
  • the vehicle When it is judged that the vehicle is in a dangerous driving state, in order to prevent the danger from occurring, the vehicle issues an alarm prompt message. For example, turn on the speaker to sound a warning, or control to turn on the red indicator light, or issue a voice alarm. It can be understood by those skilled in the art that the alarm prompt information can also be sent by other means, which is not limited herein.
  • the user When the user receives the alarm prompt message, the user can immediately take corresponding measures to avoid the current driving risk.
  • the road condition image of the vehicle is captured by calling the camera, and then according to the captured road condition image, it is determined whether the vehicle is in a dangerous driving state, and when the vehicle is in a dangerous driving state, an alarm prompt message is issued.
  • the user is prompted to take measures to avoid the current driving risk, thereby improving the safety of the vehicle.
  • a second embodiment of the vehicle monitoring method of the present invention is proposed based on the first embodiment.
  • the method before the step S30, the method further includes the following steps:
  • Step S40 using an infrared ranging sensor to detect a distance between the vehicle and an obstacle object on the road;
  • Step S50 comparing a distance between the vehicle and the obstacle object with a preset distance threshold
  • Step S60 determining, according to the comparison result, whether the vehicle is in a dangerous driving state, wherein when the distance between the vehicle and the obstacle object is less than the preset distance threshold, determining that the vehicle is in a dangerous driving state.
  • an infrared ranging sensor is also pre-installed on the vehicle, and the infrared ranging sensor can detect the distance between the vehicle and surrounding pedestrians, vehicles, objects, and the like. During the running of the vehicle, the infrared ranging sensor is used to detect the distance between the vehicle and other obstacles such as vehicles, pedestrians, and objects on the current road in real time.
  • a preset distance threshold is also preset, and the preset distance threshold is a relative safety distance between the vehicle and other objects when the vehicle is safely traveling.
  • the distance between the detected vehicle and the obstacle object is compared with a preset distance threshold, that is, the detected vehicle is compared.
  • the distance between the obstacle object and the preset distance threshold is then judged based on the comparison result to determine whether the vehicle is in a dangerous driving state.
  • determining that the vehicle is in a dangerous driving state that is, when there is a distance between the obstacle object and the vehicle is less than the safety distance
  • determining that the vehicle is in dangerous driving status when the distance between the vehicle and the obstacle object is greater than or equal to the preset distance threshold, that is, when the distance between the obstacle object and the vehicle is less than the safety distance, it is determined that the vehicle is in a safe driving state.
  • the vehicle issues an alarm prompt message.
  • the user receives the alarm prompt information, he can immediately take corresponding measures, for example, driving the vehicle away from the obstacle object that is too close to avoid the current driving risk.
  • step S50 includes:
  • the distance between the vehicle and the obstacle object is compared with a preset distance threshold corresponding to the obstacle object, wherein different types of obstacle objects correspond to different preset distance thresholds.
  • the step S60 includes:
  • a plurality of preset distance thresholds are preset, different types.
  • the obstacle objects correspond to different preset distance thresholds.
  • the distance between the vehicle and the obstacle object is compared with a preset distance threshold corresponding to the obstacle object, between the vehicle and the obstacle object.
  • a preset distance threshold corresponding to the obstacle object it is determined that the vehicle is in a dangerous driving state. Otherwise, when the distance between the vehicle and the obstacle object is greater than or equal to the preset distance threshold corresponding to the obstacle object, that is, when the distance between the obstacle object and the vehicle is less than the safety distance, it is determined that the vehicle is in a safe driving state.
  • step S30 includes:
  • a corresponding voice prompt message is sent to alert the user.
  • corresponding different voice prompt information is preset in advance for different dangerous situations. For example, if the vehicle is too close to the pedestrian, it corresponds to a voice prompt message such as “there is a pedestrian in front, please slow down”; for the vehicle to change lanes, the turn signal is not turned on, corresponding to “replace the lane, please turn on the turn signal” Voice prompts and more.
  • the vehicle issues a corresponding voice prompt message according to the current dangerous situation, thereby alerting the user.
  • the user can accurately know the current dangerous situation, thereby quickly and effectively taking corresponding measures to avoid the current driving risk. For example, if a voice prompt message of "replace lane, turn on the turn signal" is received, the turn signal is immediately turned on to inform other vehicles to turn, thereby avoiding collisions and the like, thereby further improving safety.
  • the distance between the vehicle and the obstacle object on the road is detected by using an infrared ranging sensor, and then the distance between the vehicle and the obstacle object is compared with a preset distance threshold.
  • a preset distance threshold When the distance between the vehicle and the obstacle object is less than the preset distance threshold, it is determined that the vehicle is in a dangerous driving state.
  • an alarm prompt message is issued, and since the infrared distance measuring sensor can accurately detect the distance between the vehicle and the obstacle object, Therefore, the accuracy of the alarm message is ensured, thereby further improving the safety of the vehicle.
  • the invention further provides a vehicle monitoring device.
  • FIG. 4 is a schematic diagram of functional modules of a first embodiment of a vehicle monitoring device according to the present invention.
  • the functional block diagram shown in FIG. 4 is merely an exemplary embodiment of a preferred embodiment, and those skilled in the art can surround the functional modules of the vehicle monitoring device shown in FIG.
  • the function module is added to the function module.
  • the name of each function module is a custom name. It is only used to help understand the various program function blocks of the vehicle monitoring device. It is not used to limit the technical solution of the present invention.
  • the core of the technical solution of the present invention is , the function to be achieved by the function module of each name.
  • the vehicle monitoring device includes:
  • the acquisition module 10 is configured to invoke a camera to capture a road condition image of the vehicle from multiple angles, where the road condition image includes a lane image of the current location of the vehicle and a surrounding environment image;
  • the vehicle is provided with a camera in advance, for example, if the vehicle is provided with a lane keeping assist system, the lane keeping assist system includes a camera.
  • the acquisition module 10 calls the camera to capture the road condition image of the vehicle in real time from a plurality of angles, wherein the road condition image includes a lane image of the current lane of the vehicle, a surrounding environment image of the current location of the vehicle, and the like.
  • the acquisition module 10 captures an environmental image within a range of 100 m around the current position of the vehicle by adjusting the shooting angle of the camera.
  • the determining module 20 is configured to determine, according to the captured road condition image, whether the vehicle is in a dangerous driving state
  • the acquisition module 10 calls the camera to capture the road condition image of the vehicle
  • the user does not need to view the road condition image by himself, so that it is determined according to the road condition image whether the vehicle is currently driving safely, but the determination module 20 is based on the captured road condition.
  • the image automatically determines if the vehicle is in a dangerous driving state.
  • the judging module 20 determines whether the vehicle is in a dangerous driving state by detecting whether there is a fault object, such as a pedestrian, another vehicle or an object, in the road condition image. When it is detected that there is a faulty object, it is judged that the vehicle is in a dangerous driving state.
  • the determining module 20 includes:
  • a first determining unit 21 configured to determine, according to the lane image, whether the vehicle replaces a lane
  • a second determining unit 22 configured to determine, according to an open/close state of the turn signal, whether the vehicle is in a dangerous driving state when the vehicle changes lanes, wherein when the vehicle replaces the lane and the turn signal is turned off, It is determined that the vehicle is in a dangerous driving state.
  • the lane change situation of the vehicle may be considered. Specifically, the first determining unit 21 determines whether the vehicle replaces the lane based on the lane marking of the lane image in the captured road condition image, for example, detecting whether the vehicle crosses the marking line on both sides of the lane according to the road condition image. When the vehicle crosses the marking line on both sides of the lane, it is judged that the vehicle replaces the lane; otherwise, when the vehicle does not cross the marking line on both sides of the lane, it is judged that the vehicle has not replaced the lane.
  • the second determining unit 22 When the first determining unit 21 determines that the vehicle replaces the lane, the second determining unit 22 further detects the opening and closing state of the current turning light, and detects whether the turning light is turned on.
  • the turn signal When the turn signal is turned on, it means that the user intentionally changes the lane. Usually, the user pays attention to the road situation when changing lanes, and there is no safety problem. If the turn signal is off, it means that the user may not intentionally change the lane at this time, which is a certain risk. At this time, the second judging unit 22 judges that the vehicle is in a dangerous running state.
  • the alarm module 30 is configured to issue an alarm prompt message when the vehicle is in a dangerous driving state.
  • the collecting module 10 continues to call the camera to capture the road condition image of the vehicle during driving, and the determining module 20 detects in real time whether the vehicle is in a dangerous driving state according to the road condition image. .
  • the alarm module 30 When it is judged that the vehicle is in a dangerous driving state, in order to prevent the occurrence of danger, the alarm module 30 issues an alarm prompt message. For example, turn on the speaker to sound a warning, or control to turn on the red indicator light, or issue a voice alarm. It can be understood by those skilled in the art that the alarm module 30 can also issue alarm prompt information by other means, which is not limited herein.
  • the user receives the alarm prompt message, the user can immediately take corresponding measures to avoid the current driving risk.
  • the collecting module 10 captures the road condition image of the vehicle by calling the camera, and then the determining module 20 determines whether the vehicle is in a dangerous driving state according to the captured road condition image, when the vehicle is in a dangerous driving state.
  • the alarm module 30 issues an alarm prompt message, thereby realizing an automatic alarm, prompting the user to take measures to avoid the current driving risk, thereby improving the safety of the vehicle.
  • the vehicle monitoring device further includes:
  • a detecting module 40 configured to detect, by using an infrared ranging sensor, a distance between the vehicle and an obstacle object on the road;
  • a comparison module 50 configured to compare a distance between the vehicle and the obstacle object with a preset distance threshold
  • the determining module 20 is further configured to determine, according to a comparison result that the distance between the vehicle and the obstacle object is compared with a preset distance threshold, whether the vehicle is in a dangerous driving state, where the vehicle and the obstacle object When the distance between the distances is less than the preset distance threshold, it is determined that the vehicle is in a dangerous driving state.
  • an infrared ranging sensor is also pre-installed on the vehicle, and the infrared ranging sensor can detect the distance between the vehicle and surrounding pedestrians, vehicles, objects, and the like.
  • the detecting module 40 uses the infrared ranging sensor to detect the distance between the vehicle and other obstacle objects such as vehicles, pedestrians, and objects on the current road in real time.
  • a preset distance threshold is also preset, and the preset distance threshold is a relative safety distance between the vehicle and other objects when the vehicle is safely traveling.
  • the detecting module 40 detects the distance between the vehicle and the obstacle object on the current road by using the infrared ranging sensor
  • the comparing module 50 compares the detected distance between the vehicle and the obstacle object with a preset distance threshold, That is, the distance between the detected vehicle and the obstacle object and the preset distance threshold are compared, and then the determination module 20 determines whether the vehicle is in a dangerous driving state according to the comparison result.
  • the determining module 20 determines that the vehicle is in a dangerous driving state, that is, when the distance between the certain obstacle object and the vehicle is less than the safety distance, determining the vehicle In dangerous driving conditions. Otherwise, when the distance between the vehicle and the obstacle object is greater than or equal to the preset distance threshold, that is, when the distance between the obstacle object and the vehicle is less than the safety distance, the determination module 20 determines that the vehicle is in a safe driving state.
  • the alarm module 30 issues an alarm prompt message.
  • the user receives the alarm prompt information, he can immediately take corresponding measures, for example, driving the vehicle away from the obstacle object that is too close to avoid the current driving risk.
  • the comparison module 50 is configured to:
  • the distance between the vehicle and the obstacle object is compared with a preset distance threshold corresponding to the obstacle object, wherein different types of obstacle objects correspond to different preset distance thresholds.
  • the determining module 20 is configured to:
  • a plurality of preset distance thresholds are preset, different types.
  • the obstacle objects correspond to different preset distance thresholds.
  • the comparing module 50 compares the distance between the vehicle and the obstacle object with a preset distance threshold corresponding to the obstacle object, when When the distance between the vehicle and the obstacle object is less than the preset distance threshold corresponding to the obstacle object, the determining module 20 determines that the vehicle is in a dangerous driving state. Otherwise, when the distance between the vehicle and the obstacle object is greater than or equal to the preset distance threshold corresponding to the obstacle object, that is, when the distance between the obstacle object and the vehicle is less than the safety distance, the determining module 20 determines that the vehicle is in a safe driving state. .
  • the alarm module 30 is configured to:
  • a corresponding voice prompt message is sent to alert the user.
  • corresponding different voice prompt information is preset in advance for different dangerous situations. For example, if the vehicle is too close to the pedestrian, it corresponds to a voice prompt message such as “there is a pedestrian in front, please slow down”; for the vehicle to change lanes, the turn signal is not turned on, corresponding to “replace the lane, please turn on the turn signal” Voice prompts and more.
  • the alarm module 30 issues corresponding voice prompt information according to the current dangerous situation, thereby alerting the user.
  • the user can accurately know the current dangerous situation, thereby quickly and effectively taking corresponding measures to avoid the current driving risk. For example, if a voice prompt message of "replace lane, turn on the turn signal" is received, the turn signal is immediately turned on to inform other vehicles to turn, thereby avoiding collisions and the like, thereby further improving safety.
  • the detecting module 40 detects the distance between the vehicle and the obstacle object on the road by using the infrared ranging sensor, and then compares the distance between the vehicle and the obstacle object by the comparison module 50.
  • the distance threshold is compared.
  • the determining module 20 determines that the vehicle is in a dangerous driving state.
  • the alarm module 30 issues an alarm prompt message, because the infrared ranging sensor can be accurate. The distance between the vehicle and the obstacle object is detected, thus ensuring the accuracy of the alarm message, thereby further improving the safety of the vehicle.
  • the foregoing embodiment method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be through hardware, but in many cases, the former is better.
  • Implementation Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, may be embodied in the form of a software product stored in a storage medium (such as ROM/RAM, disk,
  • the optical disc includes a number of instructions for causing a terminal device (which may be a cell phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the methods described in various embodiments of the present invention.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

A vehicle monitoring method and apparatus, the method comprising the following steps: calling cameras to capture road condition images for a vehicle from a plurality of angles, the road condition images including lane images of a current position of the vehicle and images of the surroundings (S10); according to the captured road condition images, determining whether the vehicle is in a dangerous driving state (S20); when the the vehicle is in a dangerous driving state, sending an alarm prompt message (S30). The method and the apparatus may improve vehicle driving safety.

Description

车辆监测方法及装置  Vehicle monitoring method and device
技术领域Technical field
本发明涉及汽车技术领域，尤其涉及一种车辆监测方法及装置。The present invention relates to the field of automotive technology, and in particular, to a vehicle monitoring method and apparatus.
背景技术Background technique
车辆在行驶的过程中，为了保证安全行驶，驾驶车辆的用户需要时刻关注道路情况，以避免危险的发生。但用户的精力有限，不可能时时刻刻都全神贯注于道路情况，这样就存在车辆行驶的安全风险。并且，在一些情况下，例如在夜间，或室外环境的可见度较低时，用户就无法清晰地看清道路情况，这种情况下也存在车辆行驶的安全风险。也即在车辆行驶的过程中，车辆行驶的安全性不高。In the process of driving the vehicle, in order to ensure safe driving, the user driving the vehicle needs to pay attention to the road situation at all times to avoid the danger. However, the user's energy is limited, and it is impossible to concentrate on the road situation all the time, so there is a safety risk of the vehicle running. Moreover, in some cases, such as at night, or when the visibility of the outdoor environment is low, the user cannot clearly see the road condition, and in this case, there is also a safety risk of the vehicle traveling. That is to say, during the running of the vehicle, the safety of the vehicle is not high.
发明内容Summary of the invention
本发明的主要目的在于提出一种车辆监测方法及装置，旨在解决现有技术中车辆行驶的安全性不高的技术问题。The main object of the present invention is to provide a vehicle monitoring method and apparatus, which aims to solve the technical problem that the safety of driving a vehicle in the prior art is not high.
为实现上述目的，本发明提供的一种车辆监测方法，所述车辆监测方法包括：To achieve the above object, a vehicle monitoring method provided by the present invention includes:
调用摄像头从多角度拍摄车辆的路况图像，所述路况图像包括所述车辆当前所在位置的车道图像以及四周环境图像；Calling the camera to capture a road condition image of the vehicle from multiple angles, the road condition image including a lane image of the current location of the vehicle and a surrounding environment image;
根据拍摄的所述路况图像，判断所述车辆是否处于危险行驶状态；Determining whether the vehicle is in a dangerous driving state according to the captured road condition image;
当所述车辆处于危险行驶状态时，发出报警提示信息。When the vehicle is in a dangerous driving state, an alarm prompt message is issued.
优选地，所述当车辆处于危险行驶状态时，发出报警提示信息的步骤之前，还包括：Preferably, before the step of issuing an alarm prompt message when the vehicle is in a dangerous driving state, the method further includes:
采用红外测距传感器检测所述车辆与道路上的障碍对象之间的距离；Using an infrared ranging sensor to detect a distance between the vehicle and an obstacle object on the road;
将所述车辆与障碍对象之间的距离与预设距离阈值进行比较；Comparing the distance between the vehicle and the obstacle object with a preset distance threshold;
根据比较结果，判断所述车辆是否处于危险行驶状态，其中，在所述车辆与障碍对象之间的距离小于所述预设距离阈值时，判定所述车辆处于危险行驶状态。According to the comparison result, it is determined whether the vehicle is in a dangerous driving state, wherein when the distance between the vehicle and the obstacle object is less than the preset distance threshold, it is determined that the vehicle is in a dangerous driving state.
优选地，所述将车辆与障碍对象之间的距离与预设距离阈值进行比较的步骤包括：Preferably, the step of comparing the distance between the vehicle and the obstacle object with a preset distance threshold comprises:
将所述车辆与障碍对象之间的距离与所述障碍对象对应的预设距离阈值进行比较，其中，不同类型的障碍对象对应不同的预设距离阈值。The distance between the vehicle and the obstacle object is compared with a preset distance threshold corresponding to the obstacle object, wherein different types of obstacle objects correspond to different preset distance thresholds.
所述在车辆与障碍对象之间的距离小于所述预设距离阈值时，判定所述车辆处于危险行驶状态的步骤包括：The step of determining that the vehicle is in a dangerous driving state when the distance between the vehicle and the obstacle object is less than the preset distance threshold includes:
在所述车辆与障碍对象之间的距离小于所述障碍对象对应的预设距离阈值时，判定所述车辆处于危险行驶状态。When the distance between the vehicle and the obstacle object is less than a preset distance threshold corresponding to the obstacle object, it is determined that the vehicle is in a dangerous driving state.
优选地，所述根据拍摄的所述路况图像，判断所述车辆是否处于危险行驶状态的步骤包括：Preferably, the step of determining whether the vehicle is in a dangerous driving state according to the captured road condition image comprises:
根据所述车道图像，判断所述车辆是否更换车道；Determining, according to the lane image, whether the vehicle replaces a lane;
在所述车辆更换车道时，根据转向灯的开闭状态判断所述车辆是否处于危险行驶状态，其中，在所述车辆更换车道，且所述转向灯关闭时，判定所述车辆处于危险行驶状态。When the vehicle changes lanes, it is determined whether the vehicle is in a dangerous driving state according to an open/close state of the turn signal, wherein when the vehicle replaces the lane and the turn signal is turned off, it is determined that the vehicle is in a dangerous driving state. .
优选地，所述根据所述车道图像，判断所述车辆是否更换车道的步骤包括：Preferably, the step of determining whether the vehicle replaces a lane according to the lane image comprises:
根据所述车道图像，检测所述车辆是否越过车道两侧的标记线；Detecting, according to the lane image, whether the vehicle crosses a marking line on both sides of the lane;
当所述车辆越过车道两侧的标记线时，判定所述车辆更换车道；Determining that the vehicle replaces the lane when the vehicle crosses the marking line on both sides of the lane;
当所述车辆未越过车道两侧的标记线时，判定所述车辆未更换车道。When the vehicle does not cross the marking line on both sides of the lane, it is determined that the vehicle has not replaced the lane.
优选地，所述当车辆处于危险行驶状态时，发出报警提示信息的步骤包括：Preferably, the step of issuing an alarm prompt message when the vehicle is in a dangerous driving state comprises:
当所述车辆处于危险行驶状态时，发出相应的语音提示信息，以向用户报警。When the vehicle is in a dangerous driving state, a corresponding voice prompt message is sent to alert the user.
此外，为实现上述目的，本发明还提出一种车辆监测装置，所述车辆监测装置包括：In addition, in order to achieve the above object, the present invention further provides a vehicle monitoring device, the vehicle monitoring device comprising:
采集模块，用于调用摄像头从多角度拍摄车辆的路况图像，所述路况图像包括所述车辆当前所在位置的车道图像以及四周环境图像；An acquisition module, configured to invoke a camera to capture a road condition image of the vehicle from multiple angles, where the road condition image includes a lane image of the current location of the vehicle and a surrounding environment image;
判断模块，用于根据拍摄的所述路况图像，判断所述车辆是否处于危险行驶状态；a determining module, configured to determine, according to the captured road condition image, whether the vehicle is in a dangerous driving state;
报警模块，用于当所述车辆处于危险行驶状态时，发出报警提示信息。The alarm module is configured to issue an alarm prompt message when the vehicle is in a dangerous driving state.
优选地，所述车辆监测装置还包括：Preferably, the vehicle monitoring device further includes:
检测模块，用于采用红外测距传感器检测所述车辆与道路上的障碍对象之间的距离；a detecting module, configured to detect, by using an infrared ranging sensor, a distance between the vehicle and an obstacle object on the road;
比较模块，用于将所述车辆与障碍对象之间的距离与预设距离阈值进行比较；a comparison module, configured to compare a distance between the vehicle and the obstacle object with a preset distance threshold;
所述判断模块，还用于根据所述车辆与障碍对象之间的距离与预设距离阈值进行比较的比较结果，判断所述车辆是否处于危险行驶状态，其中，在所述车辆与障碍对象之间的距离小于所述预设距离阈值时，判定所述车辆处于危险行驶状态。The determining module is further configured to determine, according to a comparison result that the distance between the vehicle and the obstacle object is compared with a preset distance threshold, whether the vehicle is in a dangerous driving state, where the vehicle and the obstacle object When the distance between the distances is less than the preset distance threshold, it is determined that the vehicle is in a dangerous driving state.
优选地，所述比较模块，用于将所述车辆与障碍对象之间的距离与所述障碍对象对应的预设距离阈值进行比较，其中，不同类型的障碍对象对应不同的预设距离阈值。Preferably, the comparison module is configured to compare a distance between the vehicle and the obstacle object with a preset distance threshold corresponding to the obstacle object, wherein different types of obstacle objects correspond to different preset distance thresholds.
所述判断模块，用于在所述车辆与障碍对象之间的距离小于所述障碍对象对应的预设距离阈值时，判断所述车辆处于危险行驶状态。The determining module is configured to determine that the vehicle is in a dangerous driving state when a distance between the vehicle and the obstacle object is less than a preset distance threshold corresponding to the obstacle object.
优选地，所述判断模块包括：Preferably, the determining module comprises:
第一判断单元，用于根据所述车道图像，判断所述车辆是否更换车道；a first determining unit, configured to determine, according to the lane image, whether the vehicle replaces a lane;
第二判断单元，用于在所述车辆更换车道时，根据转向灯的开闭状态判断所述车辆是否处于危险行驶状态，其中，在所述车辆更换车道，且所述转向灯关闭时，判定所述车辆处于危险行驶状态。a second determining unit, configured to determine, according to an open/close state of the turn signal, whether the vehicle is in a dangerous driving state when the vehicle changes lanes, wherein when the vehicle replaces the lane and the turn signal is turned off, determining The vehicle is in a dangerous driving state.
优选地，所述第一判断单元用于：Preferably, the first determining unit is configured to:
根据所述车道图像，检测所述车辆是否越过车道两侧的标记线；当所述车辆越过车道两侧的标记线时，判定所述车辆更换车道；当所述车辆未越过车道两侧的标记线时，判定所述车辆未更换车道。Determining, according to the lane image, whether the vehicle crosses a marking line on both sides of the lane; when the vehicle crosses a marking line on both sides of the lane, determining that the vehicle replaces the lane; when the vehicle does not cross the marking on both sides of the lane At the time of the line, it is determined that the vehicle has not replaced the lane.
优选地，所述报警模块用于：Preferably, the alarm module is used to:
当所述车辆处于危险行驶状态时，发出相应的语音提示信息，以向用户报警。When the vehicle is in a dangerous driving state, a corresponding voice prompt message is sent to alert the user.
本发明提出的车辆监测方法及装置，在车辆行驶过程中，通过调用摄像头拍摄车辆的路况图像，然后根据拍摄的路况图像，判断车辆是否处于危险行驶状态，当车辆处于危险行驶状态时，就发出报警提示信息，从而实现自动报警，提示用户采取措施避免当前的行驶风险，从而提高了车辆行驶的安全性。The vehicle monitoring method and device provided by the invention, when the vehicle is running, captures a road condition image of the vehicle by calling a camera, and then determines whether the vehicle is in a dangerous driving state according to the captured road condition image, and sends out when the vehicle is in a dangerous driving state. The alarm prompt message realizes the automatic alarm, prompting the user to take measures to avoid the current driving risk, thereby improving the safety of the vehicle driving.
附图说明DRAWINGS
图1为本发明车辆监测方法第一实施例的流程示意图；1 is a schematic flow chart of a first embodiment of a vehicle monitoring method according to the present invention;
图2为本发明车辆监测方法第一实施例中根据拍摄的所述路况图像，判断所述车辆是否处于危险行驶状态的细化流程示意图；2 is a schematic diagram of a refinement process for determining whether the vehicle is in a dangerous driving state according to the captured road condition image in the first embodiment of the vehicle monitoring method of the present invention;
图3为本发明车辆监测方法第二实施例的流程示意图；3 is a schematic flow chart of a second embodiment of a vehicle monitoring method according to the present invention;
图4为本发明车辆监测装置第一实施例的功能模块示意图；4 is a schematic diagram of functional modules of a first embodiment of a vehicle monitoring device according to the present invention;
图5为本发明车辆监测装置第一实施例中判断模块的细化功能模块示意图；5 is a schematic diagram of a refinement function module of a judging module in a first embodiment of the vehicle monitoring device of the present invention;
图6为本发明车辆监测装置第二实施例的功能模块示意图。6 is a schematic diagram of functional modules of a second embodiment of a vehicle monitoring device of the present invention.
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。The implementation, functional features, and advantages of the present invention will be further described in conjunction with the embodiments.
具体实施方式detailed description
应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
本发明提供一种车辆监测方法。The invention provides a vehicle monitoring method.
参照图1，图1为本发明车辆监测方法第一实施例的流程示意图。在本实施例中，所述车辆监测方法包括：1 is a schematic flow chart of a first embodiment of a vehicle monitoring method according to the present invention. In this embodiment, the vehicle monitoring method includes:
步骤S10，调用摄像头从多角度拍摄车辆的路况图像，所述路况图像包括所述车辆当前所在位置的车道图像以及四周环境图像；Step S10, invoking a camera to capture a road condition image of the vehicle from multiple angles, the road condition image including a lane image of the current location of the vehicle and a surrounding environment image;
车辆在行驶的过程中，用户需要时刻关注道路情况，以保证车辆安全行驶。但总会有些时候，例如在夜间行驶时，用户不能清晰查看到道路情况，此时就存在车辆行驶的风险。为了提高车辆行驶的安全性，在本实施例中，车辆预先设置有一摄像头，例如，若车辆设置有车道保持辅助***，该车道保持辅助***包括有摄像头。在车辆行驶时，车辆调用摄像头从多个角度实时拍摄车辆的路况图像，其中，该路况图像包括车辆当前所在车道的车道图像、车辆当前所在位置的四周环境图像等。例如，通过调节摄像头的拍摄角度，拍摄车辆当前位置的周围100m范围内的环境图像。During the driving process, the user needs to pay attention to the road conditions at all times to ensure the safe driving of the vehicle. However, there are always times when, for example, when driving at night, the user cannot clearly see the road condition, and there is a risk that the vehicle will travel. In order to improve the safety of driving of the vehicle, in the present embodiment, the vehicle is provided with a camera in advance, for example, if the vehicle is provided with a lane keeping assist system, the lane keeping assist system includes a camera. While the vehicle is running, the vehicle calls the camera to capture the road condition image of the vehicle in real time from a plurality of angles, wherein the road condition image includes a lane image of the lane in which the vehicle is currently located, a surrounding environment image of the current location of the vehicle, and the like. For example, by adjusting the shooting angle of the camera, an environmental image within a range of 100 m around the current position of the vehicle is taken.
步骤S20，根据拍摄的所述路况图像，判断所述车辆是否处于危险行驶状态；Step S20: determining, according to the captured road condition image, whether the vehicle is in a dangerous driving state;
本实施例中，在调用摄像头拍摄到车辆的路况图像之后，不需要用户自己去查看路况图像，从而自己根据路况图像判断车辆当前行驶是否安全，而是车辆根据拍摄到的路况图像，自动判断车辆是否处于危险行驶状态。比如，通过检测该路况图像中是否存在故障对象，比如行人、其他车辆或物体等，来判断车辆是否处于危险行驶状态。当检测存在故障对象时，则判断车辆处于危险行驶状态。In this embodiment, after the camera is called to capture the road condition image of the vehicle, the user does not need to view the road condition image by himself, so that it is determined whether the vehicle is currently safe according to the road condition image, but the vehicle automatically determines the vehicle according to the captured road condition image. Is it dangerous to drive? For example, it is determined whether the vehicle is in a dangerous driving state by detecting whether there is a fault object in the road condition image, such as a pedestrian, another vehicle or an object. When it is detected that there is a faulty object, it is judged that the vehicle is in a dangerous driving state.
进一步地，如图2所示，所述步骤S20包括：Further, as shown in FIG. 2, the step S20 includes:
步骤S21，根据所述车道图像，判断所述车辆是否更换车道；Step S21, determining, according to the lane image, whether the vehicle replaces a lane;
步骤S22，在所述车辆更换车道时，根据转向灯的开闭状态判断所述车辆是否处于危险行驶状态，其中，在所述车辆更换车道，且所述转向灯关闭时，判定所述车辆处于危险行驶状态。Step S22, determining, when the vehicle changes lanes, whether the vehicle is in a dangerous driving state according to an opening and closing state of the steering light, wherein when the vehicle changes lane and the turn signal is turned off, determining that the vehicle is Dangerous driving state.
在根据拍摄到的路况图像，判断车辆是否处于危险行驶状态时，除了上述所列举的检测是否存在故障对象以外，还可以考虑车辆的变道情况。具体地，车辆根据拍摄到的路况图像中车道图像的车道标记，比如，根据路况图像检测车辆是否越过车道两侧的标记线，来判断车辆是否更换车道。当车辆越过车道两侧的标记线时，判断车辆更换车道；否则，当车辆未越过车道两侧的标记线时，判断车辆未更换车道。When it is determined whether or not the vehicle is in a dangerous running state based on the photographed road condition image, in addition to the above-described detection of whether or not there is a faulty object, the lane change situation of the vehicle may be considered. Specifically, the vehicle determines whether the vehicle replaces the lane based on the lane marking of the lane image in the captured road condition image, for example, detecting whether the vehicle crosses the marking line on both sides of the lane according to the road condition image. When the vehicle crosses the marking line on both sides of the lane, it is judged that the vehicle replaces the lane; otherwise, when the vehicle does not cross the marking line on both sides of the lane, it is judged that the vehicle has not replaced the lane.
当判断车辆更换车道时，进一步检测当前转向灯的开闭状态，检测转向灯是否开启。当转向灯开启时，也即说明是用户有意识地更换车道，通常用户在更换车道时会注意道路情况，不存在安全问题。而若转向灯关闭时，说明此时可能不是用户有意识地更换车道，这就存在一定风险了。此时，判断车辆处于危险行驶状态。When it is determined that the vehicle changes lanes, the current opening and closing state of the turn signal is further detected, and it is detected whether the turn signal is turned on. When the turn signal is turned on, it means that the user intentionally changes the lane. Usually, the user pays attention to the road situation when changing lanes, and there is no safety problem. If the turn signal is off, it means that the user may not intentionally change the lane at this time, which is a certain risk. At this time, it is judged that the vehicle is in a dangerous driving state.
步骤S30，当所述车辆处于危险行驶状态时，发出报警提示信息。Step S30, when the vehicle is in a dangerous driving state, an alarm prompt message is issued.
当判断车辆未处于危险行驶状态，也即车辆当前行驶安全时，此时，车辆继续调用摄像头拍摄车辆在行驶过程中的路况图像，从而根据路况图像实时检测车辆是否处于危险行驶状态。When it is judged that the vehicle is not in a dangerous driving state, that is, the vehicle is currently driving safely, at this time, the vehicle continues to call the camera to capture a road condition image of the vehicle during traveling, thereby detecting whether the vehicle is in a dangerous driving state in real time according to the road condition image.
当判断车辆处于危险行驶状态时，为了预防危险发生，车辆发出报警提示信息。例如，开启扬声器发出警鸣，或者控制开启红色指示灯，或者发出语音报警等。本领域技术人员可以理解的是，还可以通过其他方式发出报警提示信息，在此不作限制。用户在接收到报警提示信息时，即可立刻采取相应的措施来避免当前的行驶风险。When it is judged that the vehicle is in a dangerous driving state, in order to prevent the danger from occurring, the vehicle issues an alarm prompt message. For example, turn on the speaker to sound a warning, or control to turn on the red indicator light, or issue a voice alarm. It can be understood by those skilled in the art that the alarm prompt information can also be sent by other means, which is not limited herein. When the user receives the alarm prompt message, the user can immediately take corresponding measures to avoid the current driving risk.
本实施例提出的方案，在车辆行驶过程中，通过调用摄像头拍摄车辆的路况图像，然后根据拍摄的路况图像，判断车辆是否处于危险行驶状态，当车辆处于危险行驶状态时，就发出报警提示信息，从而实现自动报警，提示用户采取措施避免当前的行驶风险，从而提高了车辆行驶的安全性。In the solution proposed by the embodiment, during the running of the vehicle, the road condition image of the vehicle is captured by calling the camera, and then according to the captured road condition image, it is determined whether the vehicle is in a dangerous driving state, and when the vehicle is in a dangerous driving state, an alarm prompt message is issued. In order to achieve automatic alarm, the user is prompted to take measures to avoid the current driving risk, thereby improving the safety of the vehicle.
进一步地，如图3所示，基于第一实施例提出本发明车辆监测方法第二实施例，在本实施例中，所述步骤S30之前，还包括步骤：Further, as shown in FIG. 3, a second embodiment of the vehicle monitoring method of the present invention is proposed based on the first embodiment. In the embodiment, before the step S30, the method further includes the following steps:
步骤S40，采用红外测距传感器检测所述车辆与道路上的障碍对象之间的距离；Step S40, using an infrared ranging sensor to detect a distance between the vehicle and an obstacle object on the road;
步骤S50，将所述车辆与障碍对象之间的距离与预设距离阈值进行比较；Step S50, comparing a distance between the vehicle and the obstacle object with a preset distance threshold;
步骤S60，根据比较结果，判断所述车辆是否处于危险行驶状态，其中，在所述车辆与障碍对象之间的距离小于所述预设距离阈值时，判定所述车辆处于危险行驶状态。Step S60, determining, according to the comparison result, whether the vehicle is in a dangerous driving state, wherein when the distance between the vehicle and the obstacle object is less than the preset distance threshold, determining that the vehicle is in a dangerous driving state.
在本实施例中，车辆上还预先安装有红外测距传感器，红外测距传感器可以检测车辆与周围行人、车辆以及物体等之间的距离。当车辆行驶的过程中，采用该红外测距传感器实时检测车辆与其当前道路上的其他车辆、行人、物体等障碍对象之间的距离。In this embodiment, an infrared ranging sensor is also pre-installed on the vehicle, and the infrared ranging sensor can detect the distance between the vehicle and surrounding pedestrians, vehicles, objects, and the like. During the running of the vehicle, the infrared ranging sensor is used to detect the distance between the vehicle and other obstacles such as vehicles, pedestrians, and objects on the current road in real time.
并且，本实施例中，还预先设置有一预设距离阈值，该预设距离阈值为车辆在安全行驶的情况下车辆与其他对象之间的一个相对安全距离。当采用该红外测距传感器检测到车辆与其当前道路上的障碍对象之间的距离之后，将检测到的车辆与障碍对象之间的距离与预设距离阈值进行比较，也即比较检测到的车辆与障碍对象之间的距离与预设距离阈值的大小，然后根据比较结果，判断车辆是否处于危险行驶状态。具体地，当车辆与障碍对象之间的距离小于预设距离阈值时，判断车辆处于危险行驶状态，也即在有某一障碍对象与车辆之间的距离小于安全距离时，判断车辆处于危险行驶状态。否则，当车辆与障碍对象之间的距离大于或等于预设距离阈值时，也即不存在障碍对象与车辆之间的距离小于安全距离时，判断车辆处于安全行驶状态。Moreover, in this embodiment, a preset distance threshold is also preset, and the preset distance threshold is a relative safety distance between the vehicle and other objects when the vehicle is safely traveling. After the infrared distance measuring sensor detects the distance between the vehicle and the obstacle object on the current road, the distance between the detected vehicle and the obstacle object is compared with a preset distance threshold, that is, the detected vehicle is compared. The distance between the obstacle object and the preset distance threshold is then judged based on the comparison result to determine whether the vehicle is in a dangerous driving state. Specifically, when the distance between the vehicle and the obstacle object is less than the preset distance threshold, determining that the vehicle is in a dangerous driving state, that is, when there is a distance between the obstacle object and the vehicle is less than the safety distance, determining that the vehicle is in dangerous driving status. Otherwise, when the distance between the vehicle and the obstacle object is greater than or equal to the preset distance threshold, that is, when the distance between the obstacle object and the vehicle is less than the safety distance, it is determined that the vehicle is in a safe driving state.
当判断车辆处于危险行驶状态时，如第一实施例中所述，车辆发出报警提示信息。用户在接收到报警提示信息时，即可立刻采取相应的措施，例如，行驶车辆远离距离太近的障碍对象，来避免当前的行驶风险。When it is judged that the vehicle is in a dangerous driving state, as described in the first embodiment, the vehicle issues an alarm prompt message. When the user receives the alarm prompt information, he can immediately take corresponding measures, for example, driving the vehicle away from the obstacle object that is too close to avoid the current driving risk.
进一步地，本实施例中，所述步骤S50包括：Further, in this embodiment, the step S50 includes:
将所述车辆与障碍对象之间的距离与所述障碍对象对应的预设距离阈值进行比较，其中，不同类型的障碍对象对应不同的预设距离阈值。The distance between the vehicle and the obstacle object is compared with a preset distance threshold corresponding to the obstacle object, wherein different types of obstacle objects correspond to different preset distance thresholds.
所述步骤S60包括：The step S60 includes:
在所述车辆与障碍对象之间的距离小于所述障碍对象对应的预设距离阈值时，判定所述车辆处于危险行驶状态。When the distance between the vehicle and the obstacle object is less than a preset distance threshold corresponding to the obstacle object, it is determined that the vehicle is in a dangerous driving state.
由于对于不同类型的障碍对象，车辆在安全行驶的情况下车辆与不同类型的障碍对象的相对安全距离有所不同，因此，在本实施例中，预先设置有多个预设距离阈值，不同类型的障碍对象对应不同的预设距离阈值。Since, for different types of obstacle objects, the relative safety distances of the vehicle and the different types of obstacle objects are different in the case of safe driving, in this embodiment, a plurality of preset distance thresholds are preset, different types. The obstacle objects correspond to different preset distance thresholds.
当红外测距传感器检测到车辆与其当前道路上的障碍对象之间的距离之后，将车辆与障碍对象之间的距离与障碍对象对应的预设距离阈值进行比较，当车辆与障碍对象之间的距离小于障碍对象对应的预设距离阈值时，判断车辆处于危险行驶状态。否则，当车辆与障碍对象之间的距离大于或等于障碍对象对应的预设距离阈值时，也即不存在障碍对象与车辆之间的距离小于安全距离时，判断车辆处于安全行驶状态。After the infrared ranging sensor detects the distance between the vehicle and the obstacle object on the current road, the distance between the vehicle and the obstacle object is compared with a preset distance threshold corresponding to the obstacle object, between the vehicle and the obstacle object. When the distance is smaller than the preset distance threshold corresponding to the obstacle object, it is determined that the vehicle is in a dangerous driving state. Otherwise, when the distance between the vehicle and the obstacle object is greater than or equal to the preset distance threshold corresponding to the obstacle object, that is, when the distance between the obstacle object and the vehicle is less than the safety distance, it is determined that the vehicle is in a safe driving state.
进一步地，本实施例中，所述步骤S30包括：Further, in this embodiment, the step S30 includes:
当所述车辆处于危险行驶状态时，发出相应的语音提示信息，以向用户报警。When the vehicle is in a dangerous driving state, a corresponding voice prompt message is sent to alert the user.
为了更进一步地使用户获取准确的报警信息，本实施例中，当车辆处于危险行驶状态时，针对于不同的危险情况，预先设置对应的不同的语音提示信息。例如，针对于车辆距离行人太近，对应有如“前方有行人，请减速慢行”的语音提示信息；针对于车辆更换车道时未开启转向灯，对应有如“更换车道，请开启转向灯”的语音提示信息等等。当判断车辆处于危险行驶状态时，车辆根据当前的危险情况，发出相应的语音提示信息，从而向用户报警。用户根据该语音提示信息，即可准确知道当前的危险情况，从而快速并且有效地采取相应的措施，来避免当前的行驶风险。例如，若接收到“更换车道，请开启转向灯”的语音提示信息时，则立即开启转向灯，以告知其他车辆转向，从而避免碰撞等情况的发生，从而进一步地提高了安全性。In order to further enable the user to obtain accurate alarm information, in the embodiment, when the vehicle is in a dangerous driving state, corresponding different voice prompt information is preset in advance for different dangerous situations. For example, if the vehicle is too close to the pedestrian, it corresponds to a voice prompt message such as “there is a pedestrian in front, please slow down”; for the vehicle to change lanes, the turn signal is not turned on, corresponding to “replace the lane, please turn on the turn signal” Voice prompts and more. When it is judged that the vehicle is in a dangerous driving state, the vehicle issues a corresponding voice prompt message according to the current dangerous situation, thereby alerting the user. According to the voice prompt information, the user can accurately know the current dangerous situation, thereby quickly and effectively taking corresponding measures to avoid the current driving risk. For example, if a voice prompt message of "replace lane, turn on the turn signal" is received, the turn signal is immediately turned on to inform other vehicles to turn, thereby avoiding collisions and the like, thereby further improving safety.
本实施例提出的方案，在车辆行驶过程中，还通过采用红外测距传感器检测车辆与道路上的障碍对象之间的距离，然后将车辆与障碍对象之间的距离与预设距离阈值进行比较，在车辆与障碍对象之间的距离小于预设距离阈值时，判断车辆处于危险行驶状态，此时，发出报警提示信息，由于红外测距传感器可以精确检测出车辆与障碍对象之间的距离，因此保证了发出报警提示信息的精确性，从而进一步提高了车辆行驶的安全性。In the solution proposed by the embodiment, during the running of the vehicle, the distance between the vehicle and the obstacle object on the road is detected by using an infrared ranging sensor, and then the distance between the vehicle and the obstacle object is compared with a preset distance threshold. When the distance between the vehicle and the obstacle object is less than the preset distance threshold, it is determined that the vehicle is in a dangerous driving state. At this time, an alarm prompt message is issued, and since the infrared distance measuring sensor can accurately detect the distance between the vehicle and the obstacle object, Therefore, the accuracy of the alarm message is ensured, thereby further improving the safety of the vehicle.
本发明进一步提供一种车辆监测装置。The invention further provides a vehicle monitoring device.
参照图4，图4为本发明车辆监测装置第一实施例的功能模块示意图。Referring to FIG. 4, FIG. 4 is a schematic diagram of functional modules of a first embodiment of a vehicle monitoring device according to the present invention.
需要强调的是，对本领域的技术人员来说，图4所示功能模块图仅仅是一个较佳实施例的示例图，本领域的技术人员围绕图4所示的车辆监测装置的功能模块，可轻易进行新的功能模块的补充；各功能模块的名称是自定义名称，仅用于辅助理解该车辆监测装置的各个程序功能块，不用于限定本发明的技术方案，本发明技术方案的核心是，各自定义名称的功能模块所要达成的功能。It should be emphasized that, for those skilled in the art, the functional block diagram shown in FIG. 4 is merely an exemplary embodiment of a preferred embodiment, and those skilled in the art can surround the functional modules of the vehicle monitoring device shown in FIG. The function module is added to the function module. The name of each function module is a custom name. It is only used to help understand the various program function blocks of the vehicle monitoring device. It is not used to limit the technical solution of the present invention. The core of the technical solution of the present invention is , the function to be achieved by the function module of each name.
在本实施例中，所述车辆监测装置包括：In this embodiment, the vehicle monitoring device includes:
采集模块10，用于调用摄像头从多角度拍摄车辆的路况图像，所述路况图像包括所述车辆当前所在位置的车道图像以及四周环境图像；The acquisition module 10 is configured to invoke a camera to capture a road condition image of the vehicle from multiple angles, where the road condition image includes a lane image of the current location of the vehicle and a surrounding environment image;
车辆在行驶的过程中，用户需要时刻关注道路情况，以保证车辆安全行驶。但总会有些时候，例如在夜间行驶时，用户不能清晰查看到道路情况，此时就存在车辆行驶的风险。为了提高车辆行驶的安全性，在本实施例中，车辆预先设置有一摄像头，例如，若车辆设置有车道保持辅助***，该车道保持辅助***包括有摄像头。在车辆行驶时，采集模块10调用摄像头从多个角度实时拍摄车辆的路况图像，其中，该路况图像包括车辆当前所在车道的车道图像、车辆当前所在位置的四周环境图像等。例如，采集模块10通过调节摄像头的拍摄角度，拍摄车辆当前位置的周围100m范围内的环境图像。During the driving process, the user needs to pay attention to the road conditions at all times to ensure the safe driving of the vehicle. However, there are always times when, for example, when driving at night, the user cannot clearly see the road condition, and there is a risk that the vehicle will travel. In order to improve the safety of driving of the vehicle, in the present embodiment, the vehicle is provided with a camera in advance, for example, if the vehicle is provided with a lane keeping assist system, the lane keeping assist system includes a camera. When the vehicle is running, the acquisition module 10 calls the camera to capture the road condition image of the vehicle in real time from a plurality of angles, wherein the road condition image includes a lane image of the current lane of the vehicle, a surrounding environment image of the current location of the vehicle, and the like. For example, the acquisition module 10 captures an environmental image within a range of 100 m around the current position of the vehicle by adjusting the shooting angle of the camera.
判断模块20，用于根据拍摄的所述路况图像，判断所述车辆是否处于危险行驶状态；The determining module 20 is configured to determine, according to the captured road condition image, whether the vehicle is in a dangerous driving state;
本实施例中，在采集模块10调用摄像头拍摄到车辆的路况图像之后，不需要用户自己去查看路况图像，从而自己根据路况图像判断车辆当前行驶是否安全，而是判断模块20根据拍摄到的路况图像，自动判断车辆是否处于危险行驶状态。比如，判断模块20通过检测该路况图像中是否存在故障对象，比如行人、其他车辆或物体等，来判断车辆是否处于危险行驶状态。当检测存在故障对象时，则判断车辆处于危险行驶状态。In this embodiment, after the acquisition module 10 calls the camera to capture the road condition image of the vehicle, the user does not need to view the road condition image by himself, so that it is determined according to the road condition image whether the vehicle is currently driving safely, but the determination module 20 is based on the captured road condition. The image automatically determines if the vehicle is in a dangerous driving state. For example, the judging module 20 determines whether the vehicle is in a dangerous driving state by detecting whether there is a fault object, such as a pedestrian, another vehicle or an object, in the road condition image. When it is detected that there is a faulty object, it is judged that the vehicle is in a dangerous driving state.
进一步地，如图5所示，所述判断模块20包括：Further, as shown in FIG. 5, the determining module 20 includes:
第一判断单元21，用于根据所述车道图像，判断所述车辆是否更换车道；a first determining unit 21, configured to determine, according to the lane image, whether the vehicle replaces a lane;
第二判断单元22，用于在所述车辆更换车道时，根据转向灯的开闭状态判断所述车辆是否处于危险行驶状态，其中，在所述车辆更换车道，且所述转向灯关闭时，判定所述车辆处于危险行驶状态。a second determining unit 22, configured to determine, according to an open/close state of the turn signal, whether the vehicle is in a dangerous driving state when the vehicle changes lanes, wherein when the vehicle replaces the lane and the turn signal is turned off, It is determined that the vehicle is in a dangerous driving state.
在根据拍摄到的路况图像，判断车辆是否处于危险行驶状态时，除了上述所列举的检测是否存在故障对象以外，还可以考虑车辆的变道情况。具体地，第一判断单元21根据拍摄到的路况图像中车道图像的车道标记，比如，根据路况图像检测车辆是否越过车道两侧的标记线，来判断车辆是否更换车道。当车辆越过车道两侧的标记线时，判断车辆更换车道；否则，当车辆未越过车道两侧的标记线时，判断车辆未更换车道。When it is determined whether or not the vehicle is in a dangerous running state based on the photographed road condition image, in addition to the above-described detection of whether or not there is a faulty object, the lane change situation of the vehicle may be considered. Specifically, the first determining unit 21 determines whether the vehicle replaces the lane based on the lane marking of the lane image in the captured road condition image, for example, detecting whether the vehicle crosses the marking line on both sides of the lane according to the road condition image. When the vehicle crosses the marking line on both sides of the lane, it is judged that the vehicle replaces the lane; otherwise, when the vehicle does not cross the marking line on both sides of the lane, it is judged that the vehicle has not replaced the lane.
当第一判断单元21判断车辆更换车道时，第二判断单元22进一步检测当前转向灯的开闭状态，检测转向灯是否开启。当转向灯开启时，也即说明是用户有意识地更换车道，通常用户在更换车道时会注意道路情况，不存在安全问题。而若转向灯关闭时，说明此时可能不是用户有意识地更换车道，这就存在一定风险了。此时，第二判断单元22判断车辆处于危险行驶状态。When the first determining unit 21 determines that the vehicle replaces the lane, the second determining unit 22 further detects the opening and closing state of the current turning light, and detects whether the turning light is turned on. When the turn signal is turned on, it means that the user intentionally changes the lane. Usually, the user pays attention to the road situation when changing lanes, and there is no safety problem. If the turn signal is off, it means that the user may not intentionally change the lane at this time, which is a certain risk. At this time, the second judging unit 22 judges that the vehicle is in a dangerous running state.
报警模块30，用于当所述车辆处于危险行驶状态时，发出报警提示信息。The alarm module 30 is configured to issue an alarm prompt message when the vehicle is in a dangerous driving state.
当判断车辆未处于危险行驶状态，也即车辆当前行驶安全时，此时，采集模块10继续调用摄像头拍摄车辆在行驶过程中的路况图像，判断模块20根据路况图像实时检测车辆是否处于危险行驶状态。When it is determined that the vehicle is not in a dangerous driving state, that is, the vehicle is currently driving safely, at this time, the collecting module 10 continues to call the camera to capture the road condition image of the vehicle during driving, and the determining module 20 detects in real time whether the vehicle is in a dangerous driving state according to the road condition image. .
当判断车辆处于危险行驶状态时，为了预防危险发生，报警模块30发出报警提示信息。例如，开启扬声器发出警鸣，或者控制开启红色指示灯，或者发出语音报警等。本领域技术人员可以理解的是，报警模块30还可以通过其他方式发出报警提示信息，在此不作限制。用户在接收到报警提示信息时，即可立刻采取相应的措施来避免当前的行驶风险。When it is judged that the vehicle is in a dangerous driving state, in order to prevent the occurrence of danger, the alarm module 30 issues an alarm prompt message. For example, turn on the speaker to sound a warning, or control to turn on the red indicator light, or issue a voice alarm. It can be understood by those skilled in the art that the alarm module 30 can also issue alarm prompt information by other means, which is not limited herein. When the user receives the alarm prompt message, the user can immediately take corresponding measures to avoid the current driving risk.
本实施例提出的方案，在车辆行驶过程中，采集模块10通过调用摄像头拍摄车辆的路况图像，然后判断模块20根据拍摄的路况图像，判断车辆是否处于危险行驶状态，当车辆处于危险行驶状态时，报警模块30就发出报警提示信息，从而实现自动报警，提示用户采取措施避免当前的行驶风险，从而提高了车辆行驶的安全性。In the solution proposed by the embodiment, during the running of the vehicle, the collecting module 10 captures the road condition image of the vehicle by calling the camera, and then the determining module 20 determines whether the vehicle is in a dangerous driving state according to the captured road condition image, when the vehicle is in a dangerous driving state. The alarm module 30 issues an alarm prompt message, thereby realizing an automatic alarm, prompting the user to take measures to avoid the current driving risk, thereby improving the safety of the vehicle.
进一步地，如图6所示，基于第一实施例提出本发明车辆监测装置第二实施例，在本实施例中，所述车辆监测装置还包括：Further, as shown in FIG. 6, a second embodiment of the vehicle monitoring device of the present invention is proposed based on the first embodiment. In this embodiment, the vehicle monitoring device further includes:
检测模块40，用于采用红外测距传感器检测所述车辆与道路上的障碍对象之间的距离；a detecting module 40, configured to detect, by using an infrared ranging sensor, a distance between the vehicle and an obstacle object on the road;
比较模块50，用于将所述车辆与障碍对象之间的距离与预设距离阈值进行比较；a comparison module 50, configured to compare a distance between the vehicle and the obstacle object with a preset distance threshold;
所述判断模块20，还用于根据所述车辆与障碍对象之间的距离与预设距离阈值进行比较的比较结果，判断所述车辆是否处于危险行驶状态，其中，在所述车辆与障碍对象之间的距离小于所述预设距离阈值时，判定所述车辆处于危险行驶状态。The determining module 20 is further configured to determine, according to a comparison result that the distance between the vehicle and the obstacle object is compared with a preset distance threshold, whether the vehicle is in a dangerous driving state, where the vehicle and the obstacle object When the distance between the distances is less than the preset distance threshold, it is determined that the vehicle is in a dangerous driving state.
在本实施例中，车辆上还预先安装有红外测距传感器，红外测距传感器可以检测车辆与周围行人、车辆以及物体等之间的距离。当车辆行驶的过程中，检测模块40采用该红外测距传感器实时检测车辆与其当前道路上的其他车辆、行人、物体等障碍对象之间的距离。In this embodiment, an infrared ranging sensor is also pre-installed on the vehicle, and the infrared ranging sensor can detect the distance between the vehicle and surrounding pedestrians, vehicles, objects, and the like. During the running of the vehicle, the detecting module 40 uses the infrared ranging sensor to detect the distance between the vehicle and other obstacle objects such as vehicles, pedestrians, and objects on the current road in real time.
并且，本实施例中，还预先设置有一预设距离阈值，该预设距离阈值为车辆在安全行驶的情况下车辆与其他对象之间的一个相对安全距离。当检测模块40采用该红外测距传感器检测到车辆与其当前道路上的障碍对象之间的距离之后，比较模块50将检测到的车辆与障碍对象之间的距离与预设距离阈值进行比较，也即比较检测到的车辆与障碍对象之间的距离与预设距离阈值的大小，然后判断模块20根据比较结果，判断车辆是否处于危险行驶状态。具体地，当车辆与障碍对象之间的距离小于预设距离阈值时，判断模块20判断车辆处于危险行驶状态，也即在有某一障碍对象与车辆之间的距离小于安全距离时，判断车辆处于危险行驶状态。否则，当车辆与障碍对象之间的距离大于或等于预设距离阈值时，也即不存在障碍对象与车辆之间的距离小于安全距离时，判断模块20判断车辆处于安全行驶状态。Moreover, in this embodiment, a preset distance threshold is also preset, and the preset distance threshold is a relative safety distance between the vehicle and other objects when the vehicle is safely traveling. After the detecting module 40 detects the distance between the vehicle and the obstacle object on the current road by using the infrared ranging sensor, the comparing module 50 compares the detected distance between the vehicle and the obstacle object with a preset distance threshold, That is, the distance between the detected vehicle and the obstacle object and the preset distance threshold are compared, and then the determination module 20 determines whether the vehicle is in a dangerous driving state according to the comparison result. Specifically, when the distance between the vehicle and the obstacle object is less than the preset distance threshold, the determining module 20 determines that the vehicle is in a dangerous driving state, that is, when the distance between the certain obstacle object and the vehicle is less than the safety distance, determining the vehicle In dangerous driving conditions. Otherwise, when the distance between the vehicle and the obstacle object is greater than or equal to the preset distance threshold, that is, when the distance between the obstacle object and the vehicle is less than the safety distance, the determination module 20 determines that the vehicle is in a safe driving state.
当判断模块20判断车辆处于危险行驶状态时，如第一实施例中所述，报警模块30发出报警提示信息。用户在接收到报警提示信息时，即可立刻采取相应的措施，例如，行驶车辆远离距离太近的障碍对象，来避免当前的行驶风险。When the judging module 20 judges that the vehicle is in a dangerous driving state, as described in the first embodiment, the alarm module 30 issues an alarm prompt message. When the user receives the alarm prompt information, he can immediately take corresponding measures, for example, driving the vehicle away from the obstacle object that is too close to avoid the current driving risk.
进一步地，本实施例中，所述比较模块50用于：Further, in this embodiment, the comparison module 50 is configured to:
将所述车辆与障碍对象之间的距离与所述障碍对象对应的预设距离阈值进行比较，其中，不同类型的障碍对象对应不同的预设距离阈值。The distance between the vehicle and the obstacle object is compared with a preset distance threshold corresponding to the obstacle object, wherein different types of obstacle objects correspond to different preset distance thresholds.
所述判断模块20用于：The determining module 20 is configured to:
在所述车辆与障碍对象之间的距离小于所述障碍对象对应的预设距离阈值时，判定所述车辆处于危险行驶状态。When the distance between the vehicle and the obstacle object is less than a preset distance threshold corresponding to the obstacle object, it is determined that the vehicle is in a dangerous driving state.
由于对于不同类型的障碍对象，车辆在安全行驶的情况下车辆与不同类型的障碍对象的相对安全距离有所不同，因此，在本实施例中，预先设置有多个预设距离阈值，不同类型的障碍对象对应不同的预设距离阈值。Since, for different types of obstacle objects, the relative safety distances of the vehicle and the different types of obstacle objects are different in the case of safe driving, in this embodiment, a plurality of preset distance thresholds are preset, different types. The obstacle objects correspond to different preset distance thresholds.
当检测模块40采用红外测距传感器检测到车辆与其当前道路上的障碍对象之间的距离之后，比较模块50将车辆与障碍对象之间的距离与障碍对象对应的预设距离阈值进行比较，当车辆与障碍对象之间的距离小于障碍对象对应的预设距离阈值时，判断模块20判断车辆处于危险行驶状态。否则，当车辆与障碍对象之间的距离大于或等于障碍对象对应的预设距离阈值时，也即不存在障碍对象与车辆之间的距离小于安全距离时，判断模块20判断车辆处于安全行驶状态。After the detecting module 40 detects the distance between the vehicle and the obstacle object on the current road by using the infrared ranging sensor, the comparing module 50 compares the distance between the vehicle and the obstacle object with a preset distance threshold corresponding to the obstacle object, when When the distance between the vehicle and the obstacle object is less than the preset distance threshold corresponding to the obstacle object, the determining module 20 determines that the vehicle is in a dangerous driving state. Otherwise, when the distance between the vehicle and the obstacle object is greater than or equal to the preset distance threshold corresponding to the obstacle object, that is, when the distance between the obstacle object and the vehicle is less than the safety distance, the determining module 20 determines that the vehicle is in a safe driving state. .
进一步地，本实施例中，所述报警模块30用于：Further, in this embodiment, the alarm module 30 is configured to:
当所述车辆处于危险行驶状态时，发出相应的语音提示信息，以向用户报警。When the vehicle is in a dangerous driving state, a corresponding voice prompt message is sent to alert the user.
为了更进一步地使用户获取准确的报警信息，本实施例中，当车辆处于危险行驶状态时，针对于不同的危险情况，预先设置对应的不同的语音提示信息。例如，针对于车辆距离行人太近，对应有如“前方有行人，请减速慢行”的语音提示信息；针对于车辆更换车道时未开启转向灯，对应有如“更换车道，请开启转向灯”的语音提示信息等等。当判断模块20判断车辆处于危险行驶状态时，报警模块30根据当前的危险情况，发出相应的语音提示信息，从而向用户报警。用户根据该语音提示信息，即可准确知道当前的危险情况，从而快速并且有效地采取相应的措施，来避免当前的行驶风险。例如，若接收到“更换车道，请开启转向灯”的语音提示信息时，则立即开启转向灯，以告知其他车辆转向，从而避免碰撞等情况的发生，从而进一步地提高了安全性。In order to further enable the user to obtain accurate alarm information, in the embodiment, when the vehicle is in a dangerous driving state, corresponding different voice prompt information is preset in advance for different dangerous situations. For example, if the vehicle is too close to the pedestrian, it corresponds to a voice prompt message such as “there is a pedestrian in front, please slow down”; for the vehicle to change lanes, the turn signal is not turned on, corresponding to “replace the lane, please turn on the turn signal” Voice prompts and more. When the judging module 20 judges that the vehicle is in a dangerous driving state, the alarm module 30 issues corresponding voice prompt information according to the current dangerous situation, thereby alerting the user. According to the voice prompt information, the user can accurately know the current dangerous situation, thereby quickly and effectively taking corresponding measures to avoid the current driving risk. For example, if a voice prompt message of "replace lane, turn on the turn signal" is received, the turn signal is immediately turned on to inform other vehicles to turn, thereby avoiding collisions and the like, thereby further improving safety.
本实施例提出的方案，在车辆行驶过程中，检测模块40通过采用红外测距传感器检测车辆与道路上的障碍对象之间的距离，然后比较模块50将车辆与障碍对象之间的距离与预设距离阈值进行比较，在车辆与障碍对象之间的距离小于预设距离阈值时，判断模块20判断车辆处于危险行驶状态，此时，报警模块30发出报警提示信息，由于红外测距传感器可以精确检测出车辆与障碍对象之间的距离，因此保证了发出报警提示信息的精确性，从而进一步提高了车辆行驶的安全性。In the solution proposed by the embodiment, during the running of the vehicle, the detecting module 40 detects the distance between the vehicle and the obstacle object on the road by using the infrared ranging sensor, and then compares the distance between the vehicle and the obstacle object by the comparison module 50. The distance threshold is compared. When the distance between the vehicle and the obstacle object is less than the preset distance threshold, the determining module 20 determines that the vehicle is in a dangerous driving state. At this time, the alarm module 30 issues an alarm prompt message, because the infrared ranging sensor can be accurate. The distance between the vehicle and the obstacle object is detected, thus ensuring the accuracy of the alarm message, thereby further improving the safety of the vehicle.
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其它变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其它要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。It is to be understood that the term "comprises", "comprising", or any other variants thereof, is intended to encompass a non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes those elements. It also includes other elements not explicitly listed, or elements that are inherent to such a process, method, article, or device. An element that is defined by the phrase "comprising a ..." does not exclude the presence of additional equivalent elements in the process, method, item, or device that comprises the element.
上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。The serial numbers of the embodiments of the present invention are merely for the description, and do not represent the advantages and disadvantages of the embodiments.
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质（如ROM/RAM、磁碟、光盘）中，包括若干指令用以使得一台终端设备（可以是手机，计算机，服务器，空调器，或者网络设备等）执行本发明各个实施例所述的方法。Through the description of the above embodiments, those skilled in the art can clearly understand that the foregoing embodiment method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be through hardware, but in many cases, the former is better. Implementation. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, may be embodied in the form of a software product stored in a storage medium (such as ROM/RAM, disk, The optical disc includes a number of instructions for causing a terminal device (which may be a cell phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the methods described in various embodiments of the present invention.
以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其它相关的技术领域，均同理包括在本发明的专利保护范围内。The above are only the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and the equivalent structure or equivalent process transformations made by the description of the present invention and the drawings are directly or indirectly applied to other related technical fields. The same is included in the scope of patent protection of the present invention.

Claims (18)

  1. 一种车辆监测方法，其特征在于，所述车辆监测方法包括以下步骤： A vehicle monitoring method, characterized in that the vehicle monitoring method comprises the following steps:
    调用摄像头从多角度拍摄车辆的路况图像，所述路况图像包括所述车辆当前所在位置的车道图像以及四周环境图像；Calling the camera to capture a road condition image of the vehicle from multiple angles, the road condition image including a lane image of the current location of the vehicle and a surrounding environment image;
    根据拍摄的所述路况图像，判断所述车辆是否处于危险行驶状态；Determining whether the vehicle is in a dangerous driving state according to the captured road condition image;
    当所述车辆处于危险行驶状态时，发出报警提示信息。When the vehicle is in a dangerous driving state, an alarm prompt message is issued.
  2. 如权利要求1所述的车辆监测方法，其特征在于，所述当车辆处于危险行驶状态时，发出报警提示信息的步骤包括：The vehicle monitoring method according to claim 1, wherein the step of issuing an alarm prompt message when the vehicle is in a dangerous driving state comprises:
    当所述车辆处于危险行驶状态时，发出相应的语音提示信息，以向用户报警。When the vehicle is in a dangerous driving state, a corresponding voice prompt message is sent to alert the user.
  3. 如权利要求1所述的车辆监测方法，其特征在于，所述当车辆处于危险行驶状态时，发出报警提示信息的步骤之前，还包括：The vehicle monitoring method according to claim 1, wherein the step of issuing an alarm prompt message when the vehicle is in a dangerous driving state further comprises:
    采用红外测距传感器检测所述车辆与道路上的障碍对象之间的距离；Using an infrared ranging sensor to detect a distance between the vehicle and an obstacle object on the road;
    将所述车辆与障碍对象之间的距离与预设距离阈值进行比较；Comparing the distance between the vehicle and the obstacle object with a preset distance threshold;
    根据比较结果，判断所述车辆是否处于危险行驶状态，其中，在所述车辆与障碍对象之间的距离小于所述预设距离阈值时，判定所述车辆处于危险行驶状态。According to the comparison result, it is determined whether the vehicle is in a dangerous driving state, wherein when the distance between the vehicle and the obstacle object is less than the preset distance threshold, it is determined that the vehicle is in a dangerous driving state.
  4. 如权利要求3所述的车辆监测方法，其特征在于，所述当车辆处于危险行驶状态时，发出报警提示信息的步骤包括：The vehicle monitoring method according to claim 3, wherein the step of issuing an alarm prompt message when the vehicle is in a dangerous driving state comprises:
    当所述车辆处于危险行驶状态时，发出相应的语音提示信息，以向用户报警。When the vehicle is in a dangerous driving state, a corresponding voice prompt message is sent to alert the user.
  5. 如权利要求3所述的车辆监测方法，其特征在于，所述将车辆与障碍对象之间的距离与预设距离阈值进行比较的步骤包括：The vehicle monitoring method according to claim 3, wherein the step of comparing the distance between the vehicle and the obstacle object with a preset distance threshold comprises:
    将所述车辆与障碍对象之间的距离与所述障碍对象对应的预设距离阈值进行比较，其中，不同类型的障碍对象对应不同的预设距离阈值。The distance between the vehicle and the obstacle object is compared with a preset distance threshold corresponding to the obstacle object, wherein different types of obstacle objects correspond to different preset distance thresholds.
    所述在车辆与障碍对象之间的距离小于所述预设距离阈值时，判定所述车辆处于危险行驶状态的步骤包括：The step of determining that the vehicle is in a dangerous driving state when the distance between the vehicle and the obstacle object is less than the preset distance threshold includes:
    在所述车辆与障碍对象之间的距离小于所述障碍对象对应的预设距离阈值时，判定所述车辆处于危险行驶状态。When the distance between the vehicle and the obstacle object is less than a preset distance threshold corresponding to the obstacle object, it is determined that the vehicle is in a dangerous driving state.
  6. 如权利要求5所述的车辆监测方法，其特征在于，所述当车辆处于危险行驶状态时，发出报警提示信息的步骤包括：The vehicle monitoring method according to claim 5, wherein the step of issuing an alarm prompt message when the vehicle is in a dangerous driving state comprises:
    当所述车辆处于危险行驶状态时，发出相应的语音提示信息，以向用户报警。When the vehicle is in a dangerous driving state, a corresponding voice prompt message is sent to alert the user.
  7. 如权利要求1所述的车辆监测方法，其特征在于，所述根据拍摄的所述路况图像，判断所述车辆是否处于危险行驶状态的步骤包括：The vehicle monitoring method according to claim 1, wherein the step of determining whether the vehicle is in a dangerous driving state according to the photographed road condition image comprises:
    根据所述车道图像，判断所述车辆是否更换车道；Determining, according to the lane image, whether the vehicle replaces a lane;
    在所述车辆更换车道时，根据转向灯的开闭状态判断所述车辆是否处于危险行驶状态，其中，在所述车辆更换车道，且所述转向灯关闭时，判定所述车辆处于危险行驶状态。When the vehicle changes lanes, it is determined whether the vehicle is in a dangerous driving state according to an open/close state of the turn signal, wherein when the vehicle replaces the lane and the turn signal is turned off, it is determined that the vehicle is in a dangerous driving state. .
  8. 如权利要求7所述的车辆监测方法，其特征在于，所述根据所述车道图像，判断所述车辆是否更换车道的步骤包括：The vehicle monitoring method according to claim 7, wherein the step of determining whether the vehicle replaces a lane based on the lane image comprises:
    根据所述车道图像，检测所述车辆是否越过车道两侧的标记线；Detecting, according to the lane image, whether the vehicle crosses a marking line on both sides of the lane;
    当所述车辆越过车道两侧的标记线时，判定所述车辆更换车道；Determining that the vehicle replaces the lane when the vehicle crosses the marking line on both sides of the lane;
    当所述车辆未越过车道两侧的标记线时，判定所述车辆未更换车道。When the vehicle does not cross the marking line on both sides of the lane, it is determined that the vehicle has not replaced the lane.
  9. 如权利要求7所述的车辆监测方法，其特征在于，所述当所述车辆处于危险行驶状态时，发出报警提示信息的步骤包括：The vehicle monitoring method according to claim 7, wherein the step of issuing an alarm prompt message when the vehicle is in a dangerous driving state comprises:
    当所述车辆处于危险行驶状态时，发出相应的语音提示信息，以向用户报警。When the vehicle is in a dangerous driving state, a corresponding voice prompt message is sent to alert the user.
  10. 一种车辆监测装置，其特征在于，所述车辆监测装置包括：A vehicle monitoring device, characterized in that the vehicle monitoring device comprises:
    采集模块，用于调用摄像头从多角度拍摄车辆的路况图像，所述路况图像包括所述车辆当前所在位置的车道图像以及四周环境图像；An acquisition module, configured to invoke a camera to capture a road condition image of the vehicle from multiple angles, where the road condition image includes a lane image of the current location of the vehicle and a surrounding environment image;
    判断模块，用于根据拍摄的所述路况图像，判断所述车辆是否处于危险行驶状态；a determining module, configured to determine, according to the captured road condition image, whether the vehicle is in a dangerous driving state;
    报警模块，用于当所述车辆处于危险行驶状态时，发出报警提示信息。The alarm module is configured to issue an alarm prompt message when the vehicle is in a dangerous driving state.
  11. 如权利要求10所述的车辆监测装置，其特征在于，所述报警模块用于：The vehicle monitoring device of claim 10 wherein said alarm module is for:
    当所述车辆处于危险行驶状态时，发出相应的语音提示信息，以向用户报警。When the vehicle is in a dangerous driving state, a corresponding voice prompt message is sent to alert the user.
  12. 如权利要求10所述的车辆监测装置，其特征在于，所述车辆监测装置还包括：The vehicle monitoring device of claim 10, wherein the vehicle monitoring device further comprises:
    检测模块，用于采用红外测距传感器检测所述车辆与道路上的障碍对象之间的距离；a detecting module, configured to detect, by using an infrared ranging sensor, a distance between the vehicle and an obstacle object on the road;
    比较模块，用于将所述车辆与障碍对象之间的距离与预设距离阈值进行比较；a comparison module, configured to compare a distance between the vehicle and the obstacle object with a preset distance threshold;
    所述判断模块，还用于根据所述车辆与障碍对象之间的距离与预设距离阈值进行比较的比较结果，判断所述车辆是否处于危险行驶状态，其中，在所述车辆与障碍对象之间的距离小于所述预设距离阈值时，判定所述车辆处于危险行驶状态。The determining module is further configured to determine, according to a comparison result that the distance between the vehicle and the obstacle object is compared with a preset distance threshold, whether the vehicle is in a dangerous driving state, where the vehicle and the obstacle object When the distance between the distances is less than the preset distance threshold, it is determined that the vehicle is in a dangerous driving state.
  13. 如权利要求12所述的车辆监测装置，其特征在于，所述报警模块用于：The vehicle monitoring device of claim 12 wherein said alarm module is for:
    当所述车辆处于危险行驶状态时，发出相应的语音提示信息，以向用户报警。When the vehicle is in a dangerous driving state, a corresponding voice prompt message is sent to alert the user.
  14. 如权利要求12所述的车辆监测装置，其特征在于，所述比较模块，用于将所述车辆与障碍对象之间的距离与所述障碍对象对应的预设距离阈值进行比较，其中，不同类型的障碍对象对应不同的预设距离阈值。The vehicle monitoring device according to claim 12, wherein the comparison module is configured to compare a distance between the vehicle and the obstacle object with a preset distance threshold corresponding to the obstacle object, wherein different Types of obstacle objects correspond to different preset distance thresholds.
    所述判断模块，用于在所述车辆与障碍对象之间的距离小于所述障碍对象对应的预设距离阈值时，判定所述车辆处于危险行驶状态。The determining module is configured to determine that the vehicle is in a dangerous driving state when a distance between the vehicle and the obstacle object is less than a preset distance threshold corresponding to the obstacle object.
  15. 如权利要求14所述的车辆监测装置，其特征在于，所述报警模块用于：The vehicle monitoring device of claim 14 wherein said alarm module is for:
    当所述车辆处于危险行驶状态时，发出相应的语音提示信息，以向用户报警。When the vehicle is in a dangerous driving state, a corresponding voice prompt message is sent to alert the user.
  16. 如权利要求10所述的车辆监测装置，其特征在于，所述判断模块包括：The vehicle monitoring device according to claim 10, wherein the determining module comprises:
    第一判断单元，用于根据所述车道图像，判断所述车辆是否更换车道；a first determining unit, configured to determine, according to the lane image, whether the vehicle replaces a lane;
    第二判断单元，用于在所述车辆更换车道时，根据转向灯的开闭状态判断所述车辆是否处于危险行驶状态，其中，在所述车辆更换车道，且所述转向灯关闭时，判定所述车辆处于危险行驶状态。a second determining unit, configured to determine, according to an open/close state of the turn signal, whether the vehicle is in a dangerous driving state when the vehicle changes lanes, wherein when the vehicle replaces the lane and the turn signal is turned off, determining The vehicle is in a dangerous driving state.
  17. 如权利要求16所述的车辆监测装置，其特征在于，所述第一判断单元用于：The vehicle monitoring device according to claim 16, wherein said first determining unit is configured to:
    根据所述车道图像，检测所述车辆是否越过车道两侧的标记线；当所述车辆越过车道两侧的标记线时，判定所述车辆更换车道；当所述车辆未越过车道两侧的标记线时，判定所述车辆未更换车道。Determining, according to the lane image, whether the vehicle crosses a marking line on both sides of the lane; when the vehicle crosses a marking line on both sides of the lane, determining that the vehicle replaces the lane; when the vehicle does not cross the marking on both sides of the lane At the time of the line, it is determined that the vehicle has not replaced the lane.
  18. 如权利要求16所述的车辆监测装置，其特征在于，所述报警模块用于：The vehicle monitoring device of claim 16 wherein said alarm module is for:
    当所述车辆处于危险行驶状态时，发出相应的语音提示信息，以向用户报警。When the vehicle is in a dangerous driving state, a corresponding voice prompt message is sent to alert the user.
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